CN210555568U - Modularized crossed type tandem unmanned helicopter - Google Patents
Modularized crossed type tandem unmanned helicopter Download PDFInfo
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- CN210555568U CN210555568U CN201920950093.2U CN201920950093U CN210555568U CN 210555568 U CN210555568 U CN 210555568U CN 201920950093 U CN201920950093 U CN 201920950093U CN 210555568 U CN210555568 U CN 210555568U
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- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 239000004677 Nylon Substances 0.000 claims description 3
- 229910052799 carbon Inorganic materials 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 238000007689 inspection Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 3
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Abstract
The utility model discloses a modularized cross-type tandem unmanned helicopter, which is composed of two helicopter monomers connected together through a connecting device; the connecting device is a four-rotor connecting device or a tandem connecting device, wherein the front and rear blades in a four-rotor mode are not overlapped and have no height difference, and the front and rear blades in a tandem mode are overlapped and have height difference. The utility model discloses can require to select corresponding model according to the task, realize the modularization to three big modules can freely switch, synthesized basic unit cross helicopter stability than better, compact structure, aerodynamic resistance less, lift is big, four rotors maneuverability is good, easy control, the advantage that the anti crosswind ability of column helicopter is strong, the focus scope is big, its driving system both can be electronic can also oil move. The method has wide application prospect in the fields of electric power inspection, oil and gas pipeline inspection, forest fire prevention, agricultural plant protection, public safety, transportation load and the like.
Description
Technical Field
The utility model belongs to the technical field of the aviation, specifically indicate a modular crossing tandem unmanned helicopter.
Background
With the continuous development of the aviation industry, the unmanned helicopter plays an important role in various fields, such as automatic erection of a power transmission line under large span/strong electromagnetic interference, detection and identification of an initial ignition point of a high-rise/super high-rise building, evaluation of disaster information after disaster, acquisition of farmland basic data and the like. The modularized helicopter type has great advantages in work efficiency, work cost and dispatching command, the unmanned helicopter aiming at the task requirements at present does not realize modularization, the structural arrangement of the helicopter body is not compact, the use environment is single, the helicopter body can not be used in severe environments such as gust and strong convection environments, the stability is poor, and further the helicopter type is low in work efficiency, high in cost, complex in dispatching and inconvenient to transport.
At present, the cross type unmanned aerial vehicle and the tandem type unmanned aerial vehicle which can be used in multiple environments have the advantages and disadvantages: the cross type crosswind-resistant unmanned helicopter is strong in crosswind-resistant capability, compact in structure, high in pneumatic efficiency, but not strong in stability, large in tandem gravity range, large in lift force and good in stability, and further modularizes the cross type unmanned helicopter of the basic unit to form a four-rotor mode and a tandem mode. The modularized selection can be carried out aiming at the task quantity, the working environment and the task index, wherein the longitudinal mode structure is more compact, the pneumatic efficiency is higher, the lift force is larger than that of a four-rotor mode, and the four-rotor mode is simple and easy to control compared with a longitudinal mode control strategy, so that the working efficiency is greatly improved, and the working cost is saved.
Based on this, the utility model discloses regard as basic unit, constitute four rotor modes and tandem mode with the unmanned helicopter of crossing. The aircraft has the advantages of strong task adaptability, good flight stability, compact structure, good interchangeability and strong performance, and has wide application prospect in the fields of electric power inspection, oil and gas pipeline inspection, forest fire prevention, agricultural plant protection, public safety, transportation load and the like.
Disclosure of Invention
An object of the present invention is to overcome the disadvantages of the prior art, and to provide a modular cross-type tandem unmanned helicopter to solve the problems of poor adaptability of the single-machine type task, complex scheduling and commanding, low load efficiency, high cost, single task target and the like in the prior art.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model relates to a modularized cross-type tandem unmanned helicopter, which is composed of two helicopter monomers connected together through a connecting device; wherein, the helicopter monomer includes: the propeller comprises a propeller hub, blades, a machine body, an automatic inclinator, a bearing seat side plate, a motor seat, a motor, a steering engine, a rotor shaft, a one-way bearing and a transmission system;
the fuselage includes: the lifting frame comprises a base, a base side plate, a front side plate, a right side plate, a lifting frame support, a lifting frame rod and a base side plate support; wherein, the base side plate is respectively connected with the front side plate, the base and the lifting frame support; the front side plate is positioned at the top of the base side plate and is respectively connected with the motor base and the right side plate; the base is arranged between the two base side plates; the lifting frame is supported on the side surface of the side plate of the base and is connected with the lifting frame rod; the right side plate is arranged on the right upper side of the base side plate and is respectively connected with the motor base and the bearing seat; the two base side plates are connected by the base side plate support;
the transmission system is arranged above the machine body and below the blades and comprises a primary speed reducer consisting of a motor gear and a large gear and a reversing bevel gear, wherein the large gear is connected with the one-way bearing; the motor gear is arranged on the motor and is fastened with the motor through a bolt; the large gear is arranged at the lower end of the rotor shaft, and the reversing bevel gear is arranged in the middle of the rotor shaft; the bull gear and the reversing bevel gear are connected with the rotor shaft through pins; the propeller hub is fixedly arranged at the top end of the rotor shaft and is connected with the blades;
the automatic inclinator is arranged on the rotor shaft, is positioned below the propeller hub and is in clearance connection with the rotor shaft;
the bearing block is sleeved on the rotor shaft, positioned below the automatic inclinator, in interference connection with the rotor shaft and connected with a bearing block side plate;
the steering engine is fastened on the bearing seat;
the motor base is arranged between the large gear and the reversing bevel gear and is respectively connected with the front side plate and the right side plate;
the motor is fixedly arranged on the motor base and is connected with the motor base;
the one-way bearing is fixedly arranged in the large gear and sleeved at the bottom end of the rotor shaft.
Further, the connecting device is a four-rotor connecting device or a tandem connecting device.
Furthermore, the four-rotor connecting device is a channel steel part with the length larger than the diameter of the blades, the cross section of the channel steel part is in a channel shape, and the channel steel part has good comprehensive mechanical performance, is fixedly installed between the side plates of the base, enables the blades of the front helicopter body and the rear helicopter body to be free of overlapping and height difference, and works to form a four-rotor mode simultaneously.
Further, the tandem connecting device is a channel steel piece with the length smaller than the diameter of the blade, so that the blades of the front helicopter single body and the rear helicopter single body are overlapped, and the front helicopter single body and the rear helicopter single body have a height difference, and a tandem mode is formed.
Furthermore, the base side plate and the right side plate are made of carbon plate materials, and the base side plate and the right side plate have the advantages of light weight and good toughness.
Furthermore, the force bearing part base, the front side plate, the landing gear support, the landing gear rod and the base side plate support are made of composite materials, and the shock absorption part base has the advantages of being good in shock absorption, high in specific strength and fatigue resistant.
Furthermore, the transmission ratio of the reversing bevel gear is 1, and the bevel gear with the transmission ratio of 1 can ensure that the rotating speeds of the two rotor shafts are consistent, so that the transmission stability is better.
Furthermore, the bull gear and the reversing bevel gear are made of nylon materials, and have the advantages of light weight, fatigue resistance and good lubricating property.
The utility model has the advantages that:
the utility model discloses carry out the modularization with the helicopter, constitute four rotor modes or column formula mode, have that task strong adaptability, flight stability are good, compact structure, interchangeability are good, four rotor maneuverability is good, easy control, the anti crosswind ability of column formula helicopter is strong, the advantage of strong performance. The method has wide application prospect in the fields of electric power inspection, oil and gas pipeline inspection, forest fire prevention, agricultural plant protection, public safety, transportation load and the like.
Drawings
FIG. 1 is a schematic structural view of a helicopter unit of the present invention;
FIG. 2 is an overall schematic view of a quad rotor mode;
FIG. 3 is an overall schematic view of the tandem mode;
FIG. 4 is an enlarged view of the transmission system;
FIG. 5 is a schematic structural view of an upper portion of a unitary fuselage of a helicopter;
in the figure, 1-propeller hub, 2-blade, 3-base side plate, 4-lifting frame support, 5-four rotor wing connecting device, 6-landing frame rod, 7-base side plate support, 8-tandem connecting device, 9-base, 10-front side plate, 11-fuselage, 12-right side plate, 13-automatic inclinator, 14-bearing seat, 15-bearing seat side plate, 16-big gear, 17-motor gear, 18-motor seat, 19-motor, 20-reversing bevel gear, 21-steering gear (including pull rod), 22-rotor wing shaft, 23-one-way bearing and 24-transmission system.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
The terms "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 5, the present invention relates to a modular cross-type tandem unmanned helicopter, which is composed of two helicopter units connected together by a connecting device; wherein, the helicopter monomer includes: the structure comprises a propeller hub 1, blades 2, a fuselage 11, an automatic tilter 13, a bearing seat 14, a bearing seat side plate 15, a motor seat 18, a motor 19, a steering engine 21, a rotor shaft 22, a one-way bearing 23 and a transmission system 24;
the body 11 includes: the lifting frame comprises a base 9, a base side plate 3, a front side plate 10, a right side plate 12, a lifting frame support 4, a lifting frame rod 6 and a base side plate support 7; wherein, the base side plate 3 is respectively connected with the front side plate 10, the base 9 and the lifting frame support 4; the front side plate 10 is positioned at the top of the base side plate 3 and is respectively connected with the motor base 18 and the right side plate 12; the base 9 is arranged between the two base side plates 3; the landing gear support 4 is arranged on the side surface of the base side plate 3 and is connected with the landing gear rod 6; the right side plate 12 is arranged at the right upper part of the base side plate 3 and is respectively connected with the motor base 18 and the bearing seat 14; the two base side plates 3 are connected by a base side plate support 7;
the transmission system 24 is arranged above the machine body 11 and below the blades 2, and comprises a primary speed reducer consisting of a motor gear 17 and a large gear 16 and a reversing bevel gear 20, wherein the large gear 16 is connected with a one-way bearing 23; the motor gear 17 is arranged on the motor 19 and is fastened with the motor 19 through bolts; the bull gear 16 is arranged at the lower end of the rotor shaft 22, and the reversing bevel gear 20 is arranged in the middle of the rotor shaft 22; the bull gear 16 and the reversing bevel gear 20 are both connected to a rotor shaft 22 by pins; the propeller hub 1 is fixedly arranged at the top end of the rotor shaft 22 and is connected with the blades 2;
the automatic inclinator 13 is arranged on the rotor shaft 22, is positioned below the propeller hub 1, and is in clearance connection with the rotor shaft 22;
the bearing seat 14 is sleeved on the rotor shaft 22, is positioned below the automatic inclinator 13, is in interference connection with the rotor shaft 22 and is connected with the bearing seat side plate 15;
the steering engine 21 is fastened on the bearing block 14;
the motor base 18 is arranged between the bull gear 16 and the reversing bevel gear 20 and is respectively connected with the front side plate 10 and the right side plate 12;
the motor 19 is fixedly arranged on the motor base 18 and is connected with the motor base 18;
the one-way bearing 23 is fixedly arranged in the bull gear 16 and sleeved at the bottom end of the rotor shaft 22.
Wherein, the connecting device is a four-rotor connecting device 5 or a tandem connecting device 8;
the four-rotor connecting device is a channel steel piece with the length larger than the diameter of the blade, the cross section of the channel steel piece is in a channel shape, the channel steel piece has good comprehensive mechanical performance, and the channel steel piece is fixedly arranged between the side plates of the base, so that the blades of the front helicopter body and the rear helicopter body are not overlapped, the height difference is avoided, and the four-rotor connecting device works to form a four-rotor mode;
the tandem type connecting device is a channel steel piece with the length smaller than the diameter of the blade, so that the blades of the front helicopter monomer and the rear helicopter monomer are overlapped, and the front helicopter monomer and the rear helicopter monomer have a height difference to form a tandem type mode.
In addition, the base side plate 3 and the right side plate 12 are made of carbon plate materials, and have the advantages of light weight and good toughness.
The force bearing part base 9, the front side plate 10, the landing gear support 4, the landing gear rod 6 and the base side plate support 7 are made of composite materials, and have the advantages of good shock absorption, high specific strength and fatigue resistance.
The transmission ratio of the reversing bevel gear 20 is 1, and the bevel gear 20 with the transmission ratio of 1 can ensure that the rotating speeds of the two rotor wing shafts 22 are consistent, so that the transmission stability is better.
The bull gear 16 and the reversing bevel gear 20 are made of nylon materials and have the advantages of light weight, fatigue resistance and good lubricating property.
The single helicopter body rotates by starting a motor 19, the motor 19 drives a motor gear 17 to rotate so as to drive a large gear 16 to rotate, the large gear 16 rotates together with a reversing bevel gear 20 on the same rotor shaft 22, and the large gear rotates in a meshing manner with another reversing bevel gear 20 so as to enable two rotor shafts 22 to simultaneously start rotating, the two rotor shafts 22 drive an automatic inclinator 13 to rotate through respective bearing seats 14, and a pull rod of the automatic inclinator 13 drives a hub 1 and blades 2 to rotate together; wherein, the pull rod on the steering engine 21 is used for controlling the translation and the tilting of the automatic inclinator 13 so as to change the direction of the resultant force surface.
The utility model discloses a modular crossing tandem unmanned helicopter's working method, as follows:
vertical takeoff: the pull rod on the steering engine is used for translating the automatic inclinator upwards to increase the pitches of all the blades, so that the attack angle of the blades is increased, the lift force is improved, and the helicopter body climbs;
and (3) vertically descending: the pull rod on the steering engine translates the automatic tillers downwards to reduce the pitches of all the blades, so that the attack angles of the blades are reduced to reduce the lift force, and the helicopter body descends;
front flying: the automatic inclinators on the left and right rotary wing shafts are inclined forwards simultaneously through a pull rod on the steering engine, so that the resultant force direction is changed, and forward flight is realized;
flying at the back: the automatic inclinators on the left and right rotary wing shafts are inclined backwards simultaneously through the pull rod on the steering engine, the resultant force direction is changed, and the back flying is realized;
yaw left (yaw, i.e. change course, seen from the rear view direction of the body): the automatic inclinator on the left rotary wing shaft is required to be backwards inclined through a pull rod on the steering engine, and the automatic inclinator on the right rotary wing shaft is forwards inclined to form a couple so that the helicopter body yaws leftwards;
yawing to the right: the automatic inclinator on the left rotary wing shaft is inclined forwards and the automatic inclinator on the right rotary wing shaft is inclined backwards through a pull rod on the steering engine to form a couple so that the helicopter body yaws rightwards;
roll to the left (roll maneuver, i.e., the body rotates about the longitudinal axis, as viewed from the body's rear view): the automatic inclinator on the left rotary wing shaft is translated downwards through a pull rod on the steering engine, the automatic inclinator on the right rotary wing shaft is translated upwards, and the machine body rolls leftwards;
rolling to the right: the automatic inclinator on the left rotary wing shaft is translated upwards through a pull rod on the steering engine, the automatic inclinator on the right rotary wing shaft is translated downwards, and the machine body rolls rightwards;
front-down (pitching, i.e. the body rotates around the horizontal axis, looking from the body's rear direction): the automatic inclinators are translated downwards at the same time through pull rods of steering gears on left and right rotary wing shafts of a body of the front helicopter, and the automatic inclinators are translated upwards at the same time through pull rods of steering gears on left and right rotary wing shafts of a body of the rear helicopter;
backward tilting: the automatic inclinators are translated upwards simultaneously through the steering engine pull rods on the left and right rotary wing shafts of the body of the front helicopter, and the automatic inclinators are translated downwards simultaneously through the steering engine pull rods on the left and right rotary wing shafts of the body of the rear helicopter.
The utility model discloses the concrete application way is many, and the above-mentioned only is the preferred embodiment of the utility model, should point out, to ordinary skilled person in this technical field, under the prerequisite that does not deviate from the utility model discloses the principle, can also make a plurality of improvements, and these improvements also should be regarded as the utility model discloses a scope of protection.
Claims (8)
1. A modularized cross-type tandem unmanned helicopter is characterized by being composed of two helicopter monomers which are connected together through a connecting device; wherein, the helicopter monomer includes: the propeller comprises a propeller hub (1), blades (2), a fuselage (11), an automatic inclinator (13), a bearing seat (14), a bearing seat side plate (15), a motor seat (18), a motor (19), a steering engine (21), a rotor shaft (22), a one-way bearing (23) and a transmission system (24);
the body (11) comprises: a base (9), a base side plate (3), a front side plate (10), a right side plate (12), a lifting frame support (4), a lifting frame rod (6) and a base side plate support (7); wherein, the base side plate (3) is respectively connected with the front side plate (10), the base (9) and the lifting frame support (4); the front side plate (10) is positioned at the top of the base side plate (3) and is respectively connected with the motor base (18) and the right side plate (12); the base (9) is arranged between the two base side plates (3); the landing gear support (4) is arranged on the side surface of the base side plate (3) and is connected with the landing gear rod (6); the right side plate (12) is arranged on the right upper side of the base side plate (3) and is respectively connected with the motor base (18) and the bearing seat (14); the two base side plates (3) are connected by a base side plate support (7);
the transmission system (24) is arranged above the machine body (11) and below the blades (2) and comprises a primary speed reducer consisting of a motor gear (17) and a large gear (16) and a reversing bevel gear (20), wherein the large gear (16) is connected with a one-way bearing (23); the motor gear (17) is arranged on the motor (19) and is fastened with the motor (19) through a bolt; the bull gear (16) is arranged at the lower end of the rotor shaft (22), and the reversing bevel gear (20) is arranged in the middle of the rotor shaft (22); the bull gear (16) and the reversing bevel gear (20) are connected with the rotor shaft (22) through pins;
the propeller hub (1) is fixedly arranged at the top end of the rotor shaft (22) and is connected with the propeller blades (2);
the automatic inclinator (13) is arranged on the rotor shaft (22), is positioned below the propeller hub (1), and is in clearance connection with the rotor shaft (22);
the bearing seat (14) is sleeved on the rotor shaft (22), is positioned below the automatic inclinator (13), is in interference connection with the rotor shaft (22), and is connected with the bearing seat side plate (15);
the steering engine (21) is fastened on the bearing seat (14);
the motor base (18) is arranged between the large gear (16) and the reversing bevel gear (20) and is respectively connected with the front side plate (10) and the right side plate (12);
the motor (19) is fixedly arranged on the motor base (18) and is connected with the motor base (18);
the one-way bearing (23) is fixedly arranged in the large gear (16) and sleeved at the bottom end of the rotor shaft (22).
2. The modular cross-over tandem unmanned helicopter of claim 1, wherein said attachment means is a quad-rotor attachment means or a tandem attachment means.
3. The modular cross-file drone of claim 2, characterized in that the said quadrirotor connection means are channel-shaped pieces of steel of length greater than the diameter of the blades, the cross section of the channel-shaped pieces being channel-shaped, fixedly mounted between the base side plates (3), which allows the blades of the front and rear helicopter cells to be free from overlapping, free from height differences, and working simultaneously in a quadrirotor mode.
4. The modular cross-over tandem unmanned helicopter of claim 2, wherein said tandem connection means is a channel steel member having a length less than the diameter of the blades, such that there is an overlap of the blades of the front and rear helicopter singlets and a difference in height between the front and rear helicopter singlets, forming a tandem pattern.
5. The modular cross-file drone of claim 1, characterized in that the base side plate (3) and the right side plate (12) are made of carbon plate material.
6. The modular cross-phased tandem unmanned helicopter of claim 1, wherein said force bearing component base (9), front side plate (10), landing gear support (4), landing gear rod (6) and base side plate support (7) are made of composite material.
7. The modular cross-file unmanned helicopter of claim 1, wherein the reversing bevel gear (20) has a gear ratio of 1.
8. The modular cross-file drone of claim 1, characterized in that the bull gear (16) and reversing bevel gears (20) are made of nylon material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920950093.2U CN210555568U (en) | 2019-06-24 | 2019-06-24 | Modularized crossed type tandem unmanned helicopter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920950093.2U CN210555568U (en) | 2019-06-24 | 2019-06-24 | Modularized crossed type tandem unmanned helicopter |
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| CN210555568U true CN210555568U (en) | 2020-05-19 |
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| CN201920950093.2U Active CN210555568U (en) | 2019-06-24 | 2019-06-24 | Modularized crossed type tandem unmanned helicopter |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203383A (en) * | 2019-06-24 | 2019-09-06 | 南京航空航天大学 | A kind of modular staggered form file unmanned helicopter and its working method |
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2019
- 2019-06-24 CN CN201920950093.2U patent/CN210555568U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203383A (en) * | 2019-06-24 | 2019-09-06 | 南京航空航天大学 | A kind of modular staggered form file unmanned helicopter and its working method |
| WO2020259570A1 (en) * | 2019-06-24 | 2020-12-30 | 南京航空航天大学 | Modular intermeshing and tandem unmanned helicopter and working method thereof |
| GB2594816A (en) * | 2019-06-24 | 2021-11-10 | Univ Nanjing Aeronautics & Astronautics | Modular intermeshing and tandem unmanned helicopter and working method thereof |
| GB2594816B (en) * | 2019-06-24 | 2023-07-19 | Univ Nanjing Aeronautics & Astronautics | Modular intermeshing and tandem unmanned helicopter and working method thereof |
| CN110203383B (en) * | 2019-06-24 | 2024-04-16 | 南京航空航天大学 | Modularized cross type column unmanned helicopter and working method thereof |
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