CN211642599U - Vector-tilting coaxial dual-rotor unmanned aerial vehicle - Google Patents
Vector-tilting coaxial dual-rotor unmanned aerial vehicle Download PDFInfo
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- CN211642599U CN211642599U CN201920990038.6U CN201920990038U CN211642599U CN 211642599 U CN211642599 U CN 211642599U CN 201920990038 U CN201920990038 U CN 201920990038U CN 211642599 U CN211642599 U CN 211642599U
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Abstract
The utility model provides a coaxial two rotor unmanned aerial vehicle that vector verts comprises fuselage (101), power device (102) and vector tilting device (103), and power device (102) and vector tilting device (103) of the unmanned aerial vehicle left and right sides are symmetry and the structure is identical. The problem of stalling of backward blades caused by high-speed forward flight of the unmanned aerial vehicle can be solved by the characteristics that the rotating speeds of the upper rotor and the lower rotor are opposite, and the positions of the backward blades are symmetrical relative to the body; the roll moment generated by one pair of rotors is balanced by the roll moment of the other pair of rotors.
Description
Technical Field
The utility model relates to a coaxial two rotor unmanned aerial vehicle that can VTOL particularly, relates to a four rotor unmanned aerial vehicle technical field that vector verts.
Background
In recent years, unmanned aerial vehicle technology is continuously developed and perfected, and is widely applied in the commercial and military fields. Most of the traditional coaxial dual-rotor unmanned aerial vehicles adopt two or more motors to be connected with mechanisms such as a speed reducer, two output shafts which turn reversely through the speed reducer are respectively connected with an upper rotary wing and a lower rotary wing, so that the counter rotation of the upper rotary wing and the lower rotary wing is realized, and the reaction brought by the two rotary wings is offset mutually. But in prior art, two rotor diameters, shape are the same about traditional coaxial two rotor unmanned aerial vehicle, cause flight efficiency not high, and mechanical structure is very complicated, and the security is low down.
SUMMERY OF THE UTILITY MODEL
The defect that exists to prior art, the utility model provides a coaxial two rotor unmanned aerial vehicle that vector verts can effectively solve some difficult points in the aspect of the safety design such as present traditional coaxial two rotor power assembly mechanical structure complicacy, spare part are more.
The utility model discloses a vector tilting coaxial double-rotor unmanned aerial vehicle, which comprises a vehicle body 101, a power device 102 and a vector tilting device 103, wherein the power device 102 and the vector tilting device 103 on the left side and the right side of the unmanned aerial vehicle are symmetrical and have the same structure; it is characterized in that
The fuselage 101 is divided into a fuselage shell, a fuselage upper part, a fuselage inner part, a fuselage lower part, a left side horn sleeve 201 and a right side horn sleeve 207; the fuselage shell is of a cuboid structure and comprises a fuselage upper plate 202, a fuselage bottom plate 219, a left side wall 218 and a right side wall 220 which are positioned at the upper part of the fuselage shell; the left side wall 218 is tightly connected with the machine body upper plate 202 and the machine body bottom plate 219 through a first fixed connecting device; the upper body plate 202 is fixedly connected with the left side wall 218 and the right side wall 220 through a second fixed connecting device; similarly, the right side wall 220 is fixed to the body bottom 219 in the same manner;
a GPS navigation receiving antenna base 222 is arranged on the upper part of the machine body on the upper plate 202, and when viewed from the front, the antenna base 222 is in an inverted T shape and is in a shape of a conventional antenna base, and is fixedly connected with the upper plate 202 by a third fixed connecting device; an antenna rod 223 is connected to the antenna base 222, threads are carved on the upper end and the lower end of the antenna rod 223, the lower end of the antenna rod is connected to the antenna base 222, and the upper end of the antenna rod is connected to the horizontal disc 204; the antenna rod 223 is coaxial with the base 222 and the horizontal disc 204 and is not rotatable; fixing the GPS on the upper surface of the horizontal disc 204;
a small rotor is arranged on the upper plate 202 of the unmanned aerial vehicle body and consists of a rotor mounting cap 205, rotor blades 203 and a brushless direct current motor 206 from top to bottom, and the brushless direct current motor 206 is fixedly connected to the upper plate 202 of the unmanned aerial vehicle body through a fourth fixed connecting device; the rotor mounting cap 205, the rotor blades 203 and the brushless dc motor 206 are connected to each other in a conventional manner;
the fixed antenna base 222 and the brushless dc motor 206 are both located on the longitudinal central axis of the upper panel 202 of the drone body;
the inner part of the fuselage is provided with a flight controller 212, a data transmitter 221, 4 electronic speed regulators 208, 209, 216 and 217, a first steering engine 211, a second steering engine 213 and a battery 214; the flight controller 212 is a control center of the unmanned aerial vehicle, is installed in the fuselage, and controls the brushless direct current motor 206 to make corresponding actions according to corresponding requirements after receiving instructions, so as to change the flight attitude of the unmanned aerial vehicle; the data transmitter 221 is installed inside the body; the electronic speed regulators 208, 209, 216 and 217 adopt brushless electric regulation, and realize the control of the rotating speed of the motor after receiving starting, stopping and braking signals, and the placement of the four electronic speed regulators needs to consider the balance weight of the machine body; the mounting location of the battery 214 is determined by drone weight trim; the first steering engine 211 and the second steering engine 213 are installed on two sides of the flight controller, are fixedly installed on a bottom plate of the machine body according to a balance weight, and drive the transmission shaft to rotate, so that the power device can tilt, and the flight attitude of the unmanned aerial vehicle can be changed;
the lower part of the machine body is provided with two carbon fiber foot rests 210 and 215 which are symmetrically arranged below the bottom plate of the machine body along the flying direction, the upper parts of the carbon fiber foot rests 210 and 215 are in an arch shape, and the arch top ends of the arch carbon fiber foot rests 210 and 215 are fixedly connected with the bottom plate of the machine body through a fifth fixed connecting device or a binder; two ends of the arched carbon fiber pipe penetrate through a horizontal carbon fiber pipe;
the left arm sleeve 201 and the right arm sleeve 207 are hollow long cylindrical rods and are fixedly connected with the side wall of the unmanned aerial vehicle into a whole and are symmetrical left and right; the right end of the left arm sleeve 201 is fixedly connected with the left side wall 218 of the machine body into a whole, and the left end of the left arm sleeve 201 is connected with the left vector tilting device 103;
the vector tilting device 103 comprises a left side and a right side which are respectively provided with a set of vector tilting devices, and the two sets of vector tilting devices have the same structure and are symmetrically arranged; the right vector tilting device 103 includes, from right to left: the right tilting mechanism comprises a right tilting mechanism transmission shaft 303, a first bearing 302, a right arm sleeve 207, a right side wall 220, a second bearing 301 and a second steering engine 213;
the right tilting mechanism transmission shaft 303 is of a bearing structure, the second bearing 301 and the first bearing 302 are respectively embedded in the left end and the right end of the right arm sleeve 207, the right tilting mechanism transmission shaft 303 is sleeved in the right arm sleeve 207 through the two bearings and used for reducing the rotating resistance of the transmission shaft driving power device, and the axis of the right tilting mechanism transmission shaft 303 is superposed with the axes of the two bearings; the right end of the right tilting mechanism transmission shaft 303 is provided with a protruding connecting part, and is connected with the power device 102 through the protruding connecting part; the left end of the right tilting mechanism transmission shaft 303 is rotatably connected with a second steering engine 213 in the unmanned aerial vehicle body, and the second steering engine 213 is connected with the right tilting mechanism transmission shaft 303 through a rotatable connection mode; the second steering engine 213 drives the right tilting mechanism transmission shaft 303 to rotate, so as to control the right power device to tilt; the right tilting mechanism transmission shaft 303 and the horn sleeve 207 are both hollow structures;
the power devices on the left side and the right side of the unmanned aerial vehicle are identical in structure and symmetrically arranged, and the power device 102 on the left side is composed of an upper rotor blade locking mechanism 402, an upper rotor blade 401, an upper motor 403, an upper motor seat gasket 405, a motor support 404, a lower motor seat gasket 406, a lower motor 407, a lower rotor blade 408 and a lower rotor blade locking mechanism 409 from top to bottom;
the upper motor 403 is fixedly connected with the motor base gasket 405 through a sixth fixed connection device, and the upper motor 403 is positioned on the upper motor base gasket 405; an upper rotor blade 401 is fixed at the upper end of a rotor of an upper motor 403, and the rotor rotates to drive the rotor to rotate so as to generate lift force; an upper rotor blade locking mechanism 402 is mounted on the rotor of an upper motor 403 and used for locking the blades to prevent the blades from loosening; the lower motor 407 is fixedly connected with the lower motor base gasket 406, and the lower motor 407 is positioned below the lower motor base gasket 406; the lower rotor blade 408 is fixed on the rotor of the lower motor 407, and the rotor rotates to drive the rotor to rotate so as to generate lift force; the lower rotor blade locking mechanism 409 is the same in shape and function as the upper rotor blade locking mechanism 402, and is mounted on the rotor of the lower motor 407; the right ends of the upper motor base gasket 405 and the lower motor base gasket 406 are respectively fixedly connected with the left tilting mechanism transmission shaft 410 through a seventh fixed connecting device; the left ends of the upper motor base gasket 405 and the lower motor base gasket 406 are fixedly connected with the left motor bracket 404 through an eighth fixed connecting device, and the motor bracket 404 enables the upper motor and the lower motor to be fixed more firmly; and, the axis of upper motor 403 coincides with the axis of lower motor 407, guarantees that the lift that the rotor produced maximizes.
In one embodiment of the present invention, four electronic governors are fixed at four angular positions on the body floor.
In an embodiment of the present invention, the rotatable connection between the left end of the right tilting mechanism transmission shaft 303 and the second steering engine 213 inside the unmanned aerial vehicle body is a rotational connection, a threaded connection, or a pivot connection.
In a specific embodiment of the present invention, the right tilting mechanism transmission shaft 303 is made of carbon fiber; selecting a composite material as a material of the machine body; the rotor blade all chooses the carbon fiber paddle for use.
In a specific embodiment of the present invention, the upper motor 403 and the lower motor 407 are symmetrically installed to form a dual-rotor mechanism.
In one embodiment of the present invention, the motor model is selected 2212, 3508 or 4010.
In a specific embodiment of the present invention, 3508 is selected for the motor model.
In an embodiment of the present invention, the upper rotor blade 401 and the lower rotor blade 408 are bothA double-leaf arc-shaped long sheet with a certain torsion rate; the rotor disc load is an important parameter of the rotor and can be expressed as:
m is the total weight of the aircraft, SyIs the effective area of the rotor disc; adopt coaxial two rotor structures, can produce the vortex in the course of the work, make the effective area of thick liquid dish reduce, for the effective area of convenient calculation coaxial two rotor thick liquid dishes, introduce a correction coefficient lambda, therefore rotor effective area expresses to be: sy＝Kλπ(R12+R22) Wherein R1 is the radius of rotation of the upper rotor blade 401, R2 is the radius of rotation of the lower rotor blade 408, and K is the rotor disk area effective coefficient; the conditions that the unmanned aerial vehicle has to meet for takeoff are as follows:
wherein, η0The effective coefficient of hovering is, and D is the effective area diameter of the double rotors; go up rotor blade 401 and rotor blade 408 radius difference down, through rotor blade 408 down in the increase, make two upper and lower rotor constant speed antiport produce the same power, guarantee unmanned aerial vehicle's stability.
In one embodiment of the present invention, the dressing table correction factor is 0.75, the effective factor is 0.95, η00.75; the radius of the lower rotor blade 408 is 0.16m and the radius of the upper rotor blade 401 is 0.12 m; effective area S of rotor blade diskyIs 0.38m2(ii) a The fuselage material adopts AS4 and PEEK's combined material, and the unmanned aerial vehicle fuselage is hollow cuboid structure, and the parameter is respectively: the length is 25cm, the width is 20cm and the height is 15 cm.
The utility model discloses a to driving system's improvement, measures such as the unique appearance design of unmanned aerial vehicle are installed in the upper and lower both sides about unmanned aerial vehicle through two brushless DC motor symmetries to the antiport realizes bispin wing mechanism, has simplified the coaxial bispin wing mechanism of traditional complicated machinery greatly. Two upper and lower rotor size variation in size guarantee two upper and lower rotor constant speed antiport, make unmanned aerial vehicle stable flight to flight efficiency has been improved. Simultaneously, compare with the symmetry that traditional vert rotor left and right sides arranged and reversal, the symmetry of coaxial two rotor reversal still can effectively solve following two problems: 1. the problem of stalling of backward blades caused by high-speed forward flight of the unmanned aerial vehicle can be solved by the characteristics that the rotating speeds of the upper rotor and the lower rotor are opposite, and the positions of the backward blades are symmetrical relative to the body; 2. the roll moment generated by one pair of rotors is balanced by the roll moment of the other pair of rotors. Consequently the utility model discloses a but four rotor unmanned aerial vehicle that vector verts has hover efficient, keep the rotation gliding ability, the high advantage of mechanism is simple, the security of verting.
Drawings
Fig. 1 is an overall structure diagram of the vector tilting quadrotor unmanned aerial vehicle;
fig. 2 is the fuselage structure of the vector tilt quadrotor drone of the present invention, wherein fig. 2(a) shows a front view;
FIG. 2(b) shows a left side view and FIG. 2(c) shows a top view;
fig. 3 is a structural diagram of the vector tilting quad-rotor unmanned aerial vehicle power device of the utility model;
fig. 4 is a structural diagram of a vector tilting device of the vector tilting quad-rotor unmanned aerial vehicle of the present invention;
figure 5 is a schematic view of a rotor blade according to the present invention.
Detailed Description
In order to make the conception, the specific structure and the beneficial effects of the present invention clearer, the features and effects of the present invention will now be described in detail with reference to the following embodiments and drawings. It should be understood that the specific embodiments described herein are for the purpose of describing the invention only and are not intended to limit the invention.
As shown in fig. 1, the vector tilting coaxial dual-rotor unmanned aerial vehicle is composed of a vehicle body 101, a power device 102 and a vector tilting device 103, wherein the power device 102 and the vector tilting device 103 on the left side and the right side of the unmanned aerial vehicle are symmetrical and identical.
As shown in fig. 2, the fuselage 101 is mainly divided into a fuselage shell, an upper fuselage section, an inner fuselage section, a lower fuselage section, a left side horn sleeve 201, and a right side horn sleeve 207.
The fuselage shell is a hollow shell structure, the shell itself can be a cuboid structure, a shell sphere or other polygonal structures with symmetrical structures, and the fuselage shell comprises a fuselage upper plate 202, a fuselage bottom plate 219, a left side wall 218 and a right side wall 220 which are positioned on the upper part of the fuselage shell. In an embodiment of the present invention, the body housing is a rectangular parallelepiped structure, as shown in fig. 2(b), 4 screw holes are opened on the left side wall 218, and the left side wall 218 is fastened and connected to the body upper plate 202 and the body bottom plate 219 by screws; as shown in the plan view of fig. 2(c), the body upper plate 202 has 6 screw holes, and the body upper plate 202 is fastened and connected to the left side wall 218 and the right side wall 220 by screws. Similarly, the right side wall 220 and the body bottom plate 219 have the same fixing mode, and the reliability of the whole body of the unmanned aerial vehicle is guaranteed.
In the upper part of the body, at the position near the middle and back above the body casing, a GPS navigation receiving antenna base 222 is mounted on the body upper plate 202, and when viewed from the front, the antenna base 222 is in the shape of an inverted "T" and is in the shape of a conventional antenna base, and is fastened to the body upper plate 202 by four screws, for example. An antenna rod 223 is connected to the antenna base 222, threads are carved on the upper end and the lower end of the antenna rod 223, the lower end of the antenna rod is connected to the antenna base 222, and the upper end of the antenna rod is connected to a horizontal disc 204. The antenna 223 is coaxial with the base 222 and the horizontal disc 204, is non-rotatable, has a simple structure, is reliably connected, and is convenient to disassemble and assemble, and the GPS is mounted on the upper surface of the horizontal disc 204, and the GPS and the horizontal disc are generally bonded by using an adhesive such as 3M glue in practice.
Near the front in the middle of about in fuselage casing top, install a small-size rotor on organism upper plate 202, small-size rotor top-down comprises rotor mounting cap 205, rotor blade 203 and brushless DC motor 206, and brushless DC motor 206 for example through 4 screw fastening connections on unmanned aerial vehicle organism upper plate 202, its effect is the balance of guaranteeing unmanned aerial vehicle flight in-process fuselage and realizes the change of unmanned aerial vehicle every single move gesture. The rotor mounting cap 205, rotor blades 203 and brushless dc motor 206 are connected to one another in a conventional manner, as is well known to those skilled in the art.
The fixed antenna base 222 and the brushless dc motor 206 are both located substantially on the longitudinal (flight direction) centerline of the drone body upper plate 202.
The inner part of the fuselage is provided with a flight controller 212, a data transmitter 221, 4 electronic speed regulators 208, 209, 216 and 217, a first steering engine 211, a second steering engine 213 and a battery 214. The flight controller 212 is a control center of the unmanned aerial vehicle, is installed at a gravity center position in the body, and controls the brushless direct current motor 206 to make corresponding actions according to corresponding requirements after receiving instructions, so that the flight attitude of the unmanned aerial vehicle is changed; the data transmitter 221 is installed in the near-edge area inside the machine body, so that the unmanned aerial vehicle and a ground station or remote control equipment can conveniently transmit data, pictures or videos; the electronic speed regulators 208, 209, 216 and 217 adopt brushless electric regulation, and realize the control of the rotating speed of the motor after receiving starting, stopping and braking signals, and the placement of the four electronic speed regulators needs to consider the balance weight of the machine body; in one embodiment of the present invention, four electronic governors are fixed at four angular positions of the body floor. The battery 214 is the power source of the drone, the capacity is generally determined by the drone load, the installation location is determined by drone weight trim, and the battery 214 is typically selected to be a lithium battery. The first steering engine 211 and the second steering engine 213 are installed on two sides of the flight controller and fixedly installed on the bottom plate of the airplane body according to the balance weight.
The lower part of the machine body is provided with two carbon fiber foot rests 210 and 215 which are symmetrically arranged below the bottom plate of the machine body along the flying direction, as shown in fig. 2(b), the upper parts of the carbon fiber foot rests 210 and 215 are in an arch shape, and the arch top ends of the arch carbon fiber foot rests 210 and 215 are fixedly connected with the bottom plate of the machine body; a horizontal carbon fiber pipe is passed at arch carbon fiber pipe both ends to increase unmanned aerial vehicle area of contact, play the effect that supports unmanned aerial vehicle when unmanned aerial vehicle takes off and lands, avoid unmanned aerial vehicle to turn on one's side, horizontal carbon fiber pipe stretches out respectively from arch carbon fiber pipe both ends, stretches out the sponge cover of each cover in both ends of horizontal carbon fiber pipe, effectively plays the cushioning effect. In an embodiment of the present invention, the arched top ends of the arched carbon fiber foot rests 210 and 215 are drilled with small holes, and are fastened to the bottom plate of the unmanned aerial vehicle by screws.
Unmanned planeGravimetric analysis is an important link in the design process of aircraft, and the gross weight thereof determines the size, material, power requirements of motors and the like of the fuselage structure. The total takeoff weight of the unmanned aerial vehicle can be expressed as:
wherein M is the total weight of the aircraft, MdFor the weight of the battery, MpFor power system weight, MeWeight of electronic device, MlFor the load weight, XsIs a structural weight factor. The utility model discloses a rotor unmanned aerial vehicle verts belongs to small-size, aircraft that speed is low, gets X according to statistics and experiencesIs between about 0.4 and about 0.5. In an embodiment of the utility model, unmanned aerial vehicle takes off weight and is 3.5Kg, and unmanned aerial vehicle's loading capacity is 0.5Kg, XsIs 0.45. The total weight of the battery, the power system and the electronic equipment cannot exceed 1.4Kg, and the weight of the machine body structure can be calculated to be not more than 1.5 Kg. Fuselage material optional composite material in the utility model discloses an embodiment, preferably, adopt AS4 and PEEK's composite material, direct founding shaping, light in weight, intensity is high, and is with low costs, and the unmanned aerial vehicle fuselage is hollow cuboid structure, and the parameter is respectively: the length is 25cm, the width is 20cm and the height is 15 cm.
Left side horn sleeve 201 and right side horn sleeve 207 are hollow long cylinder barrel, as an organic whole with unmanned aerial vehicle lateral wall fixed connection, bilateral symmetry. The left horn sleeve 201 will be described as an example. As shown in fig. 2(b), the right end of the left arm sleeve 201 is fixedly connected to the left side wall 218 of the machine body, and the left end of the left arm sleeve 201 is connected to the left vector tilting device 103.
The vector tilting device 103 comprises a left side and a right side which are respectively provided with one set, and the two sets are completely identical in structure and are symmetrically arranged. As shown in fig. 3, a right vector tilting device 103 will be described as an example. As can be seen, the right vector tilting device 103 roughly includes, from right to left: right side tilting mechanism transmission shaft 303, first bearing 302, right side horn sleeve 207, right side wall 220, second bearing 301, second steering wheel 213.
The right side tilting mechanism transmission shaft 303 is of a bearing structure, the left end and the right end of the right side machine arm sleeve 207 are respectively embedded into a second bearing 301 and a first bearing 302, the right side tilting mechanism transmission shaft 303 is sleeved in the right side machine arm sleeve 207 through the two bearings, and the right side tilting mechanism transmission shaft 303 is overlapped with the two bearings in the axis center. The right side tilting mechanism transmission shaft 303 has a protruding connection portion at the right end thereof, and is connected to the power unit 102 through the protruding connection portion, and the structure of the protruding connection portion of the right side tilting mechanism transmission shaft 303 and the connection manner thereof to the power unit 102 are well known to those skilled in the art and will not be described in detail. The connection between the right tilt mechanism transmission shaft 303, the right arm socket 207, the bearing 301 and the bearing 302 is also well known to those skilled in the art, and the connection relationship and the operation principle between these components can be easily known by those skilled in the art through the illustration and the above description, and will not be described again. The left end of the right tilting mechanism transmission shaft 303 is rotatably connected with a second steering engine 213 inside the unmanned aerial vehicle body, and the connection mode can be rotation connection, threaded connection or pivot connection. In an embodiment of the present invention, the second steering gear 213 is connected to the right tilting mechanism transmission shaft 303 by a screw connection. Second steering wheel 213 drive right side tilting mechanism transmission shaft 303 rotates, and then control right side power device and realize tilting, reaches the purpose of control unmanned aerial vehicle gesture and motion. The utility model discloses in, the right side mechanism's that verts transmission shaft 303 and horn sleeve 207 are hollow structure, and the right side mechanism's that verts transmission shaft 303 material is the carbon fiber to alleviate unmanned aerial vehicle self weight. The motor mount pads 405 and 406 (described in detail below) and the left tilt mechanism drive shaft 410 are provided with electrical position adjustment holes for routing the wiring without interfering with the normal operation of the vector tilt mechanism, as is well known to those skilled in the art and will not be described in detail.
Fig. 4 shows a schematic diagram of the power device 102, and since the power devices on the left and right sides of the unmanned aerial vehicle have the same structure and are symmetrically arranged, the left power device 102 is taken as an example for description. The left power device 102 is composed of an upper rotor mounting cap 402, an upper rotor blade 401, an upper motor 403, an upper motor seat gasket 405, a motor bracket 404, a lower motor seat gasket 406, a lower motor 407, a lower rotor blade 408, and a lower rotor mounting cap 409 from top to bottom.
The upper motor 403 and the lower motor 407 are arranged in an up-down symmetrical mode to form a double-rotor mechanism, and lift force required by flight of the unmanned aerial vehicle and various changing postures is provided. In an embodiment of the present invention, the motor model can be selected 2212, 3508, 4010, and preferably, the model is selected 3508. As shown, the upper motor 403 is fixedly connected to the motor base pad 405, for example, by fastening with screws, and the upper motor 403 is located on the upper motor base pad 405. The upper rotor blade 401 is fixed at the upper end of the rotor of the upper motor 403, and the rotor rotates to drive the rotor to rotate, so that lift force is generated. Go up rotor mounting cap 402 and be the semicircle ball shape, the inside is drawn hollowly and is carved the screw thread in inside, installs on last motor 403 rotor through the screw thread for lock the paddle, prevent that it is not hard up. The lower motor 407 is fixedly connected to the lower motor base pad 406, and the lower motor 407 is located below the lower motor base pad 406. Lower rotor blades 408 are fixed to the rotor of lower motor 407, and the rotor rotates to drive the rotor to rotate, thereby generating lift. Lower rotor mounting cap 409 is shaped and functions in the same way as upper rotor mounting cap 402 and is threadably mounted to the rotor of lower motor 407. The right ends of the upper motor base gasket 405 and the lower motor base gasket 406 are respectively fixedly connected with the left tilting mechanism transmission shaft 410, for example, the right ends of the upper motor base gasket 405 and the lower motor base gasket 406 are respectively provided with a screw hole which is tightly attached to the left tilting mechanism transmission shaft 410 and is fixed by penetrating through screws from top to bottom; the left ends of the upper and lower motor base gaskets 405 and 406 are fixedly connected with the motor bracket 404 through a fixed connection device such as upper and lower 2 screws, and the motor bracket 404 fixes the upper and lower motors more firmly. And, the axis of upper motor 403 coincides with the axis of lower motor 407, guarantees that the lift that the rotor produced maximizes.
Fig. 5 shows rotor blade schematic diagram, and the design and the selection of unmanned aerial vehicle rotor type are crucial to the flight aerodynamics of whole aircraft, the utility model provides a rotor blade all chooses the carbon fiber paddle that the quality is light, hardness is big for use, goes up rotor blade 401 and lower rotor blade 408 and is the long thin slice of arc that has certain tortuosity of bilobal type. The rotor disc load is an important parameter of the rotor and can be expressed as:
Syis the effective area of the rotor disk. The utility model discloses a coaxial two rotor structures can produce the vortex in the course of the work, makes the effective area of thick liquid dish reduce, for the effective area of convenient calculation coaxial two rotor thick liquid dish, introduces a correction coefficient lambda, therefore rotor effective area shows as: sy＝Kλπ(R12+R22) Where R1 is the radius of rotation of the upper rotor blade 401, R2 is the radius of rotation of the lower rotor blade 408, and K is the rotor disk area effective coefficient. The utility model discloses an in the embodiment, the dressing table correction coefficient is 0.75, and the effective coefficient is 0.95, obtains the condition that unmanned aerial vehicle takes off must satisfy according to the literature and is:
wherein, η0For hover significant factor, here take η0D is the effective area diameter of the dual rotor wing, 0.75. The diameter D of the effective area of the coaxial dual-rotor blade disc is calculated to be more than or equal to 0.65m, wherein the diameter of the effective area of the coaxial dual-rotor blade disc is 0.7m, and the effective area is 0.38m2. The utility model discloses in, go up rotor blade 401 and rotor blade 408 radius difference down, through rotor blade 408 under the increase, two upper and lower rotor constant speed counter-rotations produce the same power, guarantee unmanned aerial vehicle's stability, the utility model discloses in select the ratio of upper and lower rotor blade radius be 3: 4. By calculation, the radius of the lower rotor blade 408 is 0.16m and the radius of the upper rotor blade 401 is 0.12 m. Thus, when the total weight of the drone is 3.5Kg, the load of the coaxial dual rotor paddles is 9.1Kg/m2. The maximum paddle load of the electric rotor unmanned aerial vehicle is 12Kg/m2Therefore the utility model discloses an unmanned aerial vehicle's dressing table is comparatively reasonable to there is certain load allowance.
Claims (9)
1. A vector tilting coaxial double-rotor unmanned aerial vehicle comprises a vehicle body (101), a power device (102) and a vector tilting device (103), wherein the power device (102) and the vector tilting device (103) on the left side and the right side of the unmanned aerial vehicle are symmetrical and have the same structure; it is characterized in that
The fuselage (101) is divided into a fuselage shell, a fuselage upper part, a fuselage inner part, a fuselage lower part, a left side horn sleeve (201) and a right side horn sleeve (207); the machine body shell is of a cuboid structure and comprises a machine body upper plate (202), a machine body bottom plate (219), a left side wall (218) and a right side wall (220), wherein the machine body upper plate is positioned at the upper part of the machine body shell; the left side wall (218) is fixedly connected with the machine body upper plate (202) and the machine body bottom plate (219) through a first fixed connecting device; the upper plate (202) of the machine body is tightly connected with the left side wall (218) and the right side wall (220) through a second fixed connecting device; similarly, the right side wall (220) and the machine body bottom plate (219) have the same fixing mode;
a GPS navigation receiving antenna base (222) is arranged on the upper plate (202) of the machine body at the upper part of the machine body, the antenna base (222) is in an inverted T shape when viewed from the front, is in the shape of a conventional antenna base, and is fixedly connected with the upper plate (202) of the machine body by a third fixed connecting device; an antenna rod (223) is connected to the antenna base (222), threads are respectively carved on the upper end and the lower end of the antenna rod (223), the lower end of the antenna rod is connected with the antenna base (222), and the upper end of the antenna rod is connected with the horizontal disc (204); the antenna rod (223) is coaxial with the antenna base (222) and the horizontal disc (204) and can not rotate; fixing the GPS on the upper surface of the horizontal disc (204);
a small rotor is arranged on the upper plate (202) of the unmanned aerial vehicle body, the small rotor consists of a rotor mounting cap (205), rotor blades (203) and a brushless direct current motor (206) from top to bottom, and the brushless direct current motor (206) is fixedly connected to the upper plate (202) of the unmanned aerial vehicle body through a fourth fixed connecting device; the rotor wing mounting cap (205), the rotor wing blades (203) and the brushless direct current motor (206) are connected with each other in a conventional mode;
the fixed antenna base (222) and the brushless direct current motor (206) are both positioned on the longitudinal central axis of the upper plate (202) of the unmanned aerial vehicle body;
the aircraft is characterized in that a flight controller (212), a data transmitter (221), 4 electronic speed regulators (208, 209, 216 and 217), a first steering engine (211), a second steering engine (213) and a battery (214) are arranged in the interior of the aircraft body; the flight controller (212) is a control center of the unmanned aerial vehicle, is arranged in the fuselage, and controls the brushless direct current motor (206) to make corresponding actions according to corresponding requirements after receiving the instruction, so that the change of the flight attitude of the unmanned aerial vehicle is realized; the data transmitter (221) is arranged inside the machine body; the electronic speed regulators (208, 209, 216 and 217) adopt brushless electric regulation, realize the control of the rotating speed of the motor after receiving starting, stopping and braking signals, and the placement of the four electronic speed regulators needs to consider the balance weight of the machine body; the mounting position of the battery (214) is determined by unmanned aerial vehicle weight trim; the first steering engine (211) and the second steering engine (213) are respectively arranged on two sides of the flight controller and are fixedly arranged on a bottom plate of the airplane body according to a balance weight;
the lower part of the airplane body is provided with two carbon fiber foot rests (210 and 215) which are symmetrically arranged below the bottom plate of the airplane body in the left-right direction along the flight direction, the upper parts of the carbon fiber foot rests (210 and 215) are in an arch shape, and the arch top ends of the arch carbon fiber foot rests (210 and 215) are fixedly connected with the bottom plate of the airplane body through a fifth fixed connecting device or an adhesive; two ends of the arched carbon fiber pipe penetrate through a horizontal carbon fiber pipe; carbon fiber foot stool (210, 215)
The left arm sleeve (201) and the right arm sleeve (207) are hollow long cylindrical rods and are fixedly connected with the side wall of the unmanned aerial vehicle into a whole and are symmetrical left and right; the right end of the left arm sleeve (201) is fixedly connected with the left side wall (218) of the machine body into a whole, and the left end of the left arm sleeve (201) is connected with the left vector tilting device (103);
the vector tilting device (103) comprises a left side and a right side which are respectively provided with a set of vector tilting devices, and the vector tilting devices and the left side and the right side are completely identical in structure and are symmetrically arranged; the right vector tilting device (103) is substantially provided with, from right to left: the left tilting mechanism comprises a left tilting mechanism transmission shaft (303), a first bearing (302), a left machine arm sleeve (207), a left side wall (220), a second bearing (301) and a second steering engine (213);
the right tilting mechanism transmission shaft (303) is of a bearing structure, the second bearing (301) and the first bearing (302) are respectively embedded at the left end and the right end of the right horn sleeve (207), the right tilting mechanism transmission shaft (303) is sleeved in the right horn sleeve (207) through the two bearings, and the axis of the right tilting mechanism transmission shaft (303) is superposed with the axes of the two bearings; the right end of the right tilting mechanism transmission shaft (303) is provided with a protruding connecting part, and is connected with the power device (102) through the protruding connecting part; the left end of the right tilting mechanism transmission shaft (303) is rotatably connected with a second steering engine (213) in the unmanned aerial vehicle body, and the second steering engine (213) is connected with the right tilting mechanism transmission shaft (303) together in a rotatable connection mode; the second steering engine (213) drives the right tilting mechanism transmission shaft (303) to rotate, so that the right power device is controlled to tilt; the right tilting mechanism transmission shaft (303) and the right arm sleeve (207) are both hollow structures;
the left power device and the right power device of the unmanned aerial vehicle are identical in structure and symmetrically arranged, and the left power device (102) consists of an upper rotor blade locking mechanism (402), an upper rotor blade (401), an upper motor (403), an upper motor seat cushion sheet (405), a left motor support (404), a lower motor seat cushion sheet (406), a lower motor (407), a lower rotor blade (408) and a lower rotor blade locking mechanism (409) from top to bottom;
the upper motor (403) is fixedly connected with the upper motor base gasket (405) through a sixth fixed connecting device, and the upper motor (403) is positioned on the upper motor base gasket (405); an upper rotor blade (401) is fixed at the upper end of a rotor of an upper motor (403), and the rotor rotates to drive the rotor to rotate so as to generate lift force; the upper rotor wing paddle locking mechanism (402) is arranged on a rotor of an upper motor (403) and used for locking the paddles and preventing the paddles from loosening; the lower motor (407) is fixedly connected with the lower motor base gasket (406), and the lower motor (407) is positioned below the lower motor base gasket (406); fixing a lower rotor blade (408) on a rotor of a lower motor (407), and driving the rotor to rotate by the rotation of the rotor to generate lift force; the lower rotor wing blade locking mechanism (409) has the same shape and function as the upper rotor wing blade locking mechanism (402), and is arranged on a rotor of a lower motor (407); the right ends of the upper motor base gasket (405) and the lower motor base gasket (406) are respectively fixedly connected with a transmission shaft (410) of the left tilting mechanism through a seventh fixed connecting device; the left ends of the upper motor base gasket (405) and the lower motor base gasket (406) are fixedly connected with the left motor bracket (404) through an eighth fixed connecting device, and the left motor bracket (404) enables the upper motor and the lower motor to be fixed more firmly; and, the axis of last motor (403) coincides with lower motor (407) axis, guarantees the lift maximize that the rotor produced.
2. A vector tilting co-axial twin rotor drone according to claim 1, characterised in that four electronic governors are fixed at four angular positions of the airframe floor.
3. The vector tilting coaxial dual-rotor unmanned aerial vehicle according to claim 1, wherein the left end of the right tilting mechanism transmission shaft (303) is rotatably connected with the second steering engine (213) inside the unmanned aerial vehicle body in a rotating, threaded or pivotal manner.
4. The vector tilting coaxial dual rotor drone of claim 1, characterized in that the right side tilting mechanism transmission shaft (303) material is carbon fiber; selecting a composite material as a material of the machine body; the rotor blade all chooses the carbon fiber paddle for use.
5. A vector tilting co-axial twin rotor drone according to claim 1, characterised by the fact that the twin rotor mechanism is constituted by the upper motor (403) and the lower motor (407) mounted symmetrically up and down.
6. A vector tilting co-axial dual rotor drone according to claim 1, characterised by the choice of motor type 2212, 3508 or 4010.
7. The vector tilting coaxial dual rotor drone of claim 6, wherein the motor model is 3508.
8. A vector tilting co-axial dual rotor drone according to claim 1, characterized in that the upper rotor blade (401) and the lower rotor blade (408) are each a double-bladed arc-shaped long sheet with a certain torsion; the rotor disc load is an important parameter of the rotor and can be expressed as:
m is the total weight of the aircraft, SyIs the effective area of the rotor disc; adopts a coaxial double-rotor structure, can generate turbulence in the working process, reduces the effective area of the paddle tray and is convenient to meterCalculating the effective area of the coaxial dual-rotor blade disc, introducing a correction coefficient lambda, so that the effective area of the rotor is expressed as: sy＝Kλπ(R12+R22) Wherein R1 is the rotating radius of the upper rotor blade (401), R2 is the rotating radius of the lower rotor blade (408), and K is the effective coefficient of the rotor disk area; the conditions that the unmanned aerial vehicle has to meet for takeoff are as follows:
wherein, η0The effective coefficient of hovering is, and D is the effective area diameter of the double rotors; go up rotor blade (401) and rotor blade (408) radius difference down, through increase rotor blade (408) down, two rotor constant speed antiport produce the same power about making, guarantee unmanned aerial vehicle's stability.
9. A vector tilting co-axial dual rotor drone according to claim 8, characterised by a paddle wheel correction factor of 0.75, an effective factor of 0.95, η00.75; the radius of the lower rotor blade (408) is 0.16m, and the radius of the upper rotor blade (401) is 0.12 m; effective area S of rotor blade diskyIs 0.38m2(ii) a The fuselage material adopts AS4 and PEEK's combined material, and the unmanned aerial vehicle fuselage is hollow cuboid structure, and the parameter is respectively: the length is 25cm, the width is 20cm and the height is 15 cm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920990038.6U CN211642599U (en) | 2019-06-19 | 2019-06-19 | Vector-tilting coaxial dual-rotor unmanned aerial vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217389A (en) * | 2019-06-19 | 2019-09-10 | 中国人民解放军空军工程大学 | A kind of coaxial double-rotary wing unmanned plane that vector verts |
| CN113598109A (en) * | 2021-07-13 | 2021-11-05 | 广东工业大学 | Control method and system of automatic bait casting device of unmanned aerial vehicle |
| CN114476045A (en) * | 2022-04-07 | 2022-05-13 | 西安工业大学 | Variable-centroid coaxial dual-rotor aircraft and control method thereof |
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2019
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217389A (en) * | 2019-06-19 | 2019-09-10 | 中国人民解放军空军工程大学 | A kind of coaxial double-rotary wing unmanned plane that vector verts |
| CN113598109A (en) * | 2021-07-13 | 2021-11-05 | 广东工业大学 | Control method and system of automatic bait casting device of unmanned aerial vehicle |
| CN114476045A (en) * | 2022-04-07 | 2022-05-13 | 西安工业大学 | Variable-centroid coaxial dual-rotor aircraft and control method thereof |
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