GB2594816A - Modular intermeshing and tandem unmanned helicopter and working method thereof - Google Patents
Modular intermeshing and tandem unmanned helicopter and working method thereof Download PDFInfo
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- GB2594816A GB2594816A GB2108598.0A GB202108598A GB2594816A GB 2594816 A GB2594816 A GB 2594816A GB 202108598 A GB202108598 A GB 202108598A GB 2594816 A GB2594816 A GB 2594816A
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- 238000000034 method Methods 0.000 title claims abstract description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 18
- 239000010959 steel Substances 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 16
- 238000005096 rolling process Methods 0.000 claims description 14
- 230000003247 decreasing effect Effects 0.000 claims description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 239000011295 pitch Substances 0.000 claims description 6
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 239000004677 Nylon Substances 0.000 claims description 3
- 229910052799 carbon Inorganic materials 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
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- 229920001778 nylon Polymers 0.000 claims description 3
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- 230000002265 prevention Effects 0.000 abstract description 3
- 230000005484 gravity Effects 0.000 abstract description 2
- 230000005611 electricity Effects 0.000 abstract 1
- 239000003208 petroleum Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
- B64U60/50—Undercarriages with landing legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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Abstract
Disclosed in the present invention are a modular intermeshing and tandem unmanned helicopter and a working method thereof. The modular intermeshing and tandem unmanned helicopter is composed of two helicopter units which are connected together by means of a connecting device; the connecting device is a four-rotor connecting device or a tandem connecting device, the front and rear blades do not overlap with each other and have no height difference in a four-rotor mode, and the front and rear blades overlap with each other and have a height difference in a tandem mode. According to the present invention, a corresponding model can be selected according to task requirements; modularization is achieved and three modules can be freely switched; the advantages of a basic unit intermeshing helicopter such as good stability, compact structure, small pneumatic resistance, large lift force, good maneuverability for four rotors, and easy control and the advantages of a tandem helicopter such as strong crosswind resistance and large gravity center range are combined; a power system can be driven by electricity or petroleum. The present invention has a wide application prospect in the fields of electric power inspection, oil gas pipeline inspection, forest fire prevention, agricultural plant protection, public safety, transport loading and the like.
Description
MODULAR INTERMESHING AND TANDEM UNMANNED HELICOPTER
AND WORKING METHOD THEREOF
TECHNICAL FIELD
[1] The present disclosure belongs to the field of aviation technology, and particularly relates to a modular intermeshing and tandem unmanned helicopter and a working method thereof
BACKGROUND ART
[2] Along with continuous development of the aviation industry, the unmanned helicopter plays an important role in various fields, such as automatic erection of power transmission lines under large span/strong electromagnetic interference, detection arid identification of initial ignition points of high-rise/super high-rise buildings, evaluation of post-disaster disaster information, acquisition of basic farmland data and the like. The modular helicopter has great advantages in working efficiency, working cost and dispatching command, and at present, an unmanned helicopter aiming at the above task requirements is not modularized, is not compact in helicopter body structure arrangement, is single in use environment, cannot be used in severe environments such as gusty air and strong convection environments and is low in stability, and then causes low working efficiency, high cost, scheduling tediousness and transportation inconvenience.
1031 At present, an intermeshing unmanned helicopter and a tandem unmanned helicopter which can be used in multiple environments have the advantages and disadvantages that the intermeshing unmanned helicopter is high in crosswind resistance, compact in structure, high in pneumatic efficiency but not high in stability, the tandem unmanned helicopter is large in gravity center range, large in lift force and high in stability, and then a basic unit intermeshing unmanned helicopter is modularized to form a four-rotor mode and a tandem mode. Modularized selection can be carried out according to the task amount, the working environment and task indexes, wherein the tandem mode unmanned helicopter is more compact in structure, higher in pneumatic efficiency and larger in lift force compared with the four-rotor mode unmanned helicopter, the four-rotor mode unmanned helicopter is simpler in operation strategy and easier to control compared with the tandem mode unmanned helicopter, the working efficiency is greatly improved through the tandem mode and the four-rotor mode, and the working cost is saved.
[04] Thus, the intermeshing unmanned helicopter is used as a basic unit to form the four-rotor mode and the tandem mode. The unmanned helicopter has the advantages of high task adaptability, high flight stability, compact structure, high interchangeability and high performance, and has a wide application prospect in the fields of electric power inspection, oil gas pipeline inspection, forest fire prevention, agricultural plant protection, public safety, transport loading and the like.
SUMMARY
[051 Aiming at the defects in the prior art, the present disclosure aims to provide a modular intermeshing and tandem unmanned helicopter and a working method thereof so as to solve the problems of poor task adaptability, tedious dispatching command, low loading efficiency, high cost, single task target and the like of helicopter units in the prior art.
[061 In order to achieve the above purpose, the present disclosure adopts the following technical scheme: [7] A modular intermeshing and tandem unmanned helicopter is composed of two helicopter units which are connected together by means of a connecting device, wherein each helicopter unit comprises hubs, blades, a fuselage, automatic inclinators, bearing pedestals, bearing pedestal side plates, a motor base, a motor, steering engines, rotor shafts, a one-way bearing and a transmission system; [8] each fuselage comprises a base, base side plates, a front side plate, a right side plate, undercarriage supports, undercarriage rods and a base side plate support; wherein the base side plates are respectively connected with the front side plate, the base and the undercarriage supports; the front side plate is positioned at the tops of the base side plates and is respectively connected with the motor base and the right side plate; the base is arranged between the two base side plates; the undercarriage supports are arranged on the side surfaces of the base side plates and are connected with the undercarriage rods, the right side plate is arranged on the upper right side of the base side plates and is respectively connected with the motor base and the bearing pedestals; the two base side plates are connected by the base side plate support; 1091 each transmission system is arranged above the fuselage and below the blades and comprises a first-stage speed reducer and reversing bevel gears, the first-stage speed reducer is composed of a motor gear and a large gear, and the large gear is connected with the one-way bearing; the motor gear is arranged on the motor and is fastened with the motor through a bolt; the large gear is arranged at the lower end of one rotor shaft and the reversing bevel gears are arranged in the middle of the rotor shafts, the large gear and the reversing bevel gears are connected with the rotor shaft through pins; the hubs are fixedly arranged at the top ends of the rotor shafts and are connected with the blades; [N] the automatic inclinators are arranged on the rotor shafts, are positioned below the hubs and are in clearance connection with the rotor shafts; [11] the bearing pedestals sleeve the rotor shafts, are positioned below the automatic inclinators, are in interference connection with the rotor shafts, and are connected with the bearing pedestal side plates; [12] the steering engines are fastened on the bearing pedestals; [13] the motor base is arranged between the large gear and one reversing bevel gear and is respectively connected with the front side plate and the right side plate; [14] the motor is fixedly arranged on the motor base, and is connected with the motor base; and [15] the one-way bearing is fixedly arranged in the large gear, and sleeves the bottom of one rotor shaft.
[16] Further, the connecting device is a four-rotor connecting device or a tandem connecting device.
[17] Further, the four-rotor connecting device is a channel steel piece, the length of the channel steel piece is larger than the diameters of the blades, the cross section of the channel steel piece is in a groove shape, and the channel steel piece has good synthesized mechanical properties and is fixedly installed between the base side plates, so that the blades of the front helicopter unit and the rear helicopter unit do not overlap with each other, have no height difference and work simultaneously to form a four-rotor mode.
1181 Further, the tandem connecting devices is a channel steel piece, the length of the channel steel piece is smaller than the diameters of the blades, so that the blades of the front helicopter unit and the rear helicopter unit overlap with each other, and the front helicopter unit and the rear helicopter unit have height difference to form a tandem mode.
[19] Further, the base side plates and the right side plate are made of carbon plate materials, and the advantages of light weight and high tenacity are achieved.
[20] Further, the bearing components such as the base, the front side plate, the undercarriage supports, the undercarriage rods and the base side plate support are made of composite materials, and the advantages of good shock absorption performance, high specific strength and fatigue resistance are achieved.
[21] Further, the transmission ratio of the reversing bevel gears is 1, the bevel gears with the transmission ratio of 1 can ensure that the rotating speeds of the two rotor shafts are consistent and the transmission stability is higher.
1221 Further, the large gear and the reversing bevel gears are made of nylon materials, and the advantages of light weight, fatigue resistance and high lubricity are achieved.
[23] A working method of a modular intermeshing and tandem unmanned helicopter in the present disclosure comprises the following steps: [24] vertical launching: translating the automatic inclinators upwards through pull rods on the steering engines, and increasing the blade pitches of all the blades, so that the attack angles of the blades are increased, the lift force is increased, and the helicopter bodies of the helicopter units climb; [25] vertical landing: translating the automatic inclinators downwards through the pull rods on the steering engines, and decreasing the blade pitches of all the blades, so that the attack angles of the blades are decreased, the lift force is decreased, and the helicopter bodies of the helicopter units decline; [26] front fly: simultaneously inclining the automatic inclinators on the left and right rotor shafts forwards through the pull rods on the steering engines, so that the resultant force direction is changed, and front fly is realized; [27] back fly: simultaneously inclining the automatic inclinators on the left and right rotor shafts backwards through the pull rods on the steering engines, so that the resultant force direction is changed, and back fly is realized; [28] left drift (drift means course change, viewed from the back sight direction of the helicopter bodies): toppling over the automatic inclinators on the left rotor shafts backwards and the automatic inclinators on the right rotor shafts forwards through the pull rods on the steering engines to form a pair of couples, so that left drift of the helicopter bodies of the helicopter units is realized; 1291 right drift: toppling over the automatic inclinators on the left rotor shafts forwards and the automatic inclinators on the right rotor shafts backwards through the pull rods on the steering engines to form a pair of couples, so that right drift of the helicopter bodies of the helicopter units is realized; [30] left rolling (rolling operation means rotation of the helicopter bodies around the longitudinal axis, viewed from the back sight direction of the helicopter bodies): translating the automatic inclinators on the left rotor shafts downwards and the automatic inclinators on the right rotor shafts upwards through the pull rods on the steering engines, so that left rolling of the helicopter bodies is realized; [31] right rolling: translating the automatic inclinators on the left rotor shafts upwards and the automatic inclinators on the right rotor shafts downwards through the pull rods on the steering engines, so that right rolling of the helicopter bodies is realized; [32] front pitching (pitching operation means rotation of the helicopter bodies around the horizontal axis, viewed from the back sight direction of the helicopter bodies): simultaneously translating the automatic inclinators downwards through the pull rods on the steering engines on the left and right rotor shafts on the helicopter body of the front helicopter unit, and simultaneously translating the automatic inclinators upwards through the pull rods on the steering engines on the left and right rotor shafts on the helicopter body of the rear helicopter unit; and [33] back pitching: simultaneously translating the automatic inclinators upwards through the pull rods on the steering engines on the left and right rotor shafts on the helicopter body of the front helicopter unit, and simultaneously translating the automatic inclinators downwards through the pull rods on the steering engines on the left and right rotor shafts on the helicopter body of the rear helicopter unit.
[34] The present disclosure has the following beneficial effects: [35] The helicopter is modularized to form a four-rotor mode or a tandem mode, and has the advantages of being high in task adaptability, high in flight stability, compact in structure, small in pneumatic resistance, large in lift force, good in four-rotor maneuverability and easy to control, high in crosswind resistance of the tandem helicopter, good in interchangeability and high in performance. The present disclosure has a wide application prospect in the fields of electric power inspection, oil gas pipeline inspection, forest fire prevention, agricultural plant protection, public safety, transport loading and the like.
BRIEFT DESCRIPTION OF THE DRAWINGS
[36] FIG. I is a structural schematic diagram of a helicopter unit in the present disclosure; [37] FIG 2 is an integral schematic diagram in a four-rotor mode; [38] FIG 3 is an integral schematic diagram in a tandem mode; [39] FIG 4 is an enlarged view of a transmission system; and [40] FIG. 5 is a structural schematic diagram of the upper portion of the fuselage of a helicopter unit.
[41] Reference signs in drawings: 1, hub; 2, blade; 3, base side plate; 4, undercarriage support; 5, four-rotor connecting device; 6, undercarriage rod; 7, base side plate support; 8, tandem connecting device; 9, base; 10, front side plate; 11, fuselage; 12, right side plate; 13, automatic inclinator; 14, bearing pedestal; 15, bearing pedestal side plate; 16, large gear; 17, motor gear; 18, motor base; 19, motor; 20, reversing bevel gear; 21, steering engine (with pull rod); 22, rotor shaft; 23, one-way bearing; and 24, transmission system.
DETAILED DESCRIPTION OF THE EMBODIMENTS
1421 In order to facilitate understanding of those skilled in the art, the present disclosure is further described below in combination with the embodiment and attached figures, and the content mentioned in the embodiment is not limited by the present disclosure.
[43] In the description of the present disclosure, it needs to be illustrated that the indicative direction or position relations of the terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside" and "outside" are direction or position relations illustrated based on the attached figures, just for facilitating the description of the present disclosure and simplifying the description, but not for indicating or hinting that the indicated device or element must be in a specific direction and is constructed and operated in the specific direction, the terms cannot be understood as the restriction of the present disclosure.
[44] The terms such as "install", "link" and "connect" should be generally understood, for example, the components can be fixedly connected, and also can be detachably connected or integrally connected, the components can be mechanically connected, and also can be electrically connected; the components can be directly connected, also can be indirectly connected through an intermediate, and can be communicated internally. For those skilled in the art, the specific meanings of the terms in the present disclosure can be understood according to specific conditions.
[45] Referring to FIG. 1 to FIG. 5, a modular intermeshing and tandem unmanned helicopter in the present disclosure is composed of two helicopter units which are connected together by means of a connecting device, wherein each helicopter unit comprises hubs 1, blades 2, a fuselage 11, automatic inclinators 13, bearing pedestals 14, bearing pedestal side plates 15, a motor base 18, a motor 19, steering engines 21, rotor shafts 22, a one-way bearing 23 and a transmission system 24; [46] each fuselage 11 comprises a base 9, base side plates 3, a front side plate 10, a right side plate 12, undercarriage supports 4, undercarriage rods 6 and a base side plate support 7; wherein the base side plates 3 are respectively connected with the front side plate 10, the base 9 and the undercarriage supports 4; the front side plate 10 is positioned at the tops of the base side plates 3 and is respectively connected with the motor base 18 and the right side plate 12; the base 9 is arranged between the two base side plates 3, the undercarriage supports 4 are arranged on the side surfaces of the base side plates 3 and are connected with the undercarriage rods 6; the right side plate 12 is arranged on the upper right side of the base side plates 3 and is respectively connected with the motor base 18 and the bearing pedestals 14; the two base side plates 3 are connected by the base side plate support 7, [47] each transmission system 24 is arranged above the fuselage 11 and below the blades 2 and comprises a first-stage speed reducer and reversing bevel gears 20, the first-stage speed reducer is composed of a motor gear 17 and a large gear 16, and the large gear 16 is connected with the one-way bearing 23; the motor gear 17 is arranged on the motor 19 and is fastened with the motor 19 through a bolt; the large gear 16 is arranged at the lower end of one rotor shaft 22, and the reversing bevel gears 20 are arranged in the middle of the rotor shafts 22; the large gear 16 and the reversing bevel gears 20 are connected with the rotor shaft 22 through pins, the hubs 1 are fixedly arranged at the top ends of the rotor shafts 22 and are connected with the blades 2; [48] the automatic inclinators 13 are arranged on the rotor shafts 22, are positioned below the hubs 1 and are in clearance connection with the rotor shafts 22, [49] the bearing pedestals 14 sleeve the rotor shafts 22, are positioned below the automatic inclinators 13, are in interference connection with the rotor shafts 22, and are connected with the bearing pedestal side plates 15; [50] the steering engines 21_ are fastened on the bearing pedestals 14; [51] the motor base 18 is arranged between the large gear 16 and one reversing bevel gear 20 and is respectively connected with the front side plate 10 and the right side plate 12, [52] the motor 19 is fixedly arranged on the motor base 18, and is connected with the motor base 18; and [53] the one-way bearing 23 is fixedly arranged in the large gear 16, and sleeves the bottom of one rotor shaft 22.
[541 Wherein, the connecting device is a four-rotor connecting device 5 or a tandem connecting device 8.
[55] The four-rotor connecting device is a channel steel piece, the length of the channel steel piece is larger than the diameters of the blades, the cross section of the channel steel piece is in a groove shape, and the channel steel piece has good synthesized mechanical properties and is fixedly installed between the base side plates, so that the blades of the front helicopter unit and the rear helicopter unit do not overlap with each other, have no height difference and work simultaneously to form a four-rotor mode.
[56] The tandem connecting devices is a channel steel piece, the length of the channel steel piece is smaller than the diameters of the blades, so that the blades of the front helicopter unit and the rear helicopter unit overlap with each other, and the front helicopter unit and the rear helicopter unit have height difference to form a tandem mode.
[57] Moreover, the base side plates 3 and the right side plate 12 are made of carbon plate materials, and the advantages of light weight and high tenacity are achieved.
[58] The bearing components such as the base 9, the front side plate 10, the undercarriage supports 4, the undercarriage rods 6 and the base side plate support 7 are made of composite materials, and the advantages of good shock absorption performance, high specific strength and fatigue resistance are achieved.
[59] The transmission ratio of the reversing bevel gears 20 is 1, the bevel gears 20 with the transmission ratio of 1 can ensure that the rotating speeds of the two rotor shafts 22 are consistent and the transmission stability is higher.
[60] The large gear 16 and the reversing bevel gears 20 are made of nylon materials, and the advantages of light weight, fatigue resistance and high lubricity are achieved.
[61] Each helicopter unit starts the motor 19 to rotate, the motor 19 drives the motor gear 17 to rotate so as to drive a large gear 16 to rotate, the large gear 16 and the reversing bevel gear 20 on the same rotor shaft 22 rotate together, and the large gear 16 is meshed with the other reversing bevel gear 20 to rotate, so that the two rotor shafts 22 start to rotate simultaneously; the two rotor shafts 22 drive the automatic inclinators 13 to rotate through the respective bearing pedestals 14, and the pull rods of the automatic inclinators 13 drive the hubs 1 and the blades 2 to rotate together; wherein, the pull rods on the steering engines 21 are used for controlling translation, inclining and toppling of the automatic inclinators 13 so as to change the direction of a resultant force surface.
[62] A working method of a modular intermeshing and tandem unmanned helicopter in the present disclosure comprises the following steps: [63] vertical launching: translating the automatic inclinators upwards through pull rods on the steering engines, and increasing the blade pitches of all the blades, so that the attack angles of the blades are increased, the lift force is increased, and the helicopter bodies of the helicopter units climb; [64] vertical landing: translating the automatic inclinators downwards through the pull rods on the steering engines, and decreasing the blade pitches of all the blades, so that the attack angles of the blades are decreased, the lift force is decreased, and the helicopter bodies of the helicopter units decline; 1651 front fly: simultaneously inclining the automatic inclinators on the left and right rotor shafts forwards through the pull rods on the steering engines, so that the resultant force direction is changed, and front fly is realized; [66] back fly: simultaneously inclining the automatic inclinators on the left and right rotor shafts backwards through the pull rods on the steering engines, so that the resultant force direction is changed, and back fly is realized; [67] left drift (drift means course change, viewed from the back sight direction of the helicopter bodies): toppling over the automatic inclinators on the left rotor shafts backwards and the automatic inclinators on the right rotor shafts forwards through the pull rods on the steering engines to form a pair of couples, so that left drift of the helicopter bodies of the helicopter units is realized; [68] right drift: toppling over the automatic inclinators on the left rotor shafts forwards and the automatic inclinators on the right rotor shafts backwards through the pull rods on the steering engines to form a pair of couples, so that right drift of the helicopter bodies of the helicopter units is realized; [69] left rolling (rolling operation means rotation of the helicopter bodies around the longitudinal axis, viewed from the back sight direction of the helicopter bodies): translating the automatic inclinators on the left rotor shafts downwards and the automatic inclinators on the right rotor shafts upwards through the pull rods on the steering engines, so that left rolling of the helicopter bodies is realized; [70] right rolling: translating the automatic inclinators on the left rotor shafts upwards and the automatic inclinators on the right rotor shafts downwards through the pull rods on the steering engines, so that right rolling of the helicopter bodies is realized; [71] front pitching (pitching operation means rotation of the helicopter bodies around the horizontal axis, viewed from the back sight direction of the helicopter bodies): simultaneously translating the automatic inclinators downwards through the pull rods on the steering engines on the left and right rotor shafts on the helicopter body of the front helicopter unit, and simultaneously translating the automatic inclinators upwards through the pull rods on the steering engines on the left and right rotor shafts on the helicopter body of the rear helicopter unit, and 1721 back pitching: simultaneously translating the automatic inclinators upwards through the pull rods on the steering engines on the left and right rotor shafts on the helicopter body of the front helicopter unit, and simultaneously translating the automatic inclinators downwards through the pull rods on the steering engines on the left and right rotor shafts on the helicopter body of the rear helicopter unit.
[73] The present disclosure has many specific applications, and the foregoing is merely preferred embodiments of the present disclosure, and it should be noted that several modifications can be made to those skilled in the art without departing from the principles of the present disclosure, which are also considered to be within the scope of the present disclosure.
Claims (9)
- WHAT IS CLAIMED IS: 1. A modular intermeshing and tandem unmanned helicopter, composed of two helicopter units which are connected together by means of a connecting device, wherein each helicopter unit comprises hubs (1), blades (2), a fuselage (11), automatic inclinators (13), bearing pedestals (14), bearing pedestal side plates (15), a motor base (18), a motor (19), steering engines (21), rotor shafts (22), a one-way bearing (23) and a transmission system (24); each fuselage (11) comprises a base (9), base side plates (3), a front side plate (10), a right side plate (12), undercarriage supports (4), undercarriage rods (6) and a base side plate support (7); wherein the base side plates (3) are respectively connected with the front side plate (10), the base (9) and the undercarriage supports (4); the front side plate (10) is positioned at the tops of the base side plates (3) and is respectively connected with the motor base (18) and the right side plate (12); the base (9) is arranged between the two base side plates (3); the undercarriage supports (4) are arranged on the side surfaces of the base side plates (3) and are connected with the undercarriage rods (6); the right side plate (12) is arranged on the upper right side of the base side plates (3) and is respectively connected with the motor base (18) and the bearing pedestals (14); the two base side plates (3) are connected by the base side plate support (7); each transmission system (24) is arranged above the fuselage (11) and below the blades (2) and comprises a first-stage speed reducer and reversing bevel gears (20), the first-stage speed reducer is composed of a motor gear (17) and a large gear (16), and the large gear (16) is connected with the one-way bearing (23); the motor gear (17) is arranged on the motor (19) and is fastened with the motor (19) through a bolt; the large gear (16) is arranged at the lower end of one rotor shaft (22), and the reversing bevel gears (20) are arranged in the middle of the rotor shafts (22), the large gear (16) and the reversing bevel gears (20) are connected with the rotor shaft (22) through pins; the hubs (1) are fixedly arranged at the top ends of the rotor shafts (22) and are connected with the blades (2), the automatic inclinators (13) are arranged on the rotor shafts (22), are positioned below the hubs (1) and are in clearance connection with the rotor shafts (22); the bearing pedestals (14) sleeve the rotor shafts (22), are positioned below the automatic inclinators (13), are in interference connection with the rotor shafts (22), and are connected with the bearing pedestal side plates (15); the steering engines (21) are fastened on the bearing pedestals (14), the motor base (18) is arranged between the large gear (16) and one reversing bevel gear (20) and is respectively connected with the front side plate (10) and the right side plate (12); the motor (19) is fixedly arranged on the motor base (18), and is connected with the motor base (18); and the one-way bearing (23) is fixedly arranged in the large gear (16), and sleeves the bottom of one rotor shaft (22).
- 2. The modular intermeshing and tandem unmanned helicopter according to claim 1, wherein the connecting device is a four-rotor connecting device or a tandem connecting device.
- 3. The modular intermeshing and tandem unmanned helicopter according to claim 2, wherein the four-rotor connecting device is a channel steel piece, the length of the channel steel piece is larger than the diameters of the blades, the cross section of the channel steel piece is in a groove shape, and the channel steel piece is fixedly installed between the base side plates (3), so that the blades of the front helicopter unit and the rear helicopter unit do not overlap with each other, have no height difference and work simultaneously to form a four-rotor mode.
- 4. The modular intermeshing and tandem unmanned helicopter according to claim 2, wherein the tandem connecting devices is a channel steel piece, the length of the channel steel piece is smaller than the diameters of the blades, so that the blades of the front helicopter unit and the rear helicopter unit overlap with each other, and the front helicopter unit and the rear helicopter unit have height difference to form a tandem mode.
- 5. The modular intermeshing and tandem unmanned helicopter according to claim 1, wherein the base side plates (3) and the right side plate (12) are made of carbon plate materials.
- 6. The modular intermeshing and tandem unmanned helicopter according to claim 1, wherein the bearing components such as the base (9), the front side plate (10), the undercarriage supports (4), the undercarriage rods (6) and the base side plate support (7) are made of composite materials.
- 7. The modular intermeshing and tandem unmanned helicopter according to claim I., wherein the transmission ratio of the reversing bevel gears (20) is 1.
- 8. The modular intermeshing and tandem unmanned helicopter according to claim 1, wherein the large gear (16) and the reversing bevel gears (20) are made of nylon materials.
- 9. A working method of a modular intermeshing and tandem unmanned helicopter, comprising the following steps: vertical launching: translating the automatic inclinators upwards through pull rods on the steering engines, and increasing the blade pitches of all the blades, so that the attack angles of the blades are increased, the lift force is increased, and the helicopter bodies of the helicopter units climb; vertical landing: translating the automatic inclinators downwards through the pull rods on the steering engines, and decreasing the blade pitches of all the blades, so that the attack angles of the blades are decreased, the lift force is decreased, and the helicopter bodies of the helicopter units decline; front fly: simultaneously inclining the automatic inclinators on the left and right rotor shafts forwards through the pull rods on the steering engines, so that the resultant force direction is changed, and front fly is realized; back fly: simultaneously inclining the automatic inclinators on the left and right rotor shafts backwards through the pull rods on the steering engines, so that the resultant force direction is changed, and back fly is realized; left drift: toppling over the automatic inclinators on the left rotor shafts backwards and the automatic inclinators on the right rotor shafts forwards through the pull rods on the steering engines to form a pair of couples, so that left drift of the helicopter bodies of the helicopter units is realized; right drift: toppling over the automatic inclinators on the left rotor shafts forwards and the automatic inclinators on the right rotor shafts backwards through the pull rods on the steering engines to form a pair of couples, so that right drift of the helicopter bodies of the helicopter units is realized; left rolling: translating the automatic inclinators on the left rotor shafts downwards and the automatic inclinators on the right rotor shafts upwards through the pull rods on the steering engines, so that left rolling of the helicopter bodies is realized; right rolling: translating the automatic inclinators on the left rotor shafts upwards and the automatic inclinators on the right rotor shafts downwards through the pull rods on the steering engines, so that right rolling of the helicopter bodies is realized; front pitching: simultaneously translating the automatic inclinators downwards through the pull rods on the steering engines on the left and right rotor shafts on the helicopter body of the front helicopter unit, and simultaneously translating the automatic inclinators upwards through the pull rods on the steering engines on the left and right rotor shafts on the helicopter body of the rear helicopter unit; and back pitching: simultaneously translating the automatic inclinators upwards through the pull rods on the steering engines on the left and right rotor shafts on the helicopter body of the front helicopter unit, and simultaneously translating the automatic inclinators downwards through the pull rods on the steering engines on the left and right rotor shafts on the helicopter body of the rear helicopter unit.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910547327.3A CN110203383B (en) | 2019-06-24 | 2019-06-24 | Modularized cross type column unmanned helicopter and working method thereof |
| PCT/CN2020/098057 WO2020259570A1 (en) | 2019-06-24 | 2020-06-24 | Modular intermeshing and tandem unmanned helicopter and working method thereof |
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| GB202108598D0 GB202108598D0 (en) | 2021-07-28 |
| GB2594816A true GB2594816A (en) | 2021-11-10 |
| GB2594816B GB2594816B (en) | 2023-07-19 |
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| GB2108598.0A Active GB2594816B (en) | 2019-06-24 | 2020-06-24 | Modular intermeshing and tandem unmanned helicopter and working method thereof |
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| CN (1) | CN110203383B (en) |
| GB (1) | GB2594816B (en) |
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| ES2954854T3 (en) * | 2020-01-08 | 2023-11-27 | Swissdrones Operating Ag | air vehicle |
| CN112829954B (en) * | 2021-01-11 | 2023-01-20 | 宏洋电机(威海)有限公司 | Oil moves unmanned aerial vehicle engine protection device |
| CN112555386A (en) * | 2021-02-24 | 2021-03-26 | 北京清航紫荆装备科技有限公司 | Reducer casing and reducer of cross dual-rotor unmanned helicopter |
| CN112977809B (en) * | 2021-03-14 | 2021-12-10 | 艾肯拓(常熟)科技有限公司 | Tandem unmanned helicopter |
| CN113086174A (en) * | 2021-05-11 | 2021-07-09 | 南京壮大智能科技研究院有限公司 | Modular cross type unmanned aerial vehicle and working method thereof |
| CN114735199B (en) * | 2022-04-02 | 2023-01-17 | 北京航空航天大学 | Tandem rotor unmanned aerial vehicle and attitude adjustment control method |
| CN116080945B (en) * | 2022-12-08 | 2023-10-20 | 深圳市生态环境智能管控中心 | Multi-rotor unmanned aerial vehicle capable of switching flight postures and flight method |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110203383A (en) | 2019-09-06 |
| CN110203383B (en) | 2024-04-16 |
| WO2020259570A1 (en) | 2020-12-30 |
| GB2594816B (en) | 2023-07-19 |
| GB202108598D0 (en) | 2021-07-28 |
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