CN220147608U

CN220147608U - Duct type coaxial rotor unmanned aerial vehicle

Info

Publication number: CN220147608U
Application number: CN202321936684.7U
Authority: CN
Inventors: 王敏利; 王承飞; 王大为; 胡振江; 王非凡; 王亚星; 范豫衡
Original assignee: Guangxi Benbao Yihuan Technology Co ltd
Current assignee: Guangxi Benbao Yihuan Technology Co ltd
Priority date: 2023-07-22
Filing date: 2023-07-22
Publication date: 2023-12-08
Anticipated expiration: 2033-07-22

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, in particular to a ducted coaxial rotor unmanned aerial vehicle which comprises an annular casing, a power device, a steering unit, an energy storage battery and a controller, wherein the power device comprises two high-speed motors, an upper rotor wing and a lower rotor wing, the steering unit comprises a fixed ring, a connecting rod, a rotating ball head, a sliding block, a sliding groove and an adjusting motor, 4 air outlet ducts are uniformly arranged in the circumferential direction of the lower end side of the annular casing, 4 telescopic supporting legs are uniformly arranged on the lower side of the annular casing, the energy storage battery and the controller are both arranged in the annular casing, the energy storage battery is used for supplying power to the high-speed motors, the adjusting motor and the controller, and the controller is used for controlling the rotation of the high-speed motors and the adjusting motor.

Description

Duct type coaxial rotor unmanned aerial vehicle

Technical Field

The utility model relates to the technical field of unmanned aerial vehicles, in particular to a ducted coaxial rotor unmanned aerial vehicle.

Background

The main-stream rotor helicopter at present has the characteristics of relatively smaller fuselage, strong flexibility and maneuverability, can take off and land in various places, can also execute various special flights such as vertical flight in the air, hovering, side flight, back flight, spiral flight and the like, and has the defects of complex structure, high operation difficulty, heavy maintenance work and high use cost.

The coaxial double-rotor unmanned aerial vehicle has the advantages of compact structure, excellent maneuvering characteristics, high reliability, low power required by unit lift force and the like, and research work on the coaxial unmanned aerial vehicle is actively carried out at present. However, coaxial unmanned aerial vehicles have certain difficulties in terms of flight performance and flight safety design. For example, the rotor head has the defects of complex structure, more parts, high resistance, easy collision of the upper rotor and the lower rotor in the maneuvering process, and the like.

Disclosure of Invention

Aiming at the defects in the prior art, the utility model aims to provide a ducted coaxial rotor unmanned aerial vehicle.

In order to achieve the above purpose, the present utility model provides the following technical solutions: a ducted coaxial rotor unmanned aerial vehicle comprises an annular casing, a power device, a steering unit, an energy storage battery and a controller,

the power device comprises two high-speed motors, an upper rotor wing and a lower rotor wing, wherein one high-speed motor is connected with the upper rotor wing, the other high-speed motor is connected with the lower rotor wing, the rear end surfaces of the 2 high-speed motors are mutually connected, the upper rotor wing and the lower rotor wing are positioned on the same axis, the power device is arranged at the center of the inner ring of the annular shell,

the steering unit comprises a fixed ring, connecting rods, rotating ball heads, sliding blocks, sliding grooves and an adjusting motor, wherein the fixed ring is arranged at the joint of the two high-speed motors, the connecting rods are provided with 4 connecting rods, one ends of the 4 connecting rods are uniformly and circumferentially fixed on the fixed ring, the rotating ball heads are provided with 4 rotating ball heads, the 4 rotating ball heads are respectively arranged at one ends of the 4 connecting rods, which are far away from the fixed ring, the sliding grooves are arranged in an annular casing, the sliding grooves are uniformly and circumferentially provided with 4 sliding blocks in the annular casing, the 4 sliding blocks are vertically and slidably arranged in the sliding grooves, a ball head groove is arranged at one end face of each sliding block, which faces the fixed ring, of each sliding block is correspondingly matched with one rotating ball head, one end of each sliding block, which faces away from the fixed ring, is provided with a first rack, the adjusting motor is provided with 4 adjusting motors, which are respectively and are in one-to-one correspondence with the 4 sliding blocks, the adjusting motor is provided with a first gear which is meshed with the first rack,

the lower end side of the annular shell is uniformly provided with 4 air outlet ducts in the circumferential direction, the 4 air outlet ducts are respectively arranged corresponding to the 4 connecting rods, the air outlet ducts are guide air outlet channels, the steering air flow generated by the power device is guided out of the ducts through the air outlet ducts, the angle adjustment or the forward-backward-left-right movement flight is realized,

the lower side of the annular casing is uniformly provided with 4 telescopic supporting legs, each telescopic supporting leg comprises a supporting leg, a sliding rod, a gear II, a rack II and a driving motor, the sliding rail is a square sliding rod, a square through groove is formed in the annular casing corresponding to the telescopic supporting leg, the sliding rod is slidably mounted in the square through groove, the supporting legs are fixed with the lower end of the sliding rod, the upper end of the sliding rod is positioned in the annular casing, the rack II is fixed at the upper end of the sliding rod, the driving motor is mounted in the annular casing, the gear II is mounted on the driving motor, the gear II is meshed with the rack II,

the energy storage battery and the controller are both arranged in the annular casing, the energy storage battery is used for supplying power to the high-speed motor, the adjusting motor and the controller, and the controller is used for controlling rotation of the high-speed motor and the adjusting motor.

In some embodiments, a limiting protrusion is arranged on the sliding rod at the lower end of the second rack.

In some of these embodiments, the high speed motor is a brushless high speed motor.

In some of these embodiments, the adjustment motor is a stepper motor.

In some embodiments, the controller includes a wireless remote control unit therein, and the wireless remote control unit is in wireless communication with an external remote control.

In some embodiments, a camera is disposed on the annular housing, and the camera is connected to the controller.

In some embodiments, the energy storage cells are uniformly arranged in a plurality of groups in the annular casing.

In some embodiments, the upper and lower surfaces of the inner ring of the annular casing are respectively provided with a safety grid.

Compared with the prior art, the utility model has the beneficial effects that: the aircraft has exquisite structure, realizes the flight by using coaxial reverse double rotors, is controlled in direction by the steering mechanism, is convenient to act, has a relatively small airframe and has strong flexibility and maneuverability;

through the arrangement of the air outlet duct, the flexibility of the unmanned aerial vehicle can be further improved;

through the setting of flexible landing leg, can provide the support function when descending, carry out the landing leg and retrieve when flight, avoid the landing leg to cause the air current to interfere unmanned aerial vehicle flight.

The details of one or more embodiments of the utility model are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the other features, objects, and advantages of the utility model, and to provide a thorough description and understanding of the utility model in terms of the embodiments of the utility model.

Drawings

FIG. 1 is a schematic diagram of a first embodiment of the present utility model;

FIG. 2 is a schematic diagram of a second embodiment of the present utility model;

FIG. 3 is a schematic view of the internal structure of the present utility model;

FIG. 4 is a schematic view of a steering unit;

FIG. 5 is a schematic view of a partial structure of the sliding block and motor in cooperation;

FIG. 6 is a cross-sectional view of an outlet duct;

fig. 7 is a cross-sectional view of a telescoping leg structure.

In the figure: 1. an annular housing; 2. a high-speed motor; 3. a controller; 4. a safety grid; 5. an upper rotor; 6. a lower rotor; 7. a connecting rod; 8. a support leg; 9. a first gear; 10. a first rack; 11. adjusting a motor; 12. a camera; 13. a fixing ring; 14. rotating the ball head; 15. a sliding block; 16. an air outlet duct; 17. a slide bar; 18. a second gear; 19. a second rack; 20. and driving the motor.

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.

Referring to fig. 1 to 7, the present utility model provides a technical solution: a ducted coaxial rotor unmanned aerial vehicle comprises an annular casing, a power device, a steering unit, an energy storage battery and a controller,

the rotation direction and the rotation number of the 4 regulating motors are controlled through the controller, so that the sliding block is driven to move upwards or downwards, the linkage connecting rod is realized, the fixed ring is driven to swing, the high-speed motor fixedly connected with the fixed ring deflects a certain angle, the upper rotor wing and the lower rotor wing are driven to also deflect in angle, and the front, back, left and right movement of the unmanned aerial vehicle is realized.

when unmanned aerial vehicle adjusts to the back-and-forth and side-to-side movement, the air current that rotor deflection produced can be derived from the corresponding duct of giving vent to anger for the realization is given vent to anger the duct and is given vent to anger and promote unmanned aerial vehicle and remove, realizes more nimble maneuvering characteristics.

in actual production, the bottom of the annular shell is provided with the accommodating groove, and the sliding rod is driven to move upwards by the driving motor during flying, so that the support legs can be positioned in the accommodating groove, and the interference of air flow caused by the support legs is avoided; when the unmanned aerial vehicle needs to fall, the sliding rod is driven by the driving motor to move downwards, so that the supporting legs move out of the accommodating groove, and the supporting legs are formed by the sliding rod and the supporting legs to support the unmanned aerial vehicle.

The lower extreme department that lies in rack two on the slide bar is provided with spacing arch, through spacing bellied setting, avoids driving motor to rotate excessively, drops from the casing when leading to the slide bar to move down, and when the slide bar moved up simultaneously, the slide bar upper end can conflict with the inside upper wall of casing for realize the slide bar upper and lower distance restriction.

The high-speed motor is a brushless high-speed motor, the brushless high-speed motor can realize higher rotating speed, and the rotating speed can reach thousands of revolutions per minute or even higher, because the brushless motor has no brush friction and commutation fault, the rotating efficiency is generally higher than that of the traditional brush motor, the service life is generally longer, and because the brushless high-speed motor has no noise generated by the brush friction, the noise is lower when the brushless high-speed motor operates.

The regulating motor is a stepping motor, the rotating angle of the regulating motor can be accurately controlled through the stepping motor, the accurate control of the front-back and left-right movement of the unmanned aerial vehicle is realized, and the control precision is improved.

The controller comprises a wireless remote control unit which is in wireless communication with an external remote control unit.

Be provided with the camera on the annular casing, the camera is connected with the controller, through the setting of camera, can improve unmanned aerial vehicle's service function.

The energy storage batteries are uniformly arranged in the annular shell, and the center balance of the unmanned aerial vehicle can be improved through the uniformly arranged energy storage batteries.

The upper surface and the lower surface of the inner ring of the annular casing are respectively provided with the safety grids, the influence of foreign objects on the rotor wing can be avoided through the arrangement of the safety grids, and meanwhile, the rotor wing is prevented from being damaged by external people or objects when rotating.

Through this technical scheme, its specific mode of controlling is:

step S1: the action of a controller of the aircraft is controlled by a wireless remote control technology;

step S2: the controller supplies power to the two high-speed motors, the coaxial upper rotor wing and the coaxial lower rotor wing rotate at opposite polar speeds, and the aircraft is lifted vertically;

step S3: the swing of solid fixed ring is realized to the control connecting rod water pendulum by steering unit, and then controls the swing of rotor, and the control mode includes:

when the regulating motors on the front side and the back side operate to drive the connecting rods to swing, after the rotor wing swings forwards or reversely for a certain angle, swinging deflection airflow is led out from the air outlet duct on the front side and the back side, the aircraft flies along the angle equivalent to the deflection angle of the rotor wing,

when the regulating motors on the left side and the right side operate to drive the connecting rods to swing, after the rotor wing swings left or right for a certain angle, swing deflection airflow is led out from the air outlet ducts on the left side and the right side, the aircraft flies along the angle equivalent to the deflection angle of the rotor wing,

when the 2 modes are combined to control the aircraft, the aircraft can be controlled in different directions and at different rotating speeds;

meanwhile, the horizontal rotation of the unmanned aerial vehicle can be realized by controlling the rotation speed difference of the two high-speed motors;

step S4: and controlling the connecting rod to reset, and enabling the aircraft to swing to be in a horizontal flight attitude, and slowly reducing the rotating speed of the motor, so that the aircraft drops and the flight operation is completed.

The foregoing examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A coaxial rotor unmanned aerial vehicle of duct formula, its characterized in that: comprises an annular casing, a power device, a steering unit, an energy storage battery and a controller,

the lower side of the annular casing is uniformly provided with 4 telescopic supporting legs, each telescopic supporting leg comprises a supporting leg, a sliding rod, a gear II, a rack II and a driving motor, the sliding rod is a square sliding rod, a square through groove is formed in the annular casing corresponding to the telescopic supporting leg, the sliding rod is slidably mounted in the square through groove, the supporting legs are fixed with the lower end of the sliding rod, the upper end of the sliding rod is positioned in the annular casing, the rack II is fixed at the upper end of the sliding rod, the driving motor is mounted in the annular casing, the gear II is mounted on the driving motor, the gear II is meshed with the rack II,

2. The ducted coaxial rotary unmanned aerial vehicle of claim 1, wherein: and a limiting protrusion is arranged at the lower end of the second rack on the sliding rod.

3. The ducted coaxial rotary unmanned aerial vehicle of claim 1, wherein: the high-speed motor is a brushless high-speed motor.

4. The ducted coaxial rotary unmanned aerial vehicle of claim 1, wherein: the regulating motor is a stepping motor.

5. The ducted coaxial rotary unmanned aerial vehicle of claim 1, wherein: the controller comprises a wireless remote control unit which is in wireless communication with an external remote control unit.

6. The ducted coaxial rotary unmanned aerial vehicle of claim 1, wherein: the annular shell is provided with a camera, and the camera is connected with the controller.

7. The ducted coaxial rotary unmanned aerial vehicle of claim 1, wherein: the energy storage batteries are uniformly arranged in the annular shell.

8. The ducted coaxial rotary unmanned aerial vehicle of claim 1, wherein: safety grids are respectively arranged on the upper surface and the lower surface of the inner ring of the annular shell.