CN220662880U

CN220662880U - Vector power coaxial double-oar unmanned aerial vehicle

Info

Publication number: CN220662880U
Application number: CN202322455886.6U
Authority: CN
Inventors: 陈柽; 亢暖
Original assignee: Beijing Yihong Technology Co ltd
Current assignee: Beijing Yihong Technology Co ltd
Priority date: 2023-09-11
Filing date: 2023-09-11
Publication date: 2024-03-26
Anticipated expiration: 2033-09-11

Abstract

The utility model aims to solve the technical problem of providing a vector power coaxial double-oar unmanned aerial vehicle which has compact overall arrangement, smaller overall size, simpler and more reliable structure and lighter structural weight. The vector power coaxial double-oar unmanned aerial vehicle comprises an energy power control cabin and a load cabin, wherein the upper end of the load cabin is arranged at the lower end of the energy power control cabin through a detachable structure, and the energy power control cabin comprises a power mechanism, a tilting mechanism, a flight control mechanism and a power battery pack; the tilting mechanism is further optimized to enable the structure to be simple and reliable, a complex pitch-changing mechanism is omitted, the overall layout is more compact, and the tilting mechanism is suitable for popularization and application in the technical field of unmanned aerial vehicles.

Description

Vector power coaxial double-oar unmanned aerial vehicle

Technical Field

The utility model relates to the technical field of unmanned aerial vehicles, in particular to a vector power coaxial double-oar unmanned aerial vehicle.

Background

With the continuous development of unmanned aerial vehicle technology, unmanned aerial vehicle's flight performance and mission capability are receiving attention. The coaxial double-oar unmanned aerial vehicle is widely applied to the fields of aerial photography, logistics distribution, geological survey, rescue and the like due to the advantages of stability, accuracy and the like. The coaxial double-propeller helicopter has two main rotors sharing one rotating shaft, and counter-torque moment is offset by the counter-rotation of the two main rotors, but a complex variable-pitch mechanism is still needed for adjusting the propeller pitch and the propeller disc plane so as to adjust the flying attitude and the flying direction, and the conventional coaxial double-propeller helicopter has certain limitations and challenges when facing complex flying environments and task demands, for example, the maneuverability and the quick response capability in a narrow space need to be improved, and the flexibility and the accuracy of flying actions need to be further optimized.

Fixed wing unmanned aerial vehicles are limited by the area requirements of the wing, are generally large in geometric dimension, and after the dimension is reduced to a certain extent, the basic aerodynamic characteristics are radically changed due to various aspects such as low Reynolds number, so that miniaturization is generally difficult to achieve. The multiple rotor unmanned aerial vehicle is because a plurality of rotor cooperation is required to distance (wheelbase) between every rotor can not be too little, and the helicopter then need rely on complicated displacement mechanism to realize displacement control, also hardly keeps under the condition of certain load and duration, reduces structure weight and overall dimension, realizes the miniaturization. Therefore, the popularization and application of the conventional unmanned aerial vehicle under certain conditions with extremely strict requirements on external dimensions are limited.

Disclosure of Invention

The utility model aims to solve the technical problem of providing a vector power coaxial double-oar unmanned aerial vehicle which has compact overall arrangement, smaller overall size, simpler and more reliable structure and lighter structural weight.

The technical scheme adopted for solving the technical problems is as follows: the vector power coaxial double-oar unmanned aerial vehicle comprises an energy power control cabin and a load cabin, wherein the upper end of the load cabin is arranged at the lower end of the energy power control cabin through a detachable structure, and the energy power control cabin comprises a power mechanism, a tilting mechanism, a flight control mechanism and a power battery pack;

the power mechanism comprises a rotating shaft, a positive propeller hub, a negative propeller hub, a positive propeller motor and a negative propeller motor;

the positive propeller hub is fixedly sleeved at the upper end of the rotating shaft, two folding positive propellers are symmetrically arranged on the positive propeller hub, and the positive propeller motor is sleeved at the lower end of the rotating shaft and used for driving the rotating shaft to rotate;

the rotating shaft is sequentially sleeved with a shaft sleeve and a motor stator from top to bottom, the shaft sleeve and the motor stator are both positioned between a positive propeller hub and a positive propeller motor, the negative propeller motor is sleeved at the lower end of the shaft sleeve and used for driving the shaft sleeve to rotate, the shaft sleeve and the rotating shaft rotate relatively, the negative propeller hub is sleeved at the upper end of the shaft sleeve, two folding negative propellers are symmetrically arranged on the negative propeller hub, and the motor stator is positioned between the positive propeller motor and the negative propeller motor;

the flight control mechanism comprises an electronic speed regulator, a flight control computer and an airborne data chain, wherein the electronic speed regulator is arranged below the tilting mechanism, the positive propeller motor and the negative propeller motor are respectively connected with the electronic speed regulator in a signal manner, the electronic speed regulator is used for controlling the revolution of the positive propeller motor and the negative propeller motor, the flight control computer and the airborne data chain are respectively arranged at the lower end of an inner cavity of the energy power control cabin and are positioned above the airborne data chain, the electronic speed regulator and the airborne data chain are respectively connected with the flight control computer in a signal manner, the flight control computer is used for controlling the flight of the whole machine, the airborne data chain is used for receiving and transmitting airborne end data,

the power battery pack is arranged between the electronic speed regulator and the flight control computer and provides electric energy for the whole machine.

Further, the tilting mechanism comprises a center mounting seat, a tilting disk, a supporting upright post, a mounting plate and a power base;

the power base is arranged below the positive propeller motor, a gap exists between the power base and the positive propeller motor, the power base is a cross-shaped support, one free end of the power base is bent upwards to form 90 degrees, each free end of the power base is provided with a connecting rod, and the upper end of the connecting rod is arranged on the outer side wall of a motor stator;

the center mounting seat is arranged at the middle upper part of the inner cavity of the energy power control cabin, the electronic speed regulator is arranged below the tilting mechanism, the supporting upright post is arranged on the upper surface of the center mounting seat, the tilting disk is arranged right below the power base and is a cylindrical shell with openings at the upper end and the lower end, a hemispherical shell with an opening at the lower end is arranged in the tilting disk, the lower surfaces of the hemispherical shell and the tilting disk are overlapped, an adjusting ball head matched with the hemispherical shell is arranged in the hemispherical shell, the lower end of the adjusting ball head leaks out below the tilting disk and is connected with the upper end of the supporting upright post, and the mounting plate is sleeved at the middle upper part of the supporting upright post;

the automatic steering device is characterized in that three connecting blocks are uniformly distributed at the lower end of the outer side wall of the tilting disk along the circumferential direction of the tilting disk, one of the three connecting blocks is located right below the upward bending free end of the power base and is provided with a limiting rod, one side of the mounting plate is provided with a limiting plate through a connecting plate, the limiting plate is located on the outer side of the upward bending free end of the power base, the limiting plate is provided with a limiting groove along the vertical direction of the limiting plate, the free end of the limiting rod is located in the limiting groove, pull rods are arranged on the other two connecting blocks through ball head connecting structures, two servo steering engines are arranged on a central mounting seat and respectively correspond to the two pull rods, an output shaft of each servo steering engine is provided with a driving arm, one end of each driving arm is sleeved on an output shaft of the corresponding servo steering engine, the other end of each driving arm is connected with the lower end of the corresponding pull rod through a ball head connecting structure, and the two servo steering engines are respectively connected with a flight control computer signal.

Further, the lateral wall lower extreme in energy power control cabin is provided with two folding antennas through beta structure symmetry, beta structure is including setting up the recess at the lateral wall in energy power control cabin, folding antenna is located the recess and the upper end of folding antenna passes through hinge structure setting at the upper side wall of recess, the inner chamber lower extreme slant in energy power control cabin is provided with electric telescopic handle, the tip of electric telescopic handle's free end runs through the lateral wall of fuselage casing and is connected through hinge structure with the upper end of folding antenna.

Further, heat dissipation windows are symmetrically arranged at the middle upper parts of the two outer side walls of the energy power control cabin and correspond to the electronic speed regulator.

Further, a photoelectric unlocking window is arranged on the outer side wall of one side of the energy power control cabin and positioned below one of the radiating windows, and the photoelectric unlocking window is used for sending unlocking instructions through shielding of the photoelectric unlocking window in the process of throwing and taking off the aircraft.

Further, an electric quantity indication window is arranged on the outer side wall of one side of the energy power control cabin and positioned below the photoelectric unlocking window, the electric quantity indication window comprises four indication holes, and LED indication lamps are arranged in each indication hole.

Further, a power switch window is arranged on the outer side wall of one side of the energy power control cabin and positioned below the electric quantity indication window, and a key switch is arranged in the power switch window.

Further, the outer side wall of one side of the energy power control cabin is provided with a flight indicator lamp and is positioned below the power switch window.

Further, the positive propeller hub and the negative propeller hub are both provided with cylindrical fairings.

Further, the detachable structure is a screw connection structure.

The utility model has the beneficial effects that:

1. the vector power control realized by the tilting mechanism is arranged, so that the unmanned aerial vehicle can realize more postures of flight, the task requirements in complex flight environments such as narrow spaces are facilitated, the tilting mechanism is further optimized, the structure is simple and reliable, a complex pitch-changing mechanism is omitted, the overall layout is more compact, the miniature size which cannot be realized by other unmanned aerial vehicles under the same load and endurance conditions can be realized, the outer diameter size of the vector power coaxial double-oar unmanned aerial vehicle is only limited by the outer diameter sizes of a positive oar motor and a reverse oar motor, the minimum outer diameter size of the unmanned aerial vehicle can be 20mm, the application requirements under certain severe conditions on the outer shape size requirements are met, and compared with the conventional coaxial double-oar unmanned aerial vehicle, the structure is simpler, the reliability is higher, the weight is lighter, and the flight performance is improved under the same conditions.

2. In the tilting mechanism of the vector power coaxial double-oar unmanned aerial vehicle, the upper end and the lower end of the pull rod are connected by adopting the ball heads, the drive arm is driven to move through the servo steering engine, and then the drive arm drives the pull rod to move, so that the tilting coiling adjusting ball head can be adjusted in an omnibearing angle, and the unmanned aerial vehicle has more flight modes such as pitching, rolling and the like.

Drawings

FIG. 1 is a schematic view of the overall structure of the vector-powered coaxial double-propeller unmanned aerial vehicle in the working state;

FIG. 2 is a schematic structural view of a power mechanism of the vector-powered coaxial double-oar unmanned aerial vehicle according to the present utility model;

fig. 3 is a schematic structural view of a tilting mechanism of the vector-powered coaxial double-oar unmanned aerial vehicle;

fig. 4 is a schematic view of a partial structure of a tilting mechanism of the vector power coaxial double-propeller unmanned aerial vehicle according to the utility model;

FIG. 5 is a schematic diagram of the energy power control cabin of the vector power coaxial double-propeller unmanned aerial vehicle;

the figure indicates: the energy power control cabin 1, the tilting mechanism 11, the center mounting seat 1101, the tilting plate 1102, the supporting upright 1103, the mounting plate 1104, the power base 1105, the connecting rod 1106, the hemispherical shell 1107, the adjusting ball 1108, the connecting block 1109, the limit rod 1110, the connecting plate 1111, the limit groove 1112, the pull rod 1113, the servo steering engine 1114, the driving arm 1115, the limit plate 1116, the threading hole 1117, the power mechanism 12, the front propeller hub 1201, the back propeller hub 1202, the front propeller motor 1203, the back propeller motor 1204, the folding front propeller 1205, the folding back propeller 1206, the rotating shaft 1207, the shaft sleeve 1208, the motor stator 1209, the cylindrical fairing 1210, the load cabin 2, the folding antenna 3, the groove 4, the heat dissipation window 5, the photoelectric unlocking window 6, the electric quantity indication window 7, the power switch window 8 and the flight indicating lamp 9.

Detailed Description

The following detailed description of the utility model, taken in conjunction with the accompanying drawings, will make it apparent that the embodiments described are merely some, but not all, examples of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that, in the embodiments of the present application, all directional indicators such as "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element to be referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present utility model, but merely serve to explain the relative positional relationships, movement situations, etc. between the components in a specific posture, and if the specific posture is changed, the directional indicators are correspondingly changed.

In the present application, unless explicitly specified and limited otherwise, the terms "coupled," "secured," and the like are to be construed broadly, and for example, "secured" may be either permanently attached or removably attached, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be regarded as not exist and not within the protection scope of the present application.

As shown in fig. 1-5, the vector power coaxial double-oar unmanned aerial vehicle comprises an energy power control cabin 1 and a load cabin 2, wherein the upper end of the load cabin 2 is arranged at the lower end of the energy power control cabin 1 through a detachable structure, and the energy power control cabin 1 comprises a power mechanism 12, a tilting mechanism 11, a flight control mechanism and a power battery pack;

the power mechanism 12 comprises a rotating shaft 1207, a positive propeller hub 1201, a negative propeller hub 1202, a positive propeller motor 1203 and a negative propeller motor 1204;

the front propeller hub 1201 is fixedly sleeved at the upper end of the rotating shaft 1207, two folding front propellers 1205 are symmetrically arranged on the front propeller hub 1201, and the front propeller motor 1203 is sleeved at the lower end of the rotating shaft 1207 and used for driving the rotating shaft 1207 to rotate;

the shaft sleeve 1208 and the motor stator 1209 are sleeved on the rotating shaft 1207 in sequence from top to bottom, the shaft sleeve 1208 and the motor stator 1209 are both positioned between the positive propeller hub 1201 and the positive propeller motor 1203, the negative propeller motor 1204 is sleeved at the lower end of the shaft sleeve 1208 and is used for driving the shaft sleeve 1208 to rotate, the shaft sleeve 1208 and the rotating shaft 1207 rotate relatively, the negative propeller hub 1202 is sleeved at the upper end of the shaft sleeve 1208, two folding negative propellers 1206 are symmetrically arranged on the negative propeller hub 1202, and the motor stator 1209 is positioned between the positive propeller motor 1203 and the negative propeller motor 1204;

the flight control mechanism comprises an electronic speed regulator, a flight control computer and an airborne data chain, wherein the electronic speed regulator is arranged below the tilting mechanism 11, the front propeller motor 1203 and the back propeller motor 1204 are respectively connected with the electronic speed regulator through signals, the electronic speed regulator is used for controlling the revolution of the front propeller motor 1203 and the back propeller motor 1204, the flight control computer and the airborne data chain are respectively arranged at the lower end of an inner cavity of the energy power control cabin 1 and are positioned above the airborne data chain, the electronic speed regulator, the airborne data chain, the front propeller motor 1203 and the back propeller motor 1204 are respectively connected with the flight control computer through signals, the flight control computer is used for controlling the flight of the whole machine, the airborne data chain is used for receiving and transmitting data of the airborne end, and the energy power control cabin 1 is also internally provided with a gyroscope and a compass for detecting the horizontal rotation angle and the angular velocity of the aircraft;

the power battery pack is arranged between the electronic speed regulator and the flight control computer, and provides electric energy for the whole machine, namely the electronic speed regulator, the flight control computer, the airborne data chain, the positive propeller motor 1203, the negative propeller motor 1204, the two servo steering engines 1114 and other electric components are respectively electrically connected with the power battery pack, in addition, the power battery pack is detachably arranged on the inner side wall of the energy power control cabin 1, so that the power battery pack with different capacities can be replaced conveniently, and the electric requirements of different tasks can be met.

As shown in fig. 3 and 4, in the present embodiment, the tilting mechanism 11 preferably includes a central mounting seat 1101, a tilting plate 1102, a support post 1103, a mounting plate 1104, and a power base 1105;

the power base 1105 is arranged below the positive propeller motor 1203, a gap exists between the two power base 1105 and is a cross-shaped bracket, one free end of the power base 1105 is bent upwards to form 90 degrees, the purpose of bending is to leave space for the subsequent limiting plate 1116, the upper end of the limiting plate 1116 is prevented from being influenced by the free end, the height of the limiting plate 1116 is not enough to cause the inclination angle of the inclined plate 1102 to be limited, each free end of the power base 1105 is provided with a connecting rod 1106, the upper end of the connecting rod 1106 is arranged on the outer side wall of the motor stator 1209, the connecting rod 1106 can be fixedly connected or detachably connected, and the fact that the length of one connecting rod 1106 of four connecting rods 1106 is different from the length of the other three connecting rods 1106 is caused by the fact that one free end is bent upwards;

the central mounting seat 1101 is arranged at the middle upper part of the inner cavity of the energy power control cabin 1, the electronic speed regulator is arranged below the central mounting seat 1101, the supporting upright post 1103 is arranged at the upper end of the central mounting seat 1101, the inclined disc 1102 is arranged right below the power base 1105, the inclined disc 1102 can be detachably fixed under the power base 1105 by adopting screws and the like, the inclined disc 1102 is a cylindrical shell with openings at the upper end and the lower end, a hemispherical shell 1107 with an opening at the lower end is arranged in the inclined disc 1102, the lower surfaces of the hemispherical shell 1107 are overlapped, an adjusting ball head 1108 matched with the hemispherical shell 1107 is arranged in the hemispherical shell 1107, the lower end of the adjusting ball head 1108 is leaked out below the inclined disc 1102 and is connected with the upper end of the supporting upright post 1103, the diameter of the opening at the lower end of the hemispherical shell 1107 is smaller than that of the adjusting ball head 1108, the inclined disc 1103 is arranged below the power base, and therefore the adjusting ball head 1108 can be ensured not to be positioned in the hemispherical shell 1107, and the adjusting ball head 1107 is not separated from the hemispherical shell 1104, and the adjusting ball head is sleeved at the upper part of the supporting upright post 1105;

three connecting blocks 1109 are uniformly distributed at the lower end of the outer side wall of the tilting disk 1102 along the circumferential direction of the tilting disk 1102, one of the three connecting blocks 1109 is positioned right below the upward bending free end of the power base 1105 and is provided with a limiting rod 1110, one side of the mounting plate 1104 is provided with a limiting plate 1116 through a connecting plate 1111, the limiting plate 1116 is positioned at the outer side of the upward bending free end of the power base 1105, the limiting plate 1116 is provided with a limiting groove 1112 along the vertical direction of the limiting plate 1116, the upper side wall of the limiting groove 1112 coincides with the upper end surface of the limiting plate 1116, the free end of the limiting rod 1110 is positioned in the limiting groove 1112, the transverse rotation of the tilting disk 1102 can be limited by the cooperation of the limiting rod 1110 and the limiting groove 1112, the other two connecting blocks 1109 are all provided with a pull rod 1113 through a ball connecting structure, namely the upper end of the pull rod 1113 is connected with the corresponding connecting block 1109 through a ball connecting structure, the center mounting seat 1101 is provided with two servo steering engines 1114 and respectively corresponds to the two servo steering engines 1113, the upper end of each servo steering engine 1115 is provided with the corresponding servo steering engine 1115, and the other end of the servo steering engine 1115 is connected with the corresponding servo driving arm 1115 through the corresponding servo mechanism; in addition, the other side corner of the mounting plate 1104 is provided with a threading hole 1117, the corner of one side of the center mounting base is also provided with a threading hole 1117, the two threading holes 1117 correspond up and down, and the purpose of the threading holes 1117 is to better route.

As shown in fig. 5, in this example, in order that the whole machine can better accept and emit signals, two folding antennas 3 are symmetrically arranged at the lower end of the outer side wall of the energy power control cabin 1 through a folding structure, the folding structure comprises a groove 4 arranged at the outer side wall of the energy power control cabin 1, the folding antennas 3 are located in the groove 4, the upper ends of the folding antennas 3 are arranged at the upper side wall of the groove 4 through a hinge structure, an electric telescopic rod is obliquely arranged at the lower end of the inner cavity of the energy power control cabin 1, the end head of the free end of the electric telescopic rod penetrates through the side wall of the body shell and is connected with the upper end of the folding antennas 3 through a hinge structure, the two folding antennas 3 and the two folding antennas 3 of the electric telescopic rod are respectively connected with a power battery pack, the two folding antennas 3 of the electric telescopic rod are respectively connected with a flight control computer, and the two folding antennas 3 are in a folding state when the aircraft is shut down, that the flight control computer retracts through controlling the corresponding electric telescopic rod, so that the folding antennas 3 are located in the corresponding groove 4 and attached to the aircraft, and after the flight control computer pushes the corresponding electric telescopic rod to automatically extend around the hinge structure of the folding antennas 3.

As shown in fig. 5, in this example, the electronic speed regulator may generate heat during operation, and the higher temperature may affect the performance of the electronic speed regulator, so the middle upper portions of the two outer side walls of the energy power control cabin 1 are symmetrically provided with heat dissipation windows 5 and correspond to the electronic speed regulator, and a heat dissipation channel is formed by the two symmetrical heat dissipation windows 5, so that the heat generated by the electronic speed regulator reaches the purpose of cooling the electronic speed regulator through the heat dissipation channel row, and the electronic speed regulator is ensured to work normally.

As shown in fig. 5, in this example, in order to implement a take-off mode of the aircraft throwing and taking-off, a photoelectric unlocking window 6 is disposed on an outer sidewall of one side of the energy power control cabin 1 and is located below one of the heat dissipation windows 5, and the photoelectric unlocking window 6 is used for sending an unlocking instruction through shielding of the photoelectric unlocking window 6 during the aircraft throwing and taking-off process.

As shown in fig. 5, in this example, for convenience and intuitionism to know the electric quantity condition of the power battery pack, an electric quantity indication window 7 is disposed on the outer side wall of one side of the energy power control cabin 1 and is located below the photoelectric unlocking window 6, the electric quantity indication window 7 includes four indication holes, each indication hole is internally provided with an LED indicator lamp, the four LED indicator lamps are from bottom to top, and the more the quantity is, the more the electric quantity is represented.

As shown in fig. 5, in this example, in order to facilitate switching of the power supply and checking of the electric quantity, a power switch window 8 is disposed on an outer sidewall of one side of the energy power control cabin 1 and is located below the electric quantity indication window 7, a key switch is disposed in the power switch window 8, and clicking of the power switch can trigger electric quantity display, and long-pressing of the power switch can control on-off of the main power supply of the unmanned aerial vehicle.

As shown in fig. 5, in this example, in order to intuitively grasp the flight status of the aircraft, a flight indicator 9 is disposed on the outer side wall of one side of the energy power control cabin 1 and is located below the power switch window 8, and the flight status of the aircraft is reflected by different colors of the flight indicator 9, for example, when the aircraft is red, the aircraft is in fault, and when the aircraft is green, the aircraft is in normal flight.

As shown in fig. 2, in this example, in order to reduce the air resistance of the unmanned aerial vehicle during flight, the cylindrical fairings 1210 are disposed on the front propeller hub 1201 and the rear propeller hub 1202, and the disposed cylindrical fairings 1210 can effectively reduce the air resistance during flight.

In this example, preferably, the positive propeller motor 1203 and the negative propeller motor 1204 are both dc micro motors.

In this example, in order to facilitate the installation and the disassembly of the energy power control cabin 1 and the load cabin 2, the detachable structure is a screw connection structure.

The working process of the vector power coaxial double-oar unmanned aerial vehicle is as follows: in a shutdown state, the two propellers are in a folding state, the whole unmanned aerial vehicle is in a slender column shape, the occupied space is very small, and the unmanned aerial vehicle is convenient to store; after the motor starts to rotate, the propeller starts to automatically separate and spread the blades by utilizing centrifugal force, as shown in fig. 1, after taking off, the positive propeller motor 1203 drives the positive propeller to rotate clockwise or anticlockwise through the rotating shaft 1207, and the negative propeller motor 1204 drives the negative propeller to rotate anticlockwise or clockwise through the shaft sleeve 1208; when the rotation speeds of the two motors are the same, the counter torque moments of the two propellers are mutually offset, and the unmanned aerial vehicle can stably hover; the two motors can be controlled to rotate at different speeds respectively through the cooperation of the flight control computer and the electronic speed regulator, and the total tension of the two motors is kept unchanged, so that the unmanned aerial vehicle can realize steering control by utilizing the reverse torque besides stably hovering; course control of the unmanned aerial vehicle is realized through integral tilting of the power mechanism 12, as shown in fig. 3 and 4, each servo steering engine 1114 drives a driving arm 1115 connected with the servo steering engine to rotate, and then drives a corresponding pull rod 1113 to move up and down, and in the process that two pull rods 1113 simultaneously or independently move up and down, one pull rod 1113 drives the tilting plate 1102 to rotate along the spherical center of the adjusting ball 1108, meanwhile, the free end of the limiting rod 1110 is positioned in the limiting groove 1112 to limit the transverse rotation of the tilting plate 1102, the control of the tilting plate 1102 is performed orthogonally through the pull rods 1113, a power motor can be controlled in a vector way through cooperation with the limiting rod 1110, so that the connection angle of the power mechanism 12 and the energy power control cabin 1 is changed, the direction of the pull line is changed, vector power is realized, the unmanned aerial vehicle flies in a set posture according to a specific direction, the vector power coaxial double-propeller unmanned aerial vehicle is controlled through the vector power, the tilting mechanism 11 has simple and reliable structure, omits a complex pitch-changing mechanism, ensures that the overall layout is more compact, can realize the miniaturization size which can not be realized by other unmanned aerial vehicles under the same load and endurance conditions, the external diameter size of the vector power coaxial double-propeller unmanned aerial vehicle is only limited by the external diameter sizes of the positive propeller motor 1203 and the negative propeller motor 1204, the minimum external diameter size of the unmanned aerial vehicle can be 20mm, the application requirements under the extremely severe external dimension requirements are met, compared with the conventional coaxial double-propeller unmanned aerial vehicle, the structure is simpler, the reliability is higher, the weight is lighter, the flying performance is improved under the same conditions, moreover, the energy power control cabin 1 and the load cabin 2 of the vector power coaxial double-propeller unmanned aerial vehicle are connected by adopting the detachable structure, the configuration is flexible, the task adaptability range is increased, the power battery and the load configuration of the unmanned aerial vehicle can be integrally replaced according to task requirements, and the integrated module is designed in the installation and debugging process, so that the installation steps are reduced, the deployment time is shortened, the reliability is improved, and the failure rate is reduced.

The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.

Claims

1. The utility model provides a coaxial double oar unmanned aerial vehicle of vector power, includes energy power control cabin (1), load cabin (2), its characterized in that: the upper end of the load cabin (2) is arranged at the lower end of the energy power control cabin (1) through a detachable structure, and the energy power control cabin (1) comprises a power mechanism (12), a tilting mechanism (11), a flight control mechanism and a power battery pack;

the power mechanism (12) comprises a rotating shaft (1207), a positive propeller hub (1201), a negative propeller hub (1202), a positive propeller motor (1203) and a negative propeller motor (1204);

the positive propeller hub (1201) is fixedly sleeved at the upper end of the rotating shaft (1207), two folding positive propellers (1205) are symmetrically arranged on the positive propeller hub (1201), and the positive propeller motor (1203) is sleeved at the lower end of the rotating shaft (1207) and used for driving the rotating shaft (1207) to rotate;

the rotating shaft (1207) is sequentially sleeved with a shaft sleeve (1208) and a motor stator (1209) from top to bottom, the shaft sleeve (1208) and the motor stator (1209) are both positioned between a positive propeller hub (1201) and a positive propeller motor (1203), the negative propeller motor (1204) is sleeved at the lower end of the shaft sleeve (1208) and is used for driving the shaft sleeve (1208) to rotate, the shaft sleeve (1208) and the rotating shaft (1207) rotate relatively, the negative propeller hub (1202) is sleeved at the upper end of the shaft sleeve (1208), two folding negative propellers (1206) are symmetrically arranged on the negative propeller hub (1202), and the motor stator (1209) is positioned between the positive propeller motor (1203) and the negative propeller motor (1204);

the flight control mechanism comprises an electronic speed regulator, a flight control computer and an airborne data chain, wherein the electronic speed regulator is arranged below the tilting mechanism (11), the positive propeller motor (1203) and the negative propeller motor (1204) are respectively connected with the electronic speed regulator through signals, the flight control computer and the airborne data chain are respectively arranged at the lower end of an inner cavity of the energy power control cabin (1) and are positioned above the airborne data chain, and the electronic speed regulator and the airborne data chain are respectively connected with the flight control computer through signals;

2. The vector powered coaxial double-oar unmanned aerial vehicle of claim 1, wherein: the tilting mechanism (11) comprises a central mounting seat (1101), a tilting plate (1102), a supporting upright post (1103), a mounting plate (1104) and a power base (1105);

the power base (1105) is arranged below the positive propeller motor (1203) with a gap between the two, the power base (1105) is a cross-shaped support, one free end of the power base is bent upwards to form 90 degrees, each free end of the power base (1105) is provided with a connecting rod (1106), and the upper end of the connecting rod (1106) is arranged on the outer side wall of the motor stator (1209);

the center mounting seat (1101) is arranged at the middle upper part of the inner cavity of the energy power control cabin (1), the electronic speed regulator is arranged below the center mounting seat (1101), the supporting column (1103) is arranged on the upper surface of the center mounting seat (1101), the inclined plate (1102) is arranged right below the power base (1105), the inclined plate (1102) is a cylindrical shell with openings at the upper end and the lower end, a hemispherical shell (1107) with openings at the lower end is arranged in the inclined plate (1102) and the lower surfaces of the hemispherical shell and the inclined plate are overlapped, an adjusting ball head (1108) matched with the hemispherical shell is arranged in the hemispherical shell (1107), the lower end of the adjusting ball head (1108) is leaked outside below the inclined plate (1102) and is connected with the upper end of the supporting column (1103), and the mounting plate (1104) is sleeved on the middle upper part of the supporting column (1103);

the utility model discloses a steering engine, including driving arm (1115), connecting rod (1113), connecting rod (1115), connecting rod (1111), limiting plate (1116) are provided with three connecting block (1109) along its circumference direction equipartition, and one of them is located under the free end of upwards bending of power base (1105) of three connecting block (1109) and is provided with gag lever post (1110) on this connecting block (1109), one side of mounting panel (1104) is provided with limiting plate (1116) through connecting plate (1111), limiting plate (1116) are located the outside of the free end of upwards bending of power base (1105), limiting plate (1116) are provided with spacing groove (1112) along its vertical direction, the free end of gag lever post (1110) is located spacing groove (1112), all is provided with pull rod (1113) through bulb connection structure on two connecting rods (1109), be provided with two servo steering engine (1114) and correspond respectively on center mount pad (1101), all be provided with driving arm (1115), one end cover of driving arm (1115) is established on the output shaft of corresponding steering engine (1115) and is passed through servo engine (1113) and is calculated servo motor (1113) and is connected with servo motor (1115) down.

3. A vector powered coaxial double-oar unmanned aerial vehicle according to claim 2, wherein: the energy power control cabin is characterized in that two folding antennas (3) are symmetrically arranged at the lower end of the outer side wall of the energy power control cabin (1) through a folding structure, the folding structure comprises a groove (4) formed in the outer side wall of the energy power control cabin (1), the folding antennas (3) are located in the groove (4), the upper ends of the folding antennas (3) are arranged on the upper side wall of the groove (4) through a hinge structure, an electric telescopic rod is obliquely arranged at the lower end of an inner cavity of the energy power control cabin (1) upwards, and the end head of the free end of the electric telescopic rod penetrates through the side wall of a body shell and is connected with the upper end of the folding antennas (3) through a hinge structure.

4. A vector powered coaxial double-oar unmanned aerial vehicle according to claim 3, wherein: the middle upper parts of the two outer side walls of the energy power control cabin (1) are symmetrically provided with heat dissipation windows (5) which correspond to the electronic speed regulator.

5. The vector powered coaxial double-oar unmanned aerial vehicle of claim 4, wherein: the energy power control cabin is characterized in that a photoelectric unlocking window (6) is arranged on the outer side wall of one side of the energy power control cabin (1) and located below one of the radiating windows (5), and the photoelectric unlocking window (6) is used for sending unlocking instructions through shielding of the photoelectric unlocking window (6) in the process of throwing and taking off of the aircraft.

6. The vector powered coaxial double-oar unmanned aerial vehicle of claim 5, wherein: the energy power control cabin is characterized in that an electric quantity indication window (7) is arranged on the outer side wall of one side of the energy power control cabin (1) and located below the photoelectric unlocking window (6), the electric quantity indication window (7) comprises four indication holes, and LED indication lamps are arranged in each indication hole.

7. The vector powered coaxial double-oar unmanned aerial vehicle of claim 6, wherein: the energy power control cabin is characterized in that a power switch window (8) is arranged on the outer side wall of one side of the energy power control cabin (1) and is positioned below the electric quantity indication window (7), and a key switch is arranged in the power switch window (8).

8. The vector powered coaxial double-oar unmanned aerial vehicle of claim 7, wherein: the outer side wall of one side of the energy power control cabin (1) is provided with a flight indicator lamp (9) and is positioned below the power switch window (8).

9. The vector powered coaxial double-oar unmanned aerial vehicle of claim 8, wherein: cylindrical fairings (1210) are arranged on the positive propeller hub (1201) and the negative propeller hub (1202).

10. The vector powered coaxial double-oar unmanned aerial vehicle of claim 9, wherein: the detachable structure is a screw connection structure.