CN211308966U

CN211308966U - Hybrid unmanned aerial vehicle with two rotors

Info

Publication number: CN211308966U
Application number: CN201921511018.2U
Authority: CN
Inventors: 张白; 肖岩; 王志会
Original assignee: North Minzu University
Current assignee: North Minzu University
Priority date: 2019-09-11
Filing date: 2019-09-11
Publication date: 2020-08-21
Anticipated expiration: 2029-09-11

Abstract

The utility model relates to a take hybrid unmanned aerial vehicle of two kinds of rotors, this unmanned aerial vehicle include the organism, the edge of organism is provided with at least a pair of control rotor, and two control rotor symmetries of every centering set up, the control rotor is by motor drive, the center of organism is provided with a plurality of lift rotor, a plurality of lift rotor sets up in same pivot, by same fuel motor drive. The utility model provides a take hybrid unmanned aerial vehicle of two kinds of rotors through setting up a plurality of lift rotor in the central point of organism puts, and a plurality of lift rotor sets up in same pivot, can realize that all lift rotors are synchronous to rotate with fast when this pivot of fuel motor drive rotates, consequently can ensure the stability of unmanned aerial vehicle flight reliably.

Description

Hybrid unmanned aerial vehicle with two rotors

Technical Field

The utility model relates to an unmanned air vehicle technique field, in particular to take hybrid unmanned aerial vehicle of two kinds of rotors.

Background

Unmanned aerial vehicles, also called unmanned aerial vehicles, have been widely used in various fields. Based on the consideration of factors such as stability and easy control, the existing unmanned aerial vehicle only has a plurality of rotors with small sizes in pairs, and is powered by a battery, and a direct current motor drives the wings to rotate. However, the electricity storage capacity of the battery is limited, so that the endurance time of the unmanned aerial vehicle is short, the size of the rotor wing is small, the load capacity of the unmanned aerial vehicle is not large, and the wider application of the unmanned aerial vehicle is limited.

The chinese utility model patent application with publication number CN107140192A discloses a hybrid unmanned aerial vehicle has set up lift rotor and control rotor respectively, and the lift rotor is driven by fuel motor, and control rotor can keep unmanned aerial vehicle's stability control by motor drive, can improve unmanned aerial vehicle's load capacity and duration again, but this unmanned aerial vehicle still has the defect. For example, because lift rotor symmetry sets up the edge in the frame, to realize unmanned aerial vehicle stable control, just must keep two lift rotors synchronous and with fast antiport, even still the fuel motor of same batch with the model also hardly reaches the requirement with fast, still control synchronous revolution and just more difficult realization, consequently, this unmanned aerial vehicle is the stable control under the ideal condition in fact, hardly reaches in the practical application, and when two lift rotors can not synchronous with fast rotatory, can lead to whole unmanned aerial vehicle can not keep balanced stable, probably cause the air crash.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to improve the above-mentioned not enough that exists among the prior art, provide a take hybrid unmanned aerial vehicle of two kinds of rotors.

In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:

the utility model provides a take hybrid unmanned aerial vehicle of two kinds of rotors, includes the organism, the edge of organism is provided with at least a pair of control rotor, and two control rotor symmetries of every centering set up, the control rotor is by motor drive, be provided with a plurality of lift rotor on the center axis of organism, a plurality of lift rotor sets up in same pivot, by same fuel motor drive.

The lift rotor only provides lift, does not provide the yawing force, through setting up a plurality of lift rotor in the central point of organism puts, and a plurality of lift rotor sets up in same pivot, can realize when this pivot of fuel motor drive rotates that all lift rotors are synchronous with fast rotatory, consequently can ensure the stability of unmanned aerial vehicle flight reliably.

In one embodiment, the lift rotors are in an even number, the even number of lift rotors are arranged on the same rotating shaft in a coaxial contra-rotating mode, and the rotating directions of the two control rotors in each pair of control rotors are opposite.

In another embodiment, the lift rotor is odd, and odd lift rotor sets up in same pivot with coaxial syntropy mode, the edge of organism still is provided with at least a pair of auxiliary rotor, and every two auxiliary rotor symmetry in the auxiliary rotor set up and the direction of rotation the same, and this direction of rotation is opposite with the direction of rotation of lift rotor, and auxiliary rotor is driven by the motor, and auxiliary rotor and control rotor along the marginal evenly distributed of organism.

In this embodiment, the auxiliary rotor and the control rotor are uniformly distributed along the edge of the airframe, which means that the auxiliary rotor and the control rotor are regarded as a whole set, and the individuals in the whole set are uniformly distributed along the edge of the airframe. The structure of the auxiliary rotor and the control rotor can be the same or different. When the auxiliary rotor is more than one pair, if the auxiliary rotor and the control rotor are the same in structure, each pair of auxiliary rotors can be distributed randomly (under the condition that the auxiliary rotor and the control rotor are uniformly distributed along the edge of the body), for example, two pairs of auxiliary rotors are arranged next to each other; if the structure of supplementary rotor and control rotor is different, then the marginal evenly distributed of organism will be followed to solitary supplementary rotor, and the marginal evenly distributed of organism is followed to solitary control rotor to guarantee whole unmanned aerial vehicle's focus is balanced.

Above-mentioned two kinds of embodiments can both realize the lift rotor well and provide lift, and simple structure.

Compared with the prior art, the utility model provides a take hybrid unmanned aerial vehicle of two kinds of rotors has following beneficial effect:

(1) through setting up a plurality of lift rotor in the central point of organism puts, and a plurality of lift rotor sets up in same pivot, can realize that all lift rotors are synchronous to rotate with fast when this pivot of fuel motor drive rotates, consequently can ensure the stability of unmanned aerial vehicle flight reliably.

(2) Through setting up the lift rotor in the central point of organism puts, can keep the whole focus of unmanned aerial vehicle at the central point, guarantee unmanned aerial vehicle's static balance nature can not appear leading to whole unmanned aerial vehicle to lose balance because of setting up in the weight difference of two lift rotors at the frame edge.

(3) The lift rotor only provides lift, by fuel motor drive, can reduce the consumption to the electric energy then, prolongs unmanned aerial vehicle's time of endurance, and the control rotor realizes the gesture transform and few partial lift, by motor drive, can ensure unmanned aerial vehicle's control flexibility and stability then.

(4) Through setting up the lift rotor in the central point of organism puts, the size of lift rotor does not receive the space restriction, consequently under keeping the lift effect of equidimension, the size of organism is littleer relatively, and weight is lighter, is favorable to miniaturized design.

(5) The lift rotor wing and the control rotor wing are controlled independently, and a control algorithm can be simplified.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is the embodiment of the utility model provides a take hybrid unmanned aerial vehicle's of two kinds of rotors structure schematic diagram.

Fig. 2 is the embodiment of the utility model provides a another take hybrid unmanned aerial vehicle's of two kinds of rotors structure schematic diagram.

In the drawings, reference numerals

The aircraft comprises a body 10, a landing gear 20, a control rotor 30, a lifting rotor 40, a rotating shaft 50, a fuel motor 60, a motor 70 and an auxiliary rotor 80.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

The hybrid unmanned aerial vehicle who takes two kinds of rotors that provides in this embodiment, including organism 10, the edge of organism 10 is provided with at least a pair of control rotor 30, and two control rotor 30 symmetries in every centering set up, and control rotor 30 is driven by motor 70, is provided with a plurality of lift rotor 40 on the central axis of organism 10, and a plurality of lift rotor 40 sets up in same pivot 50, is driven by same fuel motor 60. The lift rotor 40 provides most of the lift, and the lift rotor 40 provides only lift. The control rotor 30 mainly provides a lateral force to advance or change the attitude of the unmanned aerial vehicle, and also provides a small part of lift force to lift the unmanned aerial vehicle. Because control rotor 30 only provides the lift of minority, and lift rotor 40 is driven by fuel motor 60, consequently, compare in traditional pure electric motor drive's unmanned aerial vehicle, in this embodiment unmanned aerial vehicle can reduce power consumption, then extension unmanned aerial vehicle's flight time. When the control rotor 30 is two pairs, it is a four-rotor in the conventional sense, when the control rotor 30 is three pairs, it is a six-rotor in the conventional sense, and when the control rotor 30 is four pairs, it is an eight-rotor in the conventional sense.

Referring to fig. 1, as an embodiment, there are an even number of lift rotors 40, for example, two lift rotors 40 are shown in fig. 1, and the even number of lift rotors 40 are disposed on the same rotating shaft 50 in a coaxial backswing manner. By coaxial counter-rotating, it is meant that an even number of lift rotors 40 are disposed on the same rotating shaft 50, half of the lift rotors 40 rotate clockwise, and the other half of the lift rotors 40 rotate counterclockwise, and the even number of lift rotors 40 can balance the horizontal circumferential force by themselves, so that in this embodiment, the two control rotors 30 in each pair of control rotors 30 rotate in opposite directions.

Referring to fig. 2, as another embodiment, the number of the lift rotors 40 is odd, for example, only 1 lift rotor 40 is shown in fig. 2, and the odd lift rotors 40 are disposed on the same rotating shaft 50 in the same coaxial direction. Coaxial and co-directional means that an odd number of lift rotors 40 are disposed on the same shaft 50 and all rotate in the same direction. Since all the lifting rotors 40 rotate in one direction, a moment imbalance in the horizontal circumferential direction is necessarily caused, and therefore, in this solution, a balance by means of the auxiliary rotor 80 is required. As shown in fig. 2, at least one pair of auxiliary rotors 80 is disposed at the edge of the body 10, and two auxiliary rotors 80 in each pair of auxiliary rotors 80 are symmetrically disposed and rotate in the same direction, and the rotation direction is opposite to the rotation direction of the lift rotor 40, so as to achieve the purpose of moment balance in the horizontal direction. The auxiliary rotor 80 is driven by the motor 70 so as to be controlled, and the auxiliary rotor 80 provides lift force for vertically lifting the unmanned aerial vehicle while realizing the rotation torque of the balance lift rotor 40. As shown in fig. 2, the auxiliary rotor 80 and the control rotor 30 are uniformly distributed along the edge of the body 10, and uniform distribution means that the control rotor and the auxiliary rotor are uniformly distributed along the edge of the body as a whole.

The fuel motor 60 may be disposed at one side of the body 10 with the rotation shaft 50 at an angle (e.g., 90 degrees) to the output shaft of the fuel motor 60. Because the fuel motor 60 is disposed behind one side of the machine body 10, the center of gravity of the whole unmanned aerial vehicle shifts, and therefore, as a preferred embodiment, the fuel motor 60 is also disposed on the central axis of the machine body 10. Since the coaxial contra-rotating and coaxial equidirectional arrangement are the prior art, a specific connection structure between the fuel motor 60 and the rotating shaft 50 is not shown in fig. 1 and 2, and only a simple connection illustration is made.

To increase the load capacity of the drone, the lift rotor 40 may be sized larger than the control rotor 30.

The unmanned aerial vehicle that provides in this embodiment, through setting up lift rotor 40 in organism 10's the central axis, organism 10 upper surface's central point puts promptly, has realized absolute synchronization with fast through coaxial mode, consequently can reliably ensure unmanned aerial vehicle's stability.

In addition, the size of the body 10 can be reduced compared to the case where the lift rotor 40 is provided at the edge of the body 10 at the center of the body 10. Specifically, when the lift rotors 40 are disposed at the edge of the body 10, the structure of the body 10 is relatively large in order to ensure that the two symmetrical lift rotors 40 are isolated from each other so as to rotate normally. And through setting up lift rotor 40 in organism 10 central point, and the coaxial setting of a plurality of lift rotor 40, just do not have the condition of dodging of needs, consequently can reduce organism 10's size, reduce organism 10's weight, both more be favorable to the energy can be saved, be favorable to increasing the load again.

In the embodiments of the unmanned aerial vehicle according to the above two embodiments, the lift rotor 40 and the control rotor 30 are independently controlled by a set of control system. That is, in the embodiment shown in fig. 2, the control rotor 30 is controlled by a first control system and the lift rotor 40 is controlled by a second control system; in the embodiment shown in fig. 2, the control rotor 30 is controlled by a first control system and both the lift rotor 40 and the auxiliary rotor 80 are controlled by a second control system.

For the case that the lift rotor 40 is an odd number, in the specific control, the second control system obtains the rotation speed of the lift rotor 40 and controls the rotation speed of the auxiliary rotor 80 according to the rotation speed of the lift rotor 40, so as to achieve the moment balance in the horizontal direction. However, when the lift rotor 40 achieves a fixed speed, the rotation speed of the fuel motor 60 is a known parameter, and the second control system can control the rotation speed of the motor 70 for driving the auxiliary rotor 80 according to the parameter, so as to achieve the horizontal moment balance. If the lift rotor 40 can be lifted at variable speeds, the rotation speed of the lift rotor 40 or the fuel motor 60 can be collected in real time by a sensor, and then the rotation speed of the motor 70 for driving the auxiliary rotor 80 is controlled.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a take hybrid unmanned aerial vehicle of two kinds of rotors, includes the organism, the edge of organism is provided with at least a pair of control rotor, and two control rotor symmetries of every centering set up, the control rotor is by motor drive, its characterized in that, be provided with a plurality of lift rotor on the central axis of organism, a plurality of lift rotor sets up in same pivot, by same fuel motor drive.

2. A hybrid unmanned aerial vehicle with two rotors according to claim 1, wherein the lift rotor is provided in an even number, the even number of lift rotors are arranged on the same rotating shaft in a coaxial contra-rotating manner, and the two control rotors in each pair of control rotors rotate in opposite directions.

3. A hybrid unmanned aerial vehicle with two rotors according to claim 2, wherein the number of lift rotors is 2.

4. A hybrid unmanned aerial vehicle with two rotors as claimed in claim 1, wherein the lift rotor is odd, the odd lift rotors are disposed on the same rotating shaft in the same coaxial and same direction, the edge of the airframe is further disposed with at least one pair of auxiliary rotors, the two auxiliary rotors of each pair of auxiliary rotors are symmetrically disposed and rotate in the same direction, and the rotating direction is opposite to the rotating direction of the lift rotors, the auxiliary rotors are driven by a motor, and the auxiliary rotors and the control rotors are uniformly distributed along the edge of the airframe.

5. A hybrid unmanned aerial vehicle with two rotors according to claim 4, wherein the number of lift rotors is 1.

6. A hybrid drone with two rotors according to any one of claims 1 to 5, characterised in that the size of said lift rotor is greater than the size of said control rotor.