CN215851864U

CN215851864U - A adjustable speed wheel and fixed wing unmanned aerial vehicle for fixed wing unmanned aerial vehicle

Info

Publication number: CN215851864U
Application number: CN202122510793.XU
Authority: CN
Inventors: 龚帮民; 艾剑良
Original assignee: Fudan University
Current assignee: Fudan University
Priority date: 2021-10-19
Filing date: 2021-10-19
Publication date: 2022-02-18
Anticipated expiration: 2031-10-19

Abstract

The utility model discloses a speed-adjustable wheel for a fixed-wing unmanned aerial vehicle and the fixed-wing unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicles. The speed-adjustable wheel comprises a support frame, a wheel shaft, a wheel hub and a speed adjusting device; the wheel shaft is fixedly arranged on the support frame, and the wheel hub is rotatably connected with the wheel shaft; the speed regulating device comprises a stator, a stator winding, a rotor, a permanent magnet and a motor controller; the stator is fixedly arranged on the wheel shaft, the stator winding is wound on the stator, the motor controller is fixedly arranged on the stator or the wheel shaft, the stator winding is electrically connected with the motor controller, the motor controller is connected with a cable, and the cable is connected to the body of the fixed-wing unmanned aerial vehicle through the support frame to obtain electric quantity and control signals when in use; the rotor is fixedly installed on the wheel hub, the permanent magnets are fixedly installed on the rotor, and the permanent magnets are arranged uniformly in the circumferential direction around the stator winding by taking the axis of the wheel axle as the center. The utility model can effectively reduce the sliding distance of the unmanned aerial vehicle and reduce the requirements on the runway.

Description

A adjustable speed wheel and fixed wing unmanned aerial vehicle for fixed wing unmanned aerial vehicle

Technical Field

The utility model relates to the field of unmanned aerial vehicles, in particular to a speed-adjustable wheel for a fixed-wing unmanned aerial vehicle and the fixed-wing unmanned aerial vehicle.

Background

A typical fixed-wing drone system consists of five main parts: the system comprises a body structure, an avionics system, a power system, a take-off and landing system and a ground control station. The machine body structure is composed of detachable modularized machine bodies, is convenient to carry, and can complete assembling and take off in a short time. The avionics system consists of a flight control computer, an inductor, payload, wireless communication and an empty battery and is used for meeting the requirements of an airplane control system. The power system consists of a power battery, a propeller and a brushless motor and is used for providing power required by the flight of the airplane. The take-off and landing system consists of an ejection rope, an ejection frame and a parachute and is used for helping the plane to finish ejection take-off and parachute landing. The ground control station comprises a ground station computer, a handle, a radio station and other communication equipment and is used for assisting in completing a route planning task and monitoring a flight process.

Fixed wing drones are favored in the industry because of their superior system. The fixed-wing unmanned aerial vehicle has the characteristics of long endurance time and high-altitude flight, and is widely applied to the industries of surveying and mapping, geology, petroleum, agriculture and forestry and the like at present. In the future, the fixed-wing unmanned aerial vehicle also has wider market application prospect, thereby being more generally applied.

However, the fixed wing unmanned aerial vehicle has the shortcomings of high landing speed, long sliding distance, complex control and the like compared with a multi-rotor unmanned aerial vehicle, so that the requirement on a landing runway is high, and the expansion of the application range of the fixed wing unmanned aerial vehicle is not facilitated.

SUMMERY OF THE UTILITY MODEL

Aiming at the problems of high landing speed and long sliding distance of a fixed wing unmanned aerial vehicle in the prior art, the utility model aims to provide a speed-adjustable wheel for the fixed wing unmanned aerial vehicle and the fixed wing unmanned aerial vehicle.

In order to achieve the purpose, the technical scheme of the utility model is as follows:

on one hand, the utility model provides a speed-adjustable wheel for a fixed wing unmanned aerial vehicle, which comprises a support frame, a wheel shaft, a wheel hub and a speed adjusting device, wherein the wheel hub is arranged on the support frame; the wheel shaft is fixedly arranged on the support frame, and the wheel hub is rotatably connected with the wheel shaft; the speed regulating device comprises a stator, a stator winding, a rotor, a permanent magnet and a motor controller; the stator is fixedly installed on the wheel shaft, the stator winding is wound on the stator, the motor controller is fixedly installed on the stator or the wheel shaft, the stator winding is electrically connected with the motor controller, the motor controller is connected with a cable, and the cable is connected to the body of the fixed-wing unmanned aerial vehicle through the support frame to obtain electric quantity and control signals when in use; the rotor is fixedly installed on the hub, and the permanent magnets are fixedly installed on the rotor, wherein the number of the permanent magnets is multiple, and the permanent magnets are uniformly arranged around the circumference of the stator winding by taking the axis of the wheel axle as the center.

Preferably, the wheel hub is in a hollow shell shape, through holes for the wheel axle to pass through are formed in two opposite end faces of the wheel hub, and bearings matched with the wheel axle are installed in the two through holes; wherein, the speed adjusting device is positioned in the hollow structure of the hub.

Preferably, an axial threading channel is arranged in the wheel shaft, threading holes communicated with the axial threading channel are formed in the side walls of the wheel shaft, which are positioned on the inner side and the outer side of the wheel hub, and the free tail end of the cable is connected to the machine body through the threading holes and the axial threading channel when in use.

Preferably, the support frame is provided with an axle hole matched with the axle, and one end of the axle is arranged in the axle hole in a penetrating manner and locked by a nut.

Preferably, the other end of the wheel shaft is provided with a wheel hub limiting step, a positioning shaft sleeve is further sleeved on the wheel shaft and located between the wheel hub and the support frame, and two ends of the positioning shaft sleeve are respectively abutted against the wheel hub and the support frame.

Preferably, the stator winding is wound at an outer edge end of the stator, and the stator winding is opposite to the permanent magnet.

On the other hand, the utility model also provides a fixed wing unmanned aerial vehicle which comprises a body, wings and a power device, wherein the body is connected with a plurality of undercarriage, wheels are installed at the tail ends of the undercarriage, the speed-adjustable wheels are installed on at least one of the undercarriage, and cables in the speed-adjustable wheels are electrically connected with airborne equipment carried in the body to acquire electric quantity and control signals.

Preferably, the fixed wing drone is a front three-point aircraft, and the adjustable-speed wheels are mounted on a nose landing gear of the fixed wing drone.

Adopt above-mentioned technical scheme, because for the fixed shaft of support frame, for the fixed wheel hub of shaft, fix epaxial stator and motor controller, fix rotor on wheel hub and stator and the setting of the stator winding and the permanent magnet on the rotor, make can apply the electric current to the stator winding through motor controller, make the stator winding produce the magnetic field, and the permanent magnet then atress under the effect in magnetic field and rotate, and then make rotor and wheel hub produce corresponding moment of torsion, size and direction through the electric current that control was applyed to the stator winding, can make the wheel produce the power that slows down or accelerate, thereby make the fixed wing unmanned aerial vehicle who has this wheel slow down when descending or accelerate when taking off, thereby reduce the requirement to the runway.

Drawings

Fig. 1 is a schematic structural diagram of a speed-adjustable airplane wheel for a fixed-wing drone, according to the present invention.

In the figure, 1-a support frame, 2-a wheel shaft, 3-a wheel hub, 4-a bearing, 5-a locking nut, 6-a wheel hub limit step, 7-a stator, 8-a stator winding, 9-a rotor, 10-a permanent magnet, 11-a motor controller, 12-a cable and 13-an axial threading channel.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on structures shown in the drawings, and are only used for convenience in describing the present invention, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the technical scheme, the terms "first" and "second" are only used for referring to the same or similar structures or corresponding structures with similar functions, and are not used for ranking the importance of the structures, or comparing the sizes or other meanings.

In addition, unless expressly stated or limited otherwise, the terms "mounted" and "connected" are to be construed broadly, e.g., the connection may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two structures can be directly connected or indirectly connected through an intermediate medium, and the two structures can be communicated with each other. To those skilled in the art, the specific meanings of the above terms in the present invention can be understood in light of the present general concepts, in connection with the specific context of the scheme.

Example one

A adjustable speed wheel for fixed wing unmanned aerial vehicle, as shown in figure 1, includes support frame 1, shaft 2, wheel hub 3 and speed adjusting device.

Wherein, wheel shaft 2 fixed mounting is on support frame 1, wheel hub 3 and wheel shaft 2 rotatable coupling. In this embodiment, it is flat hollow shell structure to set up wheel hub 3, and wheel hub 3 includes two parallel and relative terminal surfaces and centers on the circumference lateral wall between two terminal surfaces, sets up the through-hole that supplies shaft 2 to pass on two terminal surfaces coaxially, and all installs the bearing 4 that uses with the cooperation of shaft 2 in two through-holes to the inside and outside both ends of shaft 2 all are located wheel hub 3's outside, and wheel hub 3's hollow inner space is then used for arranging foretell speed adjusting device.

In this embodiment, the supporting frame 1 is provided with an axle hole adapted to the axle 2, and the inner end of the axle 2 is inserted into the axle hole and fixed by a key. In order to prevent the axle 2 from moving in the axial direction, a lock nut 5 is screwed on the end of the axle 2 passing through the inner end of the support frame 1, and a positioning sleeve (not shown) is further sleeved on the side wall of the axle 2 between the hub 3 and the support frame 1, and two ends of the positioning sleeve respectively abut against the hub 3 and the support frame 1. Correspondingly, the outer end of the wheel shaft 2 is provided with a wheel hub limiting step 6, and the wheel hub limiting step 6 and the positioning shaft sleeve have the comprehensive effect of positioning the wheel hub 3 on the wheel shaft 2, so that the wheel hub 3 cannot move along the axial direction.

In this embodiment, the speed adjusting device specifically includes a stator 7, a stator winding 8, a rotor 9, a permanent magnet 10, and a motor controller 11. Wherein, stator 7 disposes into the loop configuration, there is the shaft hole in its middle part so that pass through key fixed mounting on shaft 2, stator winding 8 is then around adorning in stator 7's outer fringe end one side, motor controller 11 fixed mounting is on stator 7 or shaft 2, for example motor controller 11 fixed mounting is on the lateral wall of stator 7 in this embodiment, and motor controller 11 and stator winding 8 electric connection, on the opposite side, motor controller 11 still is connected with cable 12, so that this cable 12 links to the fuselage of fixed wing unmanned aerial vehicle via support frame 1 during the use, thereby acquire required electric quantity of speed adjusting device work and control signal. The rotor 9 is fixedly mounted on the hub 3, for example, fixed on the inner side of the end surface inner wall or the circumferential side wall of the hub 3 by screws, the rotor 9 is annular and surrounds the outer side of the stator winding 8, the permanent magnets 10 are configured with a plurality and are all fixedly mounted on the rotor 9, wherein the plurality of permanent magnets 10 are uniformly arranged around the stator winding 8 in the circumferential direction by taking the axis of the wheel shaft 2 as the center, and the permanent magnets 9 are opposite to the stator winding 8 with a certain distance therebetween.

In addition, in order to ensure that the device carried by the body of the fixed-wing unmanned aerial vehicle can transmit the electric quantity and the control signal to the cable 12, the axial threading channel 13 formed along the axial direction is further formed inside the wheel shaft 2, and in addition, threading holes (not shown in the figure) communicated with the axial threading channel 13 are formed in the side walls of the wheel shaft 2 on the inner side and the outer side of the wheel shaft 3, so that the free end of the cable 12 can penetrate out of the wheel shaft 3 through the threading holes and the axial threading channel 13 and further be connected to the body when in use. It will be appreciated that in another embodiment the above mentioned speed regulating device may also be arranged outside the hub 3, thereby facilitating the connection to the cable 12.

During the use, the adjustable speed aircraft wheel that this embodiment is disclosed, its support frame 1 can the snap-on fixed wing unmanned aerial vehicle's fuselage, and the adjustable speed aircraft wheel that this embodiment is disclosed can regard as the undercarriage to use this moment, perhaps on the basis that keeps other structures of undercarriage unchangeable, can after fixed with the adjustable speed aircraft wheel installation that this embodiment is disclosed. When the fixed-wing unmanned aerial vehicle lands and slides, firstly, the hub 3 rotates relative to the wheel shaft 2, and the rotor 9 and the permanent magnet 10 which are fixedly arranged relative to the hub 3 also rotate along with the hub; at the moment, when the fixed-wing unmanned aerial vehicle provides electric quantity to the motor controller 11 through the cable 12 and sends a control signal, the stator winding 8 is electrified and generates a magnetic field, and the magnetic field acts on the permanent magnet 10, so that the permanent magnet 10 can generate torque opposite to the rotation direction of the permanent magnet, the rotation of the hub 3 is forced to be blocked, a speed reduction effect is generated, and the landing and sliding distance of the fixed-wing unmanned aerial vehicle is reduced;

on the contrary, when the fixed wing unmanned aerial vehicle takes off and slides, the fixed wing unmanned aerial vehicle provides electric quantity and sends control signal to motor controller 11 through cable 12, make stator winding 8 switch on opposite direction's electric current can, the permanent magnet 10 receives the moment of torsion the same with its rotation direction this moment to make wheel hub 3 produce effect with higher speed, and then reduce fixed wing unmanned aerial vehicle's the distance that slides that takes off.

Example two

The utility model provides a fixed wing unmanned aerial vehicle, includes fuselage, wing and power device to the fuselage is connected with a plurality of undercarriage, and the wheel of at least one undercarriage installation is the adjustable speed wheel that the above-mentioned embodiment is disclosed, and simultaneously, the cable 12 in the adjustable speed wheel and the airborne equipment electric connection who carries on in the fuselage in order to obtain electric quantity and control signal.

It will be appreciated that since landing gear typically includes wheels and a support structure connected between the wheels and the fuselage, the support structure is further divided into a support rod without cushioning (e.g. support frame 1 in the first embodiment) or a cushioned landing gear with cushioning. Therefore, the adjustable-speed wheel in the first embodiment can be directly used as a landing gear and fixed on the machine body, and can also be used as a part of a damping landing gear to replace the wheel in the prior art.

In this embodiment, it is further preferable that the fixed wing drone is a three-point front plane, which includes a nose landing gear and two rear landing gears, and in this embodiment, from the viewpoint of cost reduction and easy control, only the above-mentioned adjustable-speed wheels are configured to be applied to the nose landing gear of the fixed wing drone.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, and the scope of protection is still within the scope of the utility model.

Claims

1. The utility model provides an adjustable speed wheel for fixed wing unmanned aerial vehicle which characterized in that: comprises a supporting frame, a wheel shaft, a wheel hub and a speed regulating device; the wheel shaft is fixedly arranged on the support frame, and the wheel hub is rotatably connected with the wheel shaft; the speed regulating device comprises a stator, a stator winding, a rotor, a permanent magnet and a motor controller; the stator is fixedly installed on the wheel shaft, the stator winding is wound on the stator, the motor controller is fixedly installed on the stator or the wheel shaft, the stator winding is electrically connected with the motor controller, the motor controller is connected with a cable, and the cable is connected to the body of the fixed-wing unmanned aerial vehicle through the support frame to obtain electric quantity and control signals when in use; the rotor is fixedly installed on the hub, and the permanent magnets are fixedly installed on the rotor, wherein the number of the permanent magnets is multiple, and the permanent magnets are uniformly arranged around the circumference of the stator winding by taking the axis of the wheel axle as the center.

2. The adjustable speed wheel of claim 1, wherein: the wheel hub is in a hollow shell shape, through holes for the wheel shaft to pass through are formed in two opposite end faces of the wheel hub, and bearings matched with the wheel shaft are installed in the two through holes; wherein, the speed adjusting device is positioned in the hollow structure of the hub.

3. The adjustable speed wheel of claim 2, wherein: the wheel shaft is internally provided with an axial threading channel, the side walls of the wheel shaft, which are positioned at the inner side and the outer side of the wheel hub, are respectively provided with a threading hole communicated with the axial threading channel, and the free tail end of the cable is connected to the machine body through the threading hole and the axial threading channel when in use.

4. The adjustable speed wheel of claim 1, wherein: the supporting frame is provided with an axle hole matched with the axle, and one end of the axle penetrates through the axle hole and is locked through a nut.

5. The adjustable speed wheel of claim 4 wherein: the wheel shaft is provided with a wheel hub limiting step at the other end, a positioning shaft sleeve is further sleeved on the wheel shaft and located between the wheel hub and the supporting frame, and two ends of the positioning shaft sleeve are respectively abutted to the wheel hub and the supporting frame.

6. The adjustable speed wheel of claim 1, wherein: the stator winding is wound at the outer edge end of the stator and is opposite to the permanent magnet.

7. The utility model provides a fixed wing unmanned aerial vehicle, includes fuselage, wing and power device, the fuselage is connected with a plurality of undercarriage, its characterized in that: at least one of the landing gears is provided with a speed-adjustable wheel as claimed in any one of claims 1 to 6, and a cable in the speed-adjustable wheel is electrically connected with an onboard device carried in the fuselage to obtain electric quantity and control signals.

8. The fixed-wing drone of claim 7, wherein: the fixed wing unmanned aerial vehicle is a front three-point aircraft, and the adjustable-speed aircraft wheel is mounted on a front undercarriage of the fixed wing unmanned aerial vehicle.