CN211642599U - Vector-tilting coaxial dual-rotor unmanned aerial vehicle - Google Patents

Abstract

Provided is a coaxial dual-rotor drone with vector tilt, which is composed of a fuselage (101), a power device (102) and a vector tilt device (103), the power devices (102) on the left and right sides of the drone and the The vector tilting device (103) is symmetrical and identical in structure. The stall problem of the backward blades caused by the high-speed forward flight of the UAV can be solved by the opposite rotation speed of the upper and lower rotors, and the position of the backward blades is symmetrical with respect to the body; the roll moment generated by one rotor is affected by the other. The roll moment of the rotor is balanced.

Description

A coaxial dual-rotor UAV with vector tilting

technical field

The utility model relates to a coaxial double-rotor unmanned aerial vehicle capable of taking off and landing vertically, in particular to the technical field of a vector tilting quad-rotor unmanned aerial vehicle.

Background technique

In recent years, UAV technology has been continuously developed and improved, and it has been widely used in both commercial and military fields. Most of the traditional coaxial dual-rotor UAVs use two or more motors to connect with the reducer and other mechanisms, and connect the upper and lower rotors respectively through the two output shafts of the reducer with opposite directions to realize the reverse rotation of the upper and lower rotors. Rotate in the opposite direction, so that the reactions brought by the two rotors cancel each other out. However, in the existing technology, the diameter and shape of the upper and lower rotors of the traditional coaxial dual-rotor UAV are exactly the same, resulting in low flight efficiency, complex mechanical structure and low safety.

Utility model content

In view of the defects in the prior art, the present utility model proposes a coaxial dual-rotor UAV with vector tilting, which can effectively solve the safety design aspects of the current traditional coaxial dual-rotor power assembly with complex mechanical structure and many parts and components. some difficulties.

The vector tilting coaxial double-rotor UAV of the present invention is composed of a fuselage 101, a power device 102 and a vector tilt device 103. The power devices 102 and the vector tilt device 103 on the left and right sides of the UAV are symmetrical and identical in structure; characterized by

The fuselage 101 is divided into a fuselage shell, an upper part of the fuselage, an inner part of the fuselage, a lower part of the fuselage, a left arm sleeve 201 and a right arm sleeve 207; wherein the fuselage shell is a cuboid structure, It includes a body upper plate 202, a body bottom plate 219, a left side wall 218, and a right side wall 220 located at the upper part of the body shell; the left side wall 218 is fastened to the body upper plate 202 and the body bottom plate 219 through the first fixed connection device. ; Through the second fixed connection device, the upper plate 202 of the body is fastened with the left side wall 218 and the right side wall 220; similarly, the right side wall 220 and the body bottom plate 219 have the same fixing method;

On the upper part of the fuselage, a GPS navigation receiving antenna base 222 is installed on the upper board 202 of the fuselage. Viewed from the front, the antenna base 222 is in an inverted "T" shape, which is the shape of a conventional antenna base. The third fixed connection device is used to make it It is tightly connected with the upper plate 202 of the body; an antenna rod 223 is connected to the antenna base 222, the upper and lower ends of the antenna rod 223 are engraved with threads, the lower end is connected to the antenna base 222, and the upper end is connected to the horizontal disc 204; the antenna rod 223 It is coaxial with the base 222 and the horizontal disk 204, and cannot be rotated; the GPS is fixed on the upper surface of the horizontal disk 204;

A small rotor is installed on the upper plate 202 of the body. The small rotor is composed of a rotor mounting cap 205, rotor blades 203 and a brushless DC motor 206 from top to bottom. The brushless DC motor 206 is fastened to the fourth fixed connection device. On the upper plate 202 of the drone body; the connection between the rotor mounting cap 205, the rotor blade 203 and the brushless DC motor 206 is a conventional method;

The fixed antenna base 222 and the brushless DC motor 206 are both located on the longitudinal center axis of the upper plate 202 of the drone body;

The internal part of the fuselage is equipped with a flight controller 212, a data transmitter 221, four electronic governors 208, 209, 216, 217, a first steering gear 211, a second steering gear 213 and a battery 214; the flight controller 212 is a The control center of the drone is installed inside the fuselage. After receiving the command, it controls the brushless DC motor 206 to make corresponding actions according to the corresponding requirements, so as to realize the change of the flying attitude of the drone; the data transmitter 221 is installed on the fuselage. Internal; electronic governors 208, 209, 216, and 217 use brushless ESCs. After receiving start, stop, and braking signals, they can control the speed of the motor. The placement of the four electronic governors should consider the counterweight of the fuselage. The installation position of the battery 214 is determined by the weight of the unmanned aerial vehicle; the first steering gear 211 and the second steering gear 213 are installed on both sides of the flight controller, and are fixedly installed on the body base plate according to the counterweight to drive the transmission shaft to rotate, and then realize The tilting of the power unit changes the flying attitude of the UAV;

The lower part of the fuselage has two carbon fiber tripods 210 and 215, which are installed symmetrically under the bottom plate of the fuselage along the flight direction. Five fixed connection devices or adhesives are firmly connected to the bottom plate of the body; both ends of the arched carbon fiber tube pass through a horizontal carbon fiber tube;

The left arm sleeve 201 and the right arm sleeve 207 are both hollow long cylindrical rods, which are fixedly connected to the side wall of the drone as a whole, and are left and right symmetrical; the right end of the left arm sleeve 201 is connected to the left side of the body. The wall 218 is fixedly connected as 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 includes one set on the left and right sides, both of which have the same structure and are placed symmetrically; the right vector tilting device 103 roughly includes from right to left: the right tilting mechanism transmission shaft 303, the first bearing 302, Right arm sleeve 207, right side wall 220, second bearing 301, second steering gear 213;

The right tilting mechanism drive shaft 303 is a bearing structure, the left and right ends of the right arm sleeve 207 are embedded with the second and first bearings 301 and 302 respectively, and the right tilting mechanism drive shaft 303 passes through these two bearing sleeves In the right arm sleeve 207, it is used to reduce the resistance of the drive shaft driving the power device to rotate, the axis of the right tilt mechanism drive shaft 303 coincides with the axes of the two bearings; The right end of 303 has a protruding connection part, which is connected to the power unit 102 through the protruding connection part; The second steering gear 213 is connected with the transmission shaft 303 of the right tilting mechanism; the second steering gear 213 drives the transmission shaft 303 of the right tilting mechanism to rotate, and then controls the right power unit to realize tilting; the transmission shaft of the right tilting mechanism 303 and the arm sleeve 207 are both hollow structures;

The power units on the left and right sides of the UAV have the same structure and are symmetrically arranged. The left power unit 102 consists of the upper rotor blade locking mechanism 402, the upper rotor blade 401, the upper motor 403, the upper motor seat gasket 405, The motor bracket 404, the lower motor seat gasket 406, the lower motor 407, the lower rotor blade 408, and the lower rotor blade locking mechanism 409 are composed;

The upper motor 403 is fixedly connected with the motor seat gasket 405 through the sixth fixed connection device, and the upper motor 403 is located on the upper motor seat gasket 405; the upper rotor blade 401 is fixed on the upper end of the rotor of the upper motor 403, and the rotor rotates to drive the rotor to rotate , to generate lift; the upper rotor blade locking mechanism 402 is installed on the rotor of the upper motor 403 to lock the blades and prevent them from loosening; the lower motor 407 is fixedly connected with the lower motor seat gasket 406, and the lower motor 407 is located in the lower motor Under the seat gasket 406; the lower rotor blade 408 is fixed on the rotor of the lower motor 407, the rotor rotates to drive the rotor to rotate, generating lift; the shape and function of the lower rotor blade locking mechanism 409 is the same as that of the upper rotor blade locking mechanism 402 is the same and is installed on the rotor of the lower motor 407; the right ends of the upper and lower motor seat gaskets 405 and 406 are respectively fixedly connected with the left tilting mechanism transmission shaft 410 through the seventh fixed connection device; the upper and lower motor seat gaskets 405 and 406 The left end is fixedly connected to the left motor bracket 404 through the eighth fixed connection device, and the motor bracket 404 makes the upper and lower motors more firmly fixed; and the axis of the upper motor 403 coincides with the axis of the lower motor 407 to ensure that the lift generated by the rotor is maximized.

In a specific embodiment of the present utility model, four electronic speed governors are fixed at four corner positions of the bottom plate of the body.

In one embodiment of the present invention, the left end of the drive shaft 303 of the right tilting mechanism is rotatably connected to the second steering gear 213 inside the fuselage of the UAV by a rotational connection, a screw connection or a pivot connection.

In a specific embodiment of the present invention, the material of the drive shaft 303 of the right tilting mechanism is carbon fiber; the material of the fuselage is selected from composite materials; the rotor blades are all selected from carbon fiber blades.

In a specific embodiment of the present invention, the upper motor 403 and the lower motor 407 are installed symmetrically up and down to form a double rotor mechanism.

In one embodiment of the present invention, the motor model is selected as 2212, 3508 or 4010.

In a specific embodiment of the present invention, the motor model is selected as 3508.

M为飞行器总重量，S_y是旋翼桨盘的有效面积；采用共轴双旋翼结构，在工作过程中会产生扰流，使浆盘的有效面积减小，为方便计算共轴双旋翼浆盘的有效面积，引入一个修正系数λ，因此旋翼有效面积表示为： S_y＝Kλπ(R1²+R2²)，其中，R1为上旋翼桨叶401的旋转半径，R2为下旋翼桨叶 408的旋转半径，K为旋翼桨盘面积有效系数；无人机起飞必须满足的条件为：

其中，η₀为悬停有效系数，D为双旋翼有效面积直径；上旋翼桨叶401与下旋翼桨叶408半径不同，通过增大下旋翼桨叶408，使上下两个旋翼等速反向旋转产生相同的力，保证无人机的稳定性。In an embodiment of the present invention, the upper rotor blade 401 and the lower rotor blade 408 are both double-blade arc-shaped long sheets with a certain twist rate; the paddle load is an important parameter of the rotor, which can be expressed as :

M is the total weight of the aircraft, and S _y is the effective area of the rotor disk; the coaxial double rotor structure is adopted, and turbulence will be generated during the working process, which reduces the effective area of the rotor disk. In order to facilitate the calculation of the coaxial double rotor disk A correction coefficient λ is introduced, so the effective area of the rotor is expressed as: S _y =Kλπ(R1 ² +R2 ² ), where R1 is the rotation radius of the upper rotor blade 401, and R2 is the rotation radius of the lower rotor blade 408 Rotation radius, K is the effective coefficient of rotor disk area; the conditions that must be met for the take-off of the UAV are:

Among them, η ₀ is the hovering effective coefficient, D is the diameter of the effective area of the double rotor; the upper rotor blade 401 and the lower rotor blade 408 have different radii, and by increasing the lower rotor blade 408, the upper and lower rotor blades are made to reverse at the same speed. The rotation produces the same force, which guarantees the stability of the drone.

In a specific embodiment of the present invention, the correction coefficient of the paddle disk is 0.75, the effective coefficient is 0.95, and η ₀ =0.75; the radius of the lower rotor blade 408 is 0.16m, and the radius of the upper rotor blade 401 is 0.12m; The effective area S _y of the rotor disc is 0.38m ² ; the fuselage is made of composite materials of AS4 and PEEK, and the fuselage of the UAV is a hollow cuboid structure. The parameters are: length 25cm, width 20cm, height 15cm.

The utility model adopts measures such as the improvement of the power system, the unique appearance design of the unmanned aerial vehicle, and the two brushless DC motors are symmetrically installed on the left and right upper and lower sides of the unmanned aerial vehicle, and rotate in the opposite direction, so as to realize the double rotor mechanism, which greatly improves the Simplifies the traditional complex mechanical coaxial double rotor mechanism. The size of the upper and lower rotors is different, which ensures that the upper and lower rotors rotate in opposite directions at the same speed, which makes the drone fly stably and improves the flight efficiency. At the same time, compared with the symmetry of the traditional tilt-rotor arrangement and inversion, the symmetry of the coaxial dual-rotor inversion can also effectively solve the following two problems: 1. The backward travel caused by the high-speed forward flight of the UAV The problem of blade stall can be solved by the fact that the rotating speed of the upper and lower rotors is opposite, and the position of the rearward blade is symmetrical with respect to the body; 2. The roll moment generated by one rotor is balanced by the roll moment of the other rotor. Therefore, the vector tiltable quadrotor UAV designed by the utility model has the advantages of high hovering efficiency, maintaining the ability to rotate and slide down, simple tilting mechanism and high safety.

Description of drawings

Fig. 1 is the overall structure diagram of the vector tilting quadrotor unmanned aerial vehicle of the present utility model;

Fig. 2 is the fuselage structure of the vector tilting quadrotor unmanned aerial vehicle of the present invention, wherein Fig. 2 (a) shows a front view;

Figure 2(b) shows a left side view, and Figure 2(c) shows a top view;

3 is a structural diagram of a vector tilting quadrotor unmanned aerial vehicle power device of the present invention;

4 is a structural diagram of a vector tilting device for a vector tilting quadrotor unmanned aerial vehicle of the present invention;

FIG. 5 is a schematic diagram of a rotor blade of the present invention.

Detailed ways

In order to make the concept, specific structure and beneficial effects of the present invention more clear, the features and effects of the present invention will now be fully described with reference to the following embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are only used to describe the present invention, but not to limit the present invention.

As shown in Figure 1, the vector tilting coaxial dual-rotor UAV is composed of a fuselage 101, a power device 102 and a vector tilt device 103. The power device 102 and the vector tilt device 103 on the left and right sides of the UAV are symmetrical and exactly the same.

As shown in FIG. 2 , the fuselage 101 is mainly divided into a fuselage shell, an upper part of the fuselage, an inner part of the fuselage, a lower part of the fuselage, a left arm sleeve 201 and a right arm sleeve 207 .

The fuselage shell is a hollow shell structure, and the shell itself can be a cuboid structure, a shell-like sphere or other polygonal structures with a symmetrical structure. Bottom plate 219 , left side wall 218 , right side wall 220 . In an embodiment of the present invention, the body shell is a cuboid structure, as shown in FIG. 2(b), four screw holes are opened on the left side wall 218, and the left side wall 218 is connected to the upper plate of the body through screws. 202. The bottom plate 219 of the body is fastened and connected; as shown in the top view of FIG. 2(c), there are 6 screw holes on the upper plate 202 of the body, and the upper plate 202 of the body is fastened with the left side wall 218 and the right side wall 220 by screws. connect. Similarly, the right side wall 220 and the body bottom plate 219 have the same fixing method to ensure the overall reliability of the drone body.

In the upper part of the fuselage, at the rear of the upper part of the fuselage, a GPS navigation receiving antenna base 222 is installed on the upper board 202 of the fuselage. Viewed from the front, the antenna base 222 is in an inverted "T" shape, which is conventional For the shape of the antenna base, for example, four screws are used to fasten it to the upper plate 202 of the body. An antenna rod 223 is connected to the antenna base 222, the upper and lower ends of the antenna rod 223 are engraved with threads, the lower end is connected to the antenna base 222, and the upper end is connected to a horizontal disk 204. The antenna rod 223 is coaxial with the base 222 and the horizontal disk 204, and cannot be rotated. The structure is simple, the connection is reliable, and the disassembly and assembly are convenient. The GPS is installed on the upper surface of the horizontal disk 204. A binder binds the two together.

A small rotor is installed on the upper plate 202 of the fuselage at about the middle and front of the fuselage shell. The small rotor is composed of a rotor mounting cap 205, rotor blades 203 and a brushless DC motor 206 from top to bottom. The motor 206 is fastened to the upper plate 202 of the drone body by, for example, four screws, and its function is to ensure the balance of the drone body during the flight of the drone and to change the pitch attitude of the drone. The connection between the rotor mounting cap 205 , the rotor blades 203 and the brushless DC motor 206 is a conventional connection, which is well known to those skilled in the art.

The fixed antenna base 222 and the brushless DC motor 206 are generally located on the longitudinal (flying direction) central axis of the upper plate 202 of the drone body.

The inner part of the fuselage is equipped with a flight controller 212 , a data transmitter 221 , four electronic speed governors 208 , 209 , 216 , 217 , a first steering gear 211 , a second steering gear 213 and a battery 214 . The flight controller 212 is the control center of the drone, installed at the center of gravity inside the fuselage, and controls the brushless DC motor 206 to perform corresponding actions according to the corresponding requirements after receiving the command, so as to realize the change of the flying attitude of the drone; The data transmitter 221 is installed in the inner edge of the fuselage, which is convenient for the UAV and the ground station or remote control equipment to transmit data, pictures or videos; After starting, stopping and braking signals, the control of the motor speed is realized, and the placement of the four electronic speed governors should consider the counterweight of the body; in an embodiment of the present utility model, the four electronic speed governors are fixed on the body The four corner positions of the base plate. The battery 214 is the power source of the drone, the capacity is generally determined by the load of the drone, and the installation position is determined by the weight balance of the drone. The battery 214 is usually a lithium battery. The first steering gear 211 and the second steering gear 213 are installed on both sides of the flight controller, and are fixedly installed on the body bottom plate according to the counterweight.

The lower part of the fuselage has two carbon fiber tripods 210 and 215, which are symmetrically installed under the bottom plate of the fuselage along the flight direction. The arched tops of racks 210 and 215 are firmly connected to the bottom plate of the body; both ends of the arched carbon fiber tube pass through a horizontal carbon fiber tube to increase the grounding area of the drone and support the unmanned aerial vehicle during take-off and landing. To prevent the drone from rolling over, the horizontal carbon fiber tubes protrude from both ends of the arched carbon fiber tubes, and a sponge sleeve is placed on each of the two protruding ends of the horizontal carbon fiber tubes, which effectively plays a shock absorption role. In an embodiment of the present invention, the arched tops of the arched carbon fiber tripods 210 and 215 are drilled with small holes, which are fastened to the bottom plate of the drone through screws.

其中M为飞行器总重量，M_d为电池重量，M_p为动力系统重量，M_e电子设备重量，M_l为负载重量，X_s为结构重量因子。本实用新型设计的倾转旋翼无人机属于小型、速度低的飞行器，根据统计和经验得X_s的数值约为0.4-0.5之间。在本实用新型的一个实施例中，无人机起飞重量为3.5Kg，无人机的载重量为0.5Kg，X_s的取值为0.45。说明电池重量、动力系统重量、电子设备重量总和不能超过1.4Kg，可计算出机身结构重量不超过1.5Kg。机身材质可选择复合材料，在本实用新型的一个实施例中，优选地，采用AS4与PEEK的复合材料，直接熔铸成型，重量轻，强度高，成本低，无人机机身为中空的长方体结构，参数分别为：长25cm，宽20cm，高15cm。The weight analysis of UAV is an important link in the design process of the aircraft, and its total weight determines the structure size, material and motor power requirements of the fuselage. The total take-off weight of the drone can be expressed as:

where M is the total weight of the aircraft, M _d is the battery weight, M _p is the power system weight, _Me electronic equipment weight, M _l is the load weight, and X _s is the structural weight factor. The tilt-rotor unmanned aerial vehicle designed by the utility model is a small and low-speed aircraft, and the value of X _s is about 0.4-0.5 according to statistics and experience. In an embodiment of the present invention, the take-off weight of the drone is 3.5Kg, the carrying capacity of the drone is 0.5Kg, and the value of X _s is 0.45. Explain that the total weight of the battery, power system, and electronic equipment cannot exceed 1.4Kg, and it can be calculated that the weight of the fuselage structure does not exceed 1.5Kg. The material of the fuselage can be selected from composite materials. In an embodiment of the present invention, preferably, composite materials of AS4 and PEEK are used to directly melt and cast, which is light in weight, high in strength and low in cost. The fuselage of the drone is hollow. Cuboid structure, the parameters are: length 25cm, width 20cm, height 15cm.

The left arm sleeve 201 and the right arm sleeve 207 are both hollow long cylindrical rod bodies, which are fixedly connected to the side wall of the UAV as a whole, and are symmetrical on the left and right. Take the left arm sleeve 201 as an example for introduction. 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 body as a whole, and the left end of the left arm sleeve 201 is connected to the left vector tilting device 103 .

The vector tilting device 103 includes one set on the left and right sides, and the two are identical in structure and placed symmetrically. As shown in FIG. 3 , the right vector tilting device 103 is taken as an example for introduction. As can be seen from the figure, the right vector tilting device 103 roughly includes from right to left: the right tilting mechanism drive shaft 303, the first bearing 302, the right arm sleeve 207, the right side wall 220, the second bearing 301, The second steering gear 213 .

The right tilting mechanism drive shaft 303 is a bearing structure, the left and right ends of the right arm sleeve 207 are embedded with the second and first bearings 301 and 302 respectively, and the right tilting mechanism drive shaft 303 passes through these two bearing sleeves In the right arm sleeve 207, the shaft center of the right tilting mechanism transmission shaft 303 coincides with the shaft centers of the two bearings. The right end of the right side tilting mechanism transmission shaft 303 has a protruding connecting portion, and is connected to the power device 102 through the protruding connecting portion. People are familiar with it, so I won't repeat it. The connection between the right tilting mechanism drive shaft 303, the right arm sleeve 207, the bearing 301, and the bearing 302 are also well known to those skilled in the art, and those skilled in the art can easily know through the illustrations and the above text descriptions The connection relationship and working principle between these components will not be repeated. The left end of the drive shaft 303 of the right tilting mechanism is rotatably connected to the second steering gear 213 inside the fuselage of the UAV, and the connection mode can be rotational connection, screw connection or pivot connection. In one embodiment of the present invention, the second steering gear 213 is connected with the right side tilting mechanism transmission shaft 303 by means of screw connection. The second steering gear 213 drives the transmission shaft 303 of the right tilting mechanism to rotate, and then controls the right power device to realize tilting, so as to achieve the purpose of controlling the attitude and movement of the UAV. In the present invention, the right side tilting mechanism drive shaft 303 and the arm sleeve 207 are both hollow structures, and the right side tilting mechanism drive shaft 303 is made of carbon fiber to reduce the weight of the drone itself. There are electrical adjustment line position holes on the motor seat gaskets 405, 406 (as described in detail later) and the drive shaft 410 of the left tilting mechanism, which are used for the arrangement of the lines and will not affect the normal operation of the vector tilting mechanism. The operation is well known to those skilled in the art and will not be described again.

FIG. 4 shows a schematic diagram of the power device 102 . Since the power devices on the left and right sides of the drone have the same structure and are arranged symmetrically, the left power device 102 is used as an example for description. The left power unit 102 consists of the upper rotor mounting cap 402, the upper rotor blade 401, the upper motor 403, the upper motor seat gasket 405, the motor bracket 404, the lower motor seat gasket 406, the lower motor 407, and the lower rotor from top to bottom. The blade 408 and the lower rotor mounting cap 409 are composed.

The upper motor 403 and the lower motor 407 are installed symmetrically up and down to form a double rotor mechanism, which provides the lift required for the flight of the drone and various attitude changes. In an embodiment of the present invention, the model of the motor can be selected from 2212, 3508, and 4010, and preferably, the model can be selected as 3508. As shown in the figure, the upper motor 403 is fixedly connected to the motor seat gasket 405 , for example, fastened by screws, and the upper motor 403 is located on the upper motor seat gasket 405 . The upper rotor blade 401 is fixed on the upper end of the rotor of the upper motor 403, and the rotor rotates to drive the rotor to rotate to generate lift. The upper rotor mounting cap 402 is in the shape of a hemisphere, hollowed out inside and engraved with threads, and installed on the rotor of the upper motor 403 through threads to lock the blades and prevent them from loosening. The lower motor 407 is fixedly connected with the lower motor seat gasket 406 , and the lower motor 407 is located under the lower motor seat gasket 406 . The lower rotor blades 408 are fixed on the rotor of the lower motor 407, and the rotor rotates to drive the rotor to rotate to generate lift. The lower rotor mounting cap 409 has the same shape and function as the upper rotor mounting cap 402, and is mounted on the rotor of the lower motor 407 through threads. The right ends of the upper and lower motor seat gaskets 405 and 406 are respectively fixedly connected with the drive shaft 410 of the left tilting mechanism. The shaft 410 is closely fitted, and is fixed by interspersed with screws from top to bottom; the left ends of the upper and lower motor seat gaskets 405 and 406 are fixedly connected to the motor bracket 404 through a fixed connection device such as the upper and lower two screws, and the motor bracket 404 makes the upper and lower The motor is fixed more firmly. Moreover, the axis of the upper motor 403 coincides with the axis of the lower motor 407 to ensure that the lift generated by the rotor is maximized.

S_y是旋翼桨盘的有效面积。本实用新型采用的是共轴双旋翼结构，在工作过程中会产生扰流，使浆盘的有效面积减小，为方便计算共轴双旋翼浆盘的有效面积，引入一个修正系数λ，因此旋翼有效面积表示为：S_y＝Kλπ(R1²+R2²)，其中，R1为上旋翼桨叶401的旋转半径，R2为下旋翼桨叶408的旋转半径，K为旋翼桨盘面积有效系数。在本实用新型的一个实施例中，浆盘修正系数为0.75，有效系数为0.95，根据文献得到无人机起飞必须满足的条件为：

其中，η₀为悬停有效系数，这里取η₀＝0.75，D为双旋翼有效面积直径。经过计算可求得共轴双旋翼浆盘有效面积的直径D≥0.65m，这里选择共轴双旋翼浆盘有效面积的直径为0.7m，有效面积为0.38m²。在本实用新型中，上旋翼桨叶401与下旋翼桨叶408半径不同，通过增大下旋翼桨叶408，使上下两个旋翼等速反向旋转产生相同的力，保证无人机的稳定性，本实用新型中选择上下旋翼桨叶半径之比为3∶4。通过计算，下旋翼桨叶408的半径为0.16m，上旋翼桨叶401的半径为0.12m。因此，当无人机总重为3.5Kg时，共轴双旋翼桨盘的载荷为9.1Kg/m²。电动旋翼无人机的最大桨盘载荷为12Kg/m²，因此本实用新型设计的无人机的浆盘较为合理，并有一定的载荷余量。Fig. 5 shows the schematic diagram of the rotor blade. The design and selection of the rotor type of the UAV is very important to the flight aerodynamics of the whole aircraft. Both the rotor blade 401 and the lower rotor blade 408 are double-blade arc-shaped long sheets with a certain twist rate. The propeller disk load is an important parameter of the rotor and can be expressed as:

S _y is the effective area of the rotor disk. The utility model adopts the coaxial double rotor structure, which will generate turbulent flow during the working process, so that the effective area of the paddle disk is reduced. The effective area of the rotor is expressed as: S _y =Kλπ(R1 ² +R2 ² ), wherein R1 is the rotation radius of the upper rotor blade 401, R2 is the rotation radius of the lower rotor blade 408, and K is the effective coefficient of the rotor disk area . In an embodiment of the present utility model, the correction coefficient of the paddle disk is 0.75, and the effective coefficient is 0.95. According to the literature, the conditions that must be met for the take-off of the UAV are:

Among them, η ₀ is the hovering effective coefficient, here we take η ₀ =0.75, and D is the diameter of the effective area of the double rotor. After calculation, the diameter D≥0.65m of the effective area of the coaxial twin-rotor paddle can be obtained. Here, the diameter of the effective area of the coaxial twin-rotor paddle is 0.7m, and the effective area is 0.38m ² . In the present invention, the upper rotor blade 401 and the lower rotor blade 408 have different radii. By increasing the lower rotor blade 408, the upper and lower rotor blades rotate at the same speed in opposite directions to generate the same force to ensure the stability of the drone. In this utility model, the ratio of the upper and lower rotor blade radii is selected to be 3:4. Through calculation, the radius of the lower rotor blade 408 is 0.16m, and the radius of the upper rotor blade 401 is 0.12m. Therefore, when the total weight of the UAV is 3.5Kg, the load of the coaxial dual-rotor propeller is 9.1Kg/m ² . The maximum paddle load of the electric rotor drone is 12Kg/m ² , so the paddle disc of the drone designed by the utility model is more reasonable and has a certain load margin.

Claims (9)

1. A coaxial dual-rotor drone with vector tilting, comprising a fuselage (101), a power unit (102) and a vector tilting device (103), and power units (102) on the left and right sides of the drone and the vector tilting device (103) are symmetrical and identical in structure; it is characterized by The fuselage (101) is divided into a fuselage shell, an upper part of the fuselage, an inner part of the fuselage, a lower part of the fuselage, a left arm sleeve (201) and a right arm sleeve (207); The casing is a cuboid structure, and includes a body upper plate (202), a body bottom plate (219), a left side wall (218), and a right side wall (220) located on the upper part of the body casing; The wall (218) is fastened to the upper plate (202) of the body and the bottom plate (219) of the body; the upper plate (202) of the body is fastened to the left side wall (218) and the right side wall (220) through the second fixing connection device connection; similarly, the right side wall (220) and the body bottom plate (219) have the same fixing method; On the upper part of the fuselage, a GPS navigation receiving antenna base (222) is installed on the upper board (202) of the fuselage. Viewed from the front, the antenna base (222) is in an inverted "T" shape, which is a conventional antenna base shape. Three fixed connection devices are used to fasten the connection with the upper board (202) of the body; an antenna rod (223) is connected to the antenna base (222), the upper and lower ends of the antenna rod (223) are engraved with threads, and the lower end is connected to the antenna The base (222) is connected to the horizontal disk (204) at the upper end; the antenna rod (223) is coaxial with the antenna base (222) and the horizontal disk (204), and cannot be rotated; the GPS is fixed on the horizontal disk (204) ) on the upper surface; A small rotor is installed on the upper plate (202) of the body. The small rotor is composed of a rotor mounting cap (205), rotor blades (203) and a brushless DC motor (206) from top to bottom. The brushless DC motor (206) The fourth fixed connecting device is fastened to the upper plate (202) of the drone body; the connection between the rotor mounting cap (205), the rotor blade (203) and the brushless DC motor (206) is conventional Way; Both the fixed antenna base (222) and the brushless DC motor (206) are located on the longitudinal center axis of the upper plate (202) of the drone body; The internal part of the fuselage is equipped with a flight controller (212), a data transmitter (221), four electronic speed governors (208, 209, 216, 217), a first steering gear (211), and a second steering gear (213) ) and battery (214); the flight controller (212) is the control center of the drone, installed inside the fuselage, and controls the brushless DC motor (206) to make corresponding actions according to the corresponding requirements after receiving the instructions, so as to realize The change of the flight attitude of the UAV; the data transmitter (221) is installed inside the fuselage; the electronic governor (208, 209, 216, 217) adopts a brushless ESC, and after receiving the start, stop and brake signals, the For the control of the motor speed, the placement of the four electronic governors should consider the counterweight of the fuselage; the installation position of the battery (214) is determined by the weight balance of the drone; the first steering gear (211), the second steering gear (213) ) are respectively installed on both sides of the flight controller, and are fixedly installed on the bottom plate of the body according to the counterweight; The lower part of the fuselage has two carbon fiber tripods (210, 215), which are installed symmetrically under the bottom plate of the fuselage along the flight direction. ) The top of the arch is fastened to the bottom plate of the body through a fifth fixed connection device or an adhesive; both ends of the arched carbon fiber tube pass through a horizontal carbon fiber tube; carbon fiber tripods (210, 215) The left arm sleeve (201) and the right arm sleeve (207) are both hollow long cylindrical rods, which are fixedly connected to the side wall of the UAV as a whole, and are left and right symmetrical; the left arm sleeve (201) The right end of the machine body is fixedly connected with the left side wall (218) of the body as 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) includes one set on the left and right sides, the two are identical in structure and placed symmetrically; the right vector tilting device (103) roughly includes from right to left: a right tilting mechanism drive shaft (303) , a first bearing (302), a right arm sleeve (207), a right side wall (220), a second bearing (301), and a second steering gear (213); The right tilting mechanism drive shaft (303) is a bearing structure, the left and right ends of the right arm sleeve (207) are embedded with the second and first bearings (301, 302) respectively, and the right tilting mechanism drive shaft ( 303) Through these two bearings are sleeved in the right arm sleeve (207), the axis of the right tilting mechanism drive shaft (303) coincides with the axes of the two bearings; the right tilting mechanism drive shaft ( 303) The right end has a protruding connecting portion, which is connected to the power device (102) through the protruding connecting portion; the left end of the right tilting mechanism transmission shaft (303) is rotatably connected to the second steering gear (213) inside the drone fuselage, The second steering gear (213) is connected with the transmission shaft (303) of the right tilting mechanism through a rotatable connection; the second steering gear (213) drives the transmission shaft (303) of the right tilting mechanism to rotate, thereby controlling the The right power unit realizes tilting; the right tilting mechanism drive shaft (303) and the right arm sleeve (207) are both hollow structures; The power devices on the left and right sides of the UAV have the same structure and are symmetrically arranged, and the left power device (102) consists of an upper rotor blade locking mechanism (402), an upper rotor blade (401), and an upper motor (403) from top to bottom. , upper motor seat gasket (405), left motor bracket (404), lower motor seat gasket (406), lower motor (407), lower rotor blade (408), lower rotor blade locking mechanism (409) )composition; The upper motor (403) is fixedly connected with the upper motor seat gasket (405) through the sixth fixed connection device, and the upper motor (403) is located on the upper motor seat gasket (405); the upper rotor blade (401) is fixed on the The upper end of the rotor of the upper motor (403) is rotated to drive the rotor to rotate to generate lift; the upper rotor blade locking mechanism (402) is installed on the rotor of the upper motor (403) to lock the blades and prevent them from loosening; the lower motor (407) is fixedly connected with the lower motor seat gasket (406), and the lower motor (407) is located under the lower motor seat gasket (406); the lower rotor blade (408) is fixed on the rotor of the lower motor (407), The rotor rotates to drive the rotor to rotate to generate lift; the lower rotor blade locking mechanism (409) has the same shape and function as the upper rotor blade locking mechanism (402), and is installed on the rotor of the lower motor (407); the upper motor seat gasket (405), the right ends of the lower motor seat gasket (406) are respectively fixedly connected to the left tilting mechanism transmission shaft (410) through the seventh fixed connection device; the upper motor seat gasket (405), the lower motor seat gasket (406) ) The left end is fixedly connected with the left motor bracket (404) through the eighth fixed connection device, and the left motor bracket (404) makes the upper and lower motors more firmly fixed; and the axis of the upper motor (403) coincides with the axis of the lower motor (407) , to maximize the lift generated by the rotor. 2 . The coaxial dual-rotor UAV with vector tilting according to claim 1 , wherein the four electronic governors are fixed at four corner positions of the base plate of the body. 3 . 3. the coaxial dual-rotor drone of a kind of vector tilting as claimed in claim 1, is characterized in that, the left end of right tilting mechanism drive shaft (303) and the second steering gear inside the drone fuselage (213) The way of the rotatable connection is a rotary connection, a screw connection or a pivot connection. 4. a kind of coaxial dual-rotor unmanned aerial vehicle of a kind of vector tilting as claimed in claim 1, is characterized in that, right side tilting mechanism drive shaft (303) material is carbon fiber; Body material selects composite material; Rotor propeller The blades are made of carbon fiber blades. 5 . The coaxial dual-rotor drone with vector tilting according to claim 1 , wherein the upper motor (403) and the lower motor (407) are installed symmetrically up and down to form a dual-rotor mechanism. 6 . 6 . The coaxial dual-rotor UAV with vector tilting according to claim 1 , wherein the motor model is selected from 2212, 3508 or 4010. 7 . 7 . The coaxial dual-rotor UAV with vector tilting according to claim 6 , wherein the motor model is selected as 3508. 8 . 8. a kind of coaxial dual-rotor unmanned aerial vehicle of a kind of vector tilting as claimed in claim 1, is characterized in that, upper rotor blade (401) and lower rotor blade (408) are two-blade type with certain The arc-shaped long slice of the twist rate; the disc load is an important parameter of the rotor and can be expressed as:

M is the total weight of the aircraft, and S _y is the effective area of the rotor disk; the coaxial double rotor structure is adopted, and turbulence will be generated during the working process, which reduces the effective area of the rotor disk. In order to facilitate the calculation of the coaxial double rotor disk A correction coefficient λ is introduced, so the effective area of the rotor is expressed as: S _y =Kλπ(R1 ² +R2 ² ), where R1 is the rotation radius of the upper rotor blade (401), and R2 is the lower rotor blade (408) of the rotation radius, K is the effective coefficient of the rotor disk area; the conditions that must be met for the take-off of the UAV are:

Among them, η ₀ is the hovering effective coefficient, D is the diameter of the effective area of the double rotor; the upper rotor blade (401) and the lower rotor blade (408) have different radii, and by increasing the lower rotor blade (408), the upper and lower rotor blades (408) are Each rotor rotates at the same speed in opposite directions to generate the same force to ensure the stability of the drone. 9. The coaxial dual-rotor unmanned aerial vehicle of a kind of vector tilting as claimed in claim 8, is characterized in that, the paddle disk correction coefficient is 0.75, the effective coefficient is 0.95, η ₀ =0.75; the lower rotor blade (408 ) is 0.16m, the radius of the upper rotor blade (401) is 0.12m; the effective area S _y of the rotor disc is 0.38m ² ; The hollow cuboid structure has the following parameters: length 25cm, width 20cm, and height 15cm.

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