CN219770189U - Coaxial anti-oar unmanned aerial vehicle double-inclinator link gear - Google Patents
Coaxial anti-oar unmanned aerial vehicle double-inclinator link gear Download PDFInfo
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- CN219770189U CN219770189U CN202321332823.5U CN202321332823U CN219770189U CN 219770189 U CN219770189 U CN 219770189U CN 202321332823 U CN202321332823 U CN 202321332823U CN 219770189 U CN219770189 U CN 219770189U
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Abstract
The utility model discloses a coaxial anti-propeller unmanned aerial vehicle double-inclinator linkage mechanism which comprises a middle shaft, wherein an upper automatic inclinator and a lower automatic inclinator are symmetrically distributed on the upper side and the lower side of the middle shaft respectively, each of the upper automatic inclinator and the lower automatic inclinator comprises a fixed ring and a rotating ring, an upper rotor wing module and a lower rotor wing module, a driving part and a plurality of linkage pull rods, and two ends of each of the plurality of linkage pull rods are connected with the fixed rings on the upper side and the lower side respectively; the driving part drives the linkage pull rod to move, so that the inclination angles and the frequencies of the upper fixing ring and the lower fixing ring are always consistent, the synchronous linkage of the upper automatic inclinator and the lower automatic inclinator is realized under the condition that a steering engine is not increased, the upper rotor wing module and the lower rotor wing module can be subjected to periodic variable-pitch operation, the operation efficiency of the unmanned aerial vehicle can be greatly improved, the wind resistance capability is improved, the stability of the unmanned aerial vehicle is improved, and the cost is reduced.
Description
Technical Field
The utility model relates to the technical field of aircraft manufacturing, in particular to a coaxial reverse propeller unmanned aerial vehicle double-inclinator linkage mechanism.
Background
The coaxial anti-propeller unmanned aerial vehicle comprises an upper rotor wing module and a lower rotor wing module which are opposite in steering direction and share a transmission shaft, has larger air intake/exhaust capacity and air flow density, and has higher power transmission efficiency, and the existing course and lifting control mode comprises two modes of fixed-speed variable-pitch control and fixed-distance variable-speed control. The traditional coaxial anti-oar unmanned aerial vehicle adopts the rotor pitch control strategy of fixed rotational speed change, needs four at least steering gears, and the structure is complicated with high costs. Unmanned aerial vehicle capable of controlling heading and lifting at fixed distance and variable rotating speed can realize position and attitude control by only needing 2 steering engines at least, and has simple structure and low cost.
However, the existing unmanned aerial vehicle with the rotating speed control course is of a single-layer periodic variable-pitch structure, and in the forward flying process, a rotor wing of a periodic variable-pitch layer can provide control force and moment to control the attitude and the flying speed. The pitch of the other layer of rotor wing cannot be changed, and only the change of the turning speed controls the course change. During the forward flying process and in windward, the aerodynamic forces of the forward blades and the backward blades of the rotor with the unchanged pitch layer are unbalanced, so that the force and the moment opposite to the steering force of the variable rotor layer are caused, the steering efficiency is reduced, and the wind resistance is poor.
Disclosure of Invention
The utility model aims to provide a coaxial anti-propeller unmanned aerial vehicle double-inclinator linkage mechanism, which can greatly improve the operation efficiency of the unmanned aerial vehicle, improve the wind resistance and improve the stability of the unmanned aerial vehicle.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the double-inclinator linkage mechanism of the coaxial anti-propeller unmanned aerial vehicle comprises a middle shaft, wherein an upper automatic inclinator and a lower automatic inclinator are symmetrically distributed on the upper side and the lower side of the middle shaft respectively, the upper automatic inclinator and the lower automatic inclinator respectively comprise a fixed ring and a rotating ring, the rotating ring is coaxially and rotatably connected with the fixed ring through a bearing, the double-inclinator linkage mechanism further comprises an upper rotor wing module and a lower rotor wing module, and the upper rotor wing module and the lower rotor wing module are respectively connected with the rotating rings on the upper side and the lower side; the linkage mechanism further comprises a driving part and a plurality of linkage pull rods, two ends of the linkage pull rods are respectively connected with the fixing rings on the upper side and the lower side, and the driving part is used for driving the linkage pull rods to move in the vertical direction.
Through above-mentioned technical scheme, drive part drive linkage pull rod activity makes upper and lower two solid fixed ring inclination and frequency remain unanimous throughout, under the circumstances that does not increase the steering wheel, realizes the synchronous linkage of automatic inclinator and lower automatic inclinator, can carry out the periodic displacement to last rotor module and lower rotor module and operate.
Preferably, the driving part is arranged as a plurality of groups which are distributed on a horizontal plane symmetrical intermediate shaft and comprises a steering engine, a steering engine rocker arm and a fixed ring pull rod, wherein the steering engine drives the steering engine rocker arm to rotate, and the fixed ring pull rod drives the fixed ring to swing in different directions.
Preferably, a plurality of movable rods are arranged on the fixed ring, one end of the fixed ring pull rod is hinged with the steering engine rocker arm, and the other end of the fixed ring pull rod is in sliding connection with the movable rods.
Preferably, the movable rod further comprises a sliding groove, and the movable rod is in sliding connection with the sliding groove in the vertical direction.
Through above-mentioned technical scheme, when steering wheel drive steering wheel rocking arm rotated, fixed ring pull rod was slided on the movable rod, and the one end of movable rod was slided in the spout simultaneously.
Preferably, the upper rotor module and the lower rotor module comprise a motor, a rotor hub, a variable-pitch hinge and a variable-pitch pull rod, wherein the rotor hub is arranged on a rotor of the motor, and the variable-pitch hinge can rotate around a variable-pitch axis and is arranged at two ends of the rotor hub respectively; the pitch-variable hinge is provided with a pitch-variable rocker arm, one end of the pitch-variable pull rod is hinged with the pitch-variable rocker arm, and the other end of the pitch-variable pull rod is hinged with the rotating ring.
Through above-mentioned technical scheme, motor drive oar hub rotates, and the pitch change pull rod drives the pitch hinge through the pitch change rocking arm and rotates around the pitch axis, realizes the cycle pitch of rotor.
Preferably, a mounting seat is arranged between the upper automatic inclinator and the lower automatic inclinator, and a plurality of groups of driving components are fixed on the mounting seat.
Preferably, the steering engines are arranged at intervals of 90 degrees or 120 degrees.
Preferably, the number of the linkage pull rods and the number of the fixed ring pull rods are not less than 3.
The beneficial effects are that:
according to the utility model, the steering engine drives the steering engine rocker arm to rotate by arranging the plurality of linkage pull rods, and the plurality of fixed ring pull rods drive the fixed rings to swing in different directions, so that the upper automatic inclinator and the lower automatic inclinator incline according to the required angles, and meanwhile, the distance-changing pull rods drive the distance-changing hinges to rotate around the distance-changing axis through the distance-changing rocker arm; the upper fixed ring and the lower fixed ring are enabled to be consistent in inclination angle and frequency all the time by the aid of the plurality of linkage pull rods, synchronous linkage of the upper automatic inclinator and the lower automatic inclinator is achieved under the condition that a steering engine is not increased, periodic variable-pitch operation can be conducted on the upper rotor wing module and the lower rotor wing module, operation efficiency of the unmanned aerial vehicle can be greatly improved, wind resistance is improved, stability of the unmanned aerial vehicle is improved, and cost is reduced through the aid of the automatic inclinator.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a coaxial reverse pitch unmanned aerial vehicle double-recliner linkage mechanism of the present utility model;
fig. 2 is a schematic diagram of an automatic inclinator on a coaxial reverse pitch unmanned aerial vehicle double inclinator linkage mechanism according to the present utility model.
In the figure: 1. an intermediate shaft; 11. a mounting base; 2. an upper automatic inclinator; 3. a lower automatic recliner; 4. a fixing ring; 5. a rotating ring; 6. a driving part; 61. steering engine; 62. steering engine rocker arm; 63. a fixed ring pull rod; 64. a movable rod; 65. a chute; 7. a linkage pull rod; 8. an upper rotor module; 81. a motor; 82. a hub; 83. a variable-pitch hinge; 84. a variable-pitch pull rod; 85. a pitch-variable rocker arm; 9. a lower rotor module.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
The following describes embodiments of the present utility model in detail:
as shown in fig. 1 and 2, a double-tilter linkage mechanism of a coaxial anti-propeller unmanned aerial vehicle comprises a middle shaft 1, wherein an upper automatic tilter 2 and a lower automatic tilter 3 are symmetrically distributed on the upper side and the lower side of the middle shaft 1 respectively, the upper automatic tilter 2 and the lower automatic tilter 3 both comprise a fixed ring 4 and a rotating ring 5, the rotating ring 5 is coaxially and rotatably connected with the fixed ring 4 through a bearing, the double-tilter linkage mechanism further comprises an upper rotor wing module 8 and a lower rotor wing module 9, and the upper rotor wing module 8 and the lower rotor wing module 9 are respectively connected with the rotating rings 5 on the upper side and the lower side; the linkage mechanism further comprises a driving part 6 and a plurality of linkage pull rods 7, two ends of the linkage pull rods 7 are respectively connected with the fixing rings 4 on the upper side and the lower side, and the driving part 6 is used for driving the linkage pull rods 7 to move in the vertical direction.
When the unmanned aerial vehicle is in operation, the driving part 6 drives the linkage pull rod 7 to move, so that the inclination angles and the frequencies of the upper fixing ring 4 and the lower fixing ring 4 are always consistent, the synchronous linkage of the upper automatic inclinator 2 and the lower automatic inclinator 3 is realized under the condition that the steering engine 61 is not increased, the upper rotor wing module 8 and the lower rotor wing module 9 can be subjected to periodic variable-pitch operation, the operation efficiency of the unmanned aerial vehicle can be greatly improved, the wind resistance capacity is improved, the stability of the unmanned aerial vehicle is improved, and the unmanned aerial vehicle is simple in structure and low in cost.
As a preferred embodiment, the driving parts 6 are arranged in a plurality of groups which are distributed on the horizontal plane symmetrical intermediate shaft 1 and comprise steering gears 61, steering gear rocker arms 62 and fixed ring pull rods 63, and specifically, the steering gears 61 are arranged at intervals of 90 degrees or 120 degrees, and the number of the linkage pull rods 7 and the number of the fixed ring pull rods 63 are not less than 3. The steering engine 61 drives the steering engine rocker arm 62 to rotate, and the fixed ring 4 is driven by the fixed ring pull rods 63 to swing in different directions, so that the upper automatic inclinator 2 and the lower automatic inclinator 3 incline according to the required angles. A mounting seat 11 is arranged between the upper automatic inclinator 2 and the lower automatic inclinator 3, and a plurality of groups of driving components 6 are fixed on the mounting seat 11.
As a preferred embodiment, the fixed ring 4 is provided with a plurality of movable rods 64, one end of a fixed ring pull rod 63 is hinged with the steering engine rocker arm 62, and the other end is in sliding connection with the movable rods 64; the movable rod 64 is connected with the sliding groove 65 in a sliding manner in the vertical direction. When the steering engine 61 drives the steering engine rocker arm 62 to rotate, the fixed ring pull rod 63 slides on the movable rod 64, and one end of the movable rod 64 slides in the sliding groove 65.
Specifically, each of the upper rotor module 8 and the lower rotor module 9 includes a motor 81, a hub 82, a pitch hinge 83 and a pitch pull rod 84, the hub 82 is mounted on a rotor of the motor 81, and the pitch hinge 83 is rotatable about a pitch axis and is disposed as a pair mounted at two ends of the hub 82, respectively; the pitch hinge 83 is provided with a pitch rocker arm 85, one end of the pitch link 84 is hinged to the pitch rocker arm 85, and the other end is hinged to the rotary ring 5. When the rotary wing pitch control device works, the motor 81 drives the hub 82 to rotate, and the pitch changing pull rod 84 drives the pitch changing hinge 83 to rotate around the pitch changing axis through the pitch changing rocker arm 85, so that the periodic pitch changing of the rotary wing is realized.
Working principle:
when the automatic tilting device works, the steering engine 61 drives the steering engine rocker arm 62 to rotate, the fixed ring 4 is driven by the fixed ring pull rods 63 to swing in different directions, so that the upper automatic tilting device 2 and the lower automatic tilting device 3 tilt according to a required angle, and meanwhile, the distance changing pull rods 84 drive the distance changing hinges 83 to rotate around a distance changing axis through the distance changing rocker arm 85; the plurality of linkage pull rods 7 enable the inclination angles and the frequencies of the upper fixed ring 4 and the lower fixed ring 4 to be consistent all the time, and the synchronous linkage of the upper automatic inclinator 2 and the lower automatic inclinator 3 is realized under the condition that a steering engine 61 is not increased, so that the upper rotor wing module 8 and the lower rotor wing module 9 are subjected to periodic variable-pitch operation.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The utility model provides a coaxial anti-oar unmanned aerial vehicle double-inclinator link gear, includes jackshaft (1), and the upper and lower both sides of jackshaft (1) symmetrical distribution respectively has automatic inclinator (2) and automatic inclinator (3) down, go up automatic inclinator (2) and automatic inclinator (3) down and all include solid fixed ring (4) and swivel ring (5), swivel ring (5) pass through the coaxial rotation of bearing and solid fixed ring (4) and be connected, its characterized in that: the motor further comprises an upper rotor wing module (8) and a lower rotor wing module (9), wherein the upper rotor wing module (8) and the lower rotor wing module (9) are respectively connected with the rotating rings (5) at the upper side and the lower side; the linkage mechanism further comprises a driving part (6) and a plurality of linkage pull rods (7), two ends of the linkage pull rods (7) are respectively connected with the fixing rings (4) on the upper side and the lower side, and the driving part (6) is used for driving the linkage pull rods (7) to move in the vertical direction.
2. The coaxial countered unmanned double recliner linkage of claim 1, wherein: the driving part (6) is arranged to be distributed on the horizontal plane symmetrical intermediate shaft (1) in a plurality of groups, and comprises a steering engine (61), a steering engine rocker arm (62) and a fixed ring pull rod (63), wherein the steering engine (61) drives the steering engine rocker arm (62) to rotate, and the fixed ring pull rod (63) drives the fixed ring (4) to swing in different directions.
3. The coaxial countered unmanned double recliner linkage of claim 2, wherein: a plurality of movable rods (64) are arranged on the fixed ring (4), one end of a fixed ring pull rod (63) is hinged with the steering engine rocker arm (62), and the other end of the fixed ring pull rod is in sliding connection with the movable rods (64).
4. A coaxial countered unmanned double recliner linkage as claimed in claim 3 wherein: the movable rod (64) is connected with the sliding groove (65) in a sliding manner in the vertical direction.
5. The coaxial countered unmanned double recliner linkage of claim 1, wherein: the upper rotor wing module (8) and the lower rotor wing module (9) comprise a motor (81), a rotor hub (82), a pitch-variable hinge (83) and a pitch-variable pull rod (84), wherein the rotor hub (82) is arranged on a rotor of the motor (81), and the pitch-variable hinge (83) can rotate around a pitch-variable axis and is arranged at two ends of the rotor hub (82) respectively; and a distance-changing rocker arm (85) is arranged on the distance-changing hinge (83), one end of a distance-changing pull rod (84) is hinged with the distance-changing rocker arm (85), and the other end of the distance-changing pull rod is hinged with the rotating ring (5).
6. The coaxial countered unmanned double recliner linkage of claim 2, wherein: an installation seat (11) is arranged between the upper automatic inclinator (2) and the lower automatic inclinator (3), and a plurality of groups of driving components (6) are fixed on the installation seat (11).
7. The coaxial countered unmanned double recliner linkage of claim 2, wherein: the steering engines (61) are arranged at intervals of 90 degrees or 120 degrees.
8. The coaxial countered unmanned double recliner linkage of claim 2, wherein: the number of the linkage pull rods (7) and the number of the fixed ring pull rods (63) are not less than 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321332823.5U CN219770189U (en) | 2023-05-25 | 2023-05-25 | Coaxial anti-oar unmanned aerial vehicle double-inclinator link gear |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321332823.5U CN219770189U (en) | 2023-05-25 | 2023-05-25 | Coaxial anti-oar unmanned aerial vehicle double-inclinator link gear |
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| CN219770189U true CN219770189U (en) | 2023-09-29 |
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| CN202321332823.5U Active CN219770189U (en) | 2023-05-25 | 2023-05-25 | Coaxial anti-oar unmanned aerial vehicle double-inclinator link gear |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118343326A (en) * | 2024-06-17 | 2024-07-16 | 西北工业大学 | Two-stage variable-pitch propeller based on solar unmanned aerial vehicle and variable-pitch method thereof |
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2023
- 2023-05-25 CN CN202321332823.5U patent/CN219770189U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118343326A (en) * | 2024-06-17 | 2024-07-16 | 西北工业大学 | Two-stage variable-pitch propeller based on solar unmanned aerial vehicle and variable-pitch method thereof |
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