CN219257738U

CN219257738U - Rotor wing angle-of-attack mechanism and coaxial double-rotor unmanned aerial vehicle

Info

Publication number: CN219257738U
Application number: CN202320752284.4U
Authority: CN
Inventors: 赵志孝; 翟剑豪; 毛立尧; 严飞
Original assignee: Xian Lingkong Electronic Technology Co Ltd
Current assignee: Xian Lingkong Electronic Technology Co Ltd
Priority date: 2023-04-06
Filing date: 2023-04-06
Publication date: 2023-06-27
Anticipated expiration: 2033-04-06

Abstract

The utility model discloses a rotor wing angle-of-attack mechanism and a coaxial double-rotor wing unmanned aerial vehicle, which comprises a rotor hub and rotor clamps hinged to two sides of the rotor hub, wherein two ends of the rotor hub in the length direction of the rotor hub are connected with hanging lugs 3, the hanging lugs 3 form an alpha angle with an axis of the rotor hub in the height direction of the rotor hub, and the inclination angles of the two hanging lugs 3 are opposite. The utility model discloses a method for adjusting the heading of an unmanned aerial vehicle, which comprises the steps of expanding a paddle to form an alpha fixed attack angle, and mainly relying on two left and right lugs 3 with alpha inclination angles of a paddle hub to enable the paddle to form an alpha included angle with a horizontal plane after the paddle clamp rotates along a fixed screw shaft, so that the aim of adjusting the heading of the unmanned aerial vehicle is fulfilled.

Description

Rotor wing angle-of-attack mechanism and coaxial double-rotor unmanned aerial vehicle

Technical Field

The utility model relates to the technical field of unmanned aerial vehicles, in particular to a rotor wing angle-of-attack mechanism and a coaxial double-rotor wing unmanned aerial vehicle.

Background

The main difference between the coaxial double-rotor unmanned aerial vehicle and the traditional single-rotor unmanned aerial vehicle with the tail rotor is that heading control and stabilization are realized by means of 2 groups of rotors which are coaxially reversed up and down, so that the tail rotor is not needed, hidden danger brought by the tail rotor is eliminated, and the overall size is reduced. The course control form of the coaxial double-rotor unmanned aerial vehicle mainly comprises the following steps: fully differential, semi-differential.

The fully differential mode is to change the total distance of the upper rotor wing and the lower rotor wing reversely at the same time to realize the heading of the helicopter; the semi-differential mode is generally used for controlling the heading of the unmanned aerial vehicle by changing the total distance of the lower rotor wings, and the control mechanism is simple and easy to realize because only the total distance of the lower rotor wings is changed. However, as only the collective pitch of the lower rotor wing is changed during course control, the collective pitch of the upper rotor wing is unchanged, so that the lift force of the helicopter is changed, the fluctuation of the helicopter is caused, and in order to eliminate the coupling response, collective pitch compensation measures are required, so that the pitch-changing system and the control of the unmanned aerial vehicle are relatively complex. In the prior art, in order to provide enough lift force, the semi-differential upper rotor wing adopts blades with screw pitches, the folded blades and the machine body cannot be attached, the occupied space is large, and the semi-differential upper rotor wing is not suitable for a coaxial semi-differential unmanned aerial vehicle with a blasting aperture limit.

Therefore, it is necessary to design a mechanism for folding and unfolding the rotor hubs and changing the angle of attack on the semi-differential coaxial double-rotor unmanned aerial vehicle, so that the corresponding pitch required by the lift force is obtained after the upper rotor blades are unfolded, the total lift force of the unmanned aerial vehicle is improved, and meanwhile, the coupling response of the upper rotor and the lower rotor of the coaxial unmanned aerial vehicle is eliminated, so that the performance of the unmanned aerial vehicle is more excellent.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model aims to provide a rotor wing angle-of-attack mechanism and a coaxial double-rotor unmanned aerial vehicle, which solve the problems that the lift force is insufficient and the coupling response of upper and lower rotors of a semi-differential coaxial unmanned aerial vehicle is easy to cause when a rotor hub in the prior art is applied.

In order to solve the technical problems, the utility model adopts the following technical scheme: the utility model provides a rotor becomes angle of attack mechanism, includes the oar hub and articulates the oar clamp in the oar hub both sides, the oar hub be connected with hangers 3 along self length direction's both ends, hangers 3 and oar hub be alpha angle along self direction of height's axis, the inclination direction of two hangers 3 is opposite.

The paddle clamp is hinged on the hanging lugs, and the angle alpha is more than 0 DEG and less than or equal to 10 deg.

The utility model also has the following technical characteristics:

the hub comprises a first fixing plate and a second fixing plate which are horizontally arranged, and the first fixing plate and the second fixing plate are connected through a connecting plate;

the first fixing plate and the second fixing plate are of round-angle rectangular plate-shaped structures, the connecting plate is located in the axial direction of the first fixing plate and the second fixing plate along the length direction, and the hanging lugs 3 are connected with the connecting plate.

The paddle clamp comprises a first hinging section hinged with the hanging lugs 3 and a second hinging section connected with the first hinging section;

the second hinge section is used for hinging the blade.

The first hinge section comprises a first hinge base plate and first hinge plates vertically connected to one side of the first hinge base plate, the first hinge plates are arranged in pairs and in parallel, and first hinge holes are formed in the first hinge plates;

the second hinge section comprises a second hinge bottom plate and second hinge plates vertically connected to one side of the second hinge bottom plate, the second hinge plates are arranged in pairs and in parallel, and second hinge holes are formed in the second hinge plates;

the first hinged bottom plate is attached to the second hinged bottom plate;

the direction of the first hinge plate is perpendicular to the direction of the second hinge plate.

The first fixing plate is used for being fixed with the motor rotor;

the first fixing plate is provided with a fixing hole, the second fixing plate is provided with a process hole, and the fixing hole is coaxial with the process hole;

the first fixing plate is provided with a first through hole, the second fixing plate is provided with a second through hole, and the first through hole and the second through hole are coaxially arranged.

A coaxial double-rotor unmanned aerial vehicle adopts the rotor wing angle-of-attack mechanism.

Compared with the prior art, the utility model has the following technical effects:

the utility model mainly relies on two lugs 3 with alpha inclination angles on the left and right sides of a hub to enable the paddle clamp to rotate along a fixed screw shaft and then form an alpha included angle with a horizontal plane, thereby achieving the aim of unmanned aerial vehicle course adjustment.

And (II) the utility model has simple structure and convenient use, and can greatly save manpower and material resources.

Drawings

FIG. 1 is a schematic view of a paddle clip of the present utility model when folded;

FIG. 2 is a schematic view of the structure of the present utility model with the blade clip deployed;

FIG. 3 is a left side schematic view of FIG. 1;

FIG. 4 is a schematic top view of the hub and lugs;

FIG. 5 is a left side schematic view of FIG. 4;

FIG. 6 is a schematic front view of a hub;

FIG. 7 is a schematic view in section A-A of FIG. 6;

fig. 8 is a schematic view of a paddle clip structure.

FIG. 9 is a schematic view II of a paddle clip configuration;

FIG. 10 is a schematic view of the structure of the blade of the present utility model when folded;

fig. 11 is a schematic view of the structure of the blade of the present utility model when it is deployed.

Meaning of the individual reference numerals in the drawings:

1-a hub; 2-a paddle clip; 3-hanging lugs; 4-counter bore; 5-paddles;

1-1 of a first fixing plate, 1-2 of a second fixing plate and 1-3 of a connecting plate;

1-1-1 fixing holes, 1-1-2 first through holes;

1-2-1 process holes, 1-2-2 second through holes;

2-1 a first hinge segment, 2-2 a second hinge segment;

2-1-1 first hinge base plate, 2-1-2 first hinge plate, 2-1-3 first hinge hole;

2-2-1 second hinge base plate, 2-2-2 second hinge plate, 2-2-3 second hinge hole;

the following examples illustrate the utility model in further detail.

Detailed Description

The following specific embodiments of the present utility model are provided, and it should be noted that the present utility model is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solutions of the present application fall within the protection scope of the present utility model.

The terms "upper," "lower," "front," "rear," "top," "bottom," and the like are used herein to refer to an orientation or positional relationship for ease of description and simplicity of description only, and are not intended to indicate or imply that the devices or elements being referred to must be oriented, configured and operated in a particular orientation, with "inner," "outer" referring to the inner and outer sides of the corresponding component profiles, and the above terms are not to be construed as limiting the utility model.

In the present utility model, unless otherwise indicated, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected or detachably connected or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those skilled in the art according to the specific circumstances.

All parts of the utility model, unless otherwise specified, are known in the art.

Example 1:

according to the technical scheme, as shown in fig. 1-4, the rotor wing angle-of-attack mechanism comprises a rotor hub 1 and rotor clamps 2 hinged to two sides of the rotor hub 1, wherein the two ends of the rotor hub 1 along the length direction of the rotor hub are connected with lugs 3, the lugs 3 and the rotor hub 1 form an alpha angle along the axis of the height direction of the rotor hub, and the inclination directions of the two lugs 3 are opposite. The hub 1 is a structural part and is used for connecting the paddle clamp 2, the paddle clamp 2 is hinged on the hanging lugs 3, and the angle alpha is more than 0 DEG and less than or equal to 10 deg.

As shown in fig. 5, fig. 5 is a left view of the utility model after the paddle clamp 2 is removed, the paddle 5 is unfolded to form an alpha fixed attack angle, which is the core design of the utility model, mainly depends on two lugs 3 with alpha inclination angles on the left and right sides of the paddle hub 1, so that the paddle 5 fixed on the paddle clamp 2 forms an alpha included angle with the horizontal plane, thereby achieving the aim of unmanned aerial vehicle course adjustment.

As one preferable example of the present embodiment:

as shown in fig. 6-7, the hub 1 comprises a first fixing plate 1-1 and a second fixing plate 1-2 which are horizontally arranged, and the first fixing plate 1-1 and the second fixing plate 1-2 are connected through a connecting plate 1-3;

the first fixing plate 1-1 and the second fixing plate 1-2 are of round-corner rectangular plate-shaped structures, the connecting plate 1-3 is located in the axial direction of the first fixing plate 1-1 and the second fixing plate 1-2 along the length direction, and the hanging lugs 3 are connected with the connecting plate 1-3. The paddle hub 1 adopts an I-shaped structural design, two planes of a first fixing plate 1-1 and a second fixing plate 1-2 are designed, a round hole is formed in the middle of each plane, the thickness of the strength of the paddle hub is guaranteed between the two planes, other paddle hubs are removed, two lugs 3 which form an alpha angle with the vertical direction are designed on the left side and the right side, the inclination angles of the two lugs 3 are opposite, the thickness w (w is more than or equal to 5) of each lug 3 is equal to the thickness w of each lug 3, holes are formed in the lugs 3, and the direction of each hole is perpendicular to the inclined surface of each lug 3. Two lugs 3 are used to connect with the paddle clip 2.

As one preferable example of the present embodiment:

as shown in fig. 8 and 9, the paddle clip 2 comprises a first hinge section 2-1 hinged with the hanging ring 3 and a second hinge section 2-2 connected with the first hinge section 2-1;

the second hinge section 2-2 is used for hinging the blade 5.

As one preferable example of the present embodiment:

the first hinge section 2-1 comprises a first hinge base plate 2-1-1 and first hinge plates 2-1-2 vertically connected to one side of the first hinge base plate 2-1-1, the first hinge plates 2-1-2 are arranged in pairs and in parallel, and first hinge holes 2-1-3 are formed in the first hinge plates 2-1-2;

the second hinge section 2-2 comprises a second hinge base plate 2-2-1 and second hinge plates 2-2-2 vertically connected to one side of the second hinge base plate 2-2-1, the second hinge plates 2-2 are arranged in pairs and in parallel, and second hinge holes 2-2-3 are formed in the second hinge plates 2-2;

the first hinged bottom plate 2-1-1 is attached to the second hinged bottom plate 2-2-1;

the direction of the first hinge plate 2-1-2 is perpendicular to the direction of the second hinge plate 2-2-2.

In a specific embodiment, the paddle clamp 2 adopts a double U-shaped structural design, the first hinge section 2-1 and the second hinge section 2-2 are integrally U-shaped, corresponding to a U-1 type groove and a U-2 type groove respectively, the two U-shaped grooves are connected back to back, an included angle of 90 degrees is formed between the two U-shaped grooves, the groove surface thickness a (a is more than or equal to 3) of the U-1 type groove, the groove width is w+a, through holes are formed in the groove surface, and the aperture is consistent with the specification of a screw. The groove surface of the U-2 type groove is thick a, the groove width is the thickness of the blade 5, the octagonal counter bore is formed in the groove surface, the counter bore is 1mm deep, a through hole is formed in the center of the counter bore, and the aperture of the through hole is consistent with that of the screw 2.

As one preferable example of the present embodiment:

as shown in fig. 2, the first fixing plate 1-1 is used for fixing with a motor rotor;

the first fixing plate 1-1 is provided with a fixing hole 1-1-1, the second fixing plate 1-2 is provided with a process hole 1-2-1, and the fixing hole 1-1-1 is coaxial with the process hole 1-2-1;

the first fixing plate 1-1 is provided with a first through hole 1-1-2, the second fixing plate 1-2 is provided with a second through hole 1-2-2, and the first through hole 1-1-2 and the second through hole 1-2-2 are coaxially arranged.

Four fixing holes 1-1-1 are formed in the first fixing plate 1-1 of the propeller hub 1 and are used for being fixed with a motor rotor, and four process holes 1-2-1 are formed in the lower second fixing plate 1-2, so that a spanner can conveniently pass through when the propeller hub 2 is fixed with the motor; the first through holes 1-1-2 formed in the first fixing plate 1-1 and the second through holes 1-2-2 formed in the second fixing plate 1-2 facilitate threading or shaft threading.

Fig. 10 is a schematic structural view of the present utility model when the blades are stacked, and fig. 11 is a schematic structural view of the present utility model when the blades are unfolded. Compared with a traditional semi-differential coaxial unmanned aerial vehicle upper rotor system, the unmanned aerial vehicle upper rotor system guarantees that the unmanned aerial vehicle has larger lifting force during course adjustment, eliminates coupling response of upper and lower rotors of the semi-differential coaxial unmanned aerial vehicle, and enables performance of the unmanned aerial vehicle to be superior.

Example 2:

the utility model also provides a coaxial double-rotor unmanned aerial vehicle, which adopts the rotor angle-of-attack mechanism in the embodiment 1.

While the utility model has been described with respect to the preferred embodiments, it is to be understood that the utility model is not limited thereto, but is intended to cover modifications and alternatives falling within the spirit and scope of the present utility model as disclosed by those skilled in the art without departing from the spirit and scope of the present utility model.

Claims

1. The rotor wing angle-of-attack mechanism comprises a rotor hub (1) and blade clamps (2) hinged to two sides of the rotor hub (1), and is characterized in that two ends of the rotor hub (1) along the length direction of the rotor hub are connected with hanging lugs (3), the hanging lugs (3) form an alpha angle with the axis of the rotor hub (1) along the height direction of the rotor hub, and the inclination angles of the two hanging lugs (3) are opposite;

the paddle clamp (2) is hinged on the hanging lugs (3), and alpha is more than 0 degrees and less than or equal to 10 degrees.

2. The rotor angle of attack mechanism according to claim 1, wherein the hub (1) comprises a first fixed plate (1-1) and a second fixed plate (1-2) which are horizontally arranged, and the first fixed plate (1-1) and the second fixed plate (1-2) are connected through a connecting plate (1-3);

the first fixing plate (1-1) and the second fixing plate (1-2) are of round-corner rectangular plate structures, the connecting plate (1-3) is located in the axial direction of the first fixing plate (1-1) and the second fixing plate (1-2) along the length direction, and the hanging lugs (3) are connected with the connecting plate (1-3).

3. A rotor-angle-of-attack mechanism according to claim 2, wherein the blade holder (2) comprises a first hinge section (2-1) hinged to the suspension loop (3) and a second hinge section (2-2) connected to the first hinge section (2-1);

the second hinge section (2-2) is used for hinging the blade.

4. A rotor blade angle of attack changing mechanism according to claim 3, wherein the first hinge section (2-1) comprises a first hinge base plate (2-1-1) and a first hinge plate (2-1-2) vertically connected to one side of the first hinge base plate (2-1-1), the first hinge plates (2-1-2) are arranged in parallel in pairs, and the first hinge plates (2-1-2) are provided with first hinge holes (2-1-3);

the second hinge section (2-2) comprises a second hinge base plate (2-2-1) and second hinge plates (2-2-2) vertically connected to one side of the second hinge base plate (2-2-1), the second hinge plates (2-2) are arranged in parallel in pairs, and second hinge holes (2-2-3) are formed in the second hinge plates (2-2-2);

the first hinging bottom plate (2-1-1) is attached to the second hinging bottom plate (2-2-1);

the direction of the first hinge plate (2-1-2) is perpendicular to the direction of the second hinge plate (2-2-2).

5. A rotor-angle-of-attack mechanism according to claim 2, wherein the first fixing plate (1-1) is adapted to be fixed to the rotor of the motor;

the first fixing plate (1-1) is provided with a fixing hole (1-1-1), the second fixing plate (1-2) is provided with a process hole (1-2-1), and the fixing hole (1-1-1) is coaxial with the process hole (1-2-1);

the first fixing plate (1-1) is provided with a first through hole (1-1-2), the second fixing plate (1-2) is provided with a second through hole (1-2-2), and the first through hole (1-1-2) and the second through hole (1-2-2) are coaxially arranged.

6. A coaxial twin-rotor unmanned aerial vehicle employing a rotor angle of attack mechanism as claimed in any one of claims 1 to 5.