WO2017107751A1 - 无人机 - Google Patents

无人机 Download PDF

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Publication number
WO2017107751A1
WO2017107751A1 PCT/CN2016/108248 CN2016108248W WO2017107751A1 WO 2017107751 A1 WO2017107751 A1 WO 2017107751A1 CN 2016108248 W CN2016108248 W CN 2016108248W WO 2017107751 A1 WO2017107751 A1 WO 2017107751A1
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WO
WIPO (PCT)
Prior art keywords
propeller
arm
drone
driving device
sleeve
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Application number
PCT/CN2016/108248
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English (en)
French (fr)
Inventor
胡华智
李泽聪
靳洪胜
Original Assignee
广州亿航智能技术有限公司
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Application filed by 广州亿航智能技术有限公司 filed Critical 广州亿航智能技术有限公司
Publication of WO2017107751A1 publication Critical patent/WO2017107751A1/zh

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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
    • B64C27/14—Direct drive between power plant and rotor hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • 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
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/24—Coaxial rotors

Definitions

  • the present application relates to the field of aircraft technology, and in particular, to a drone.
  • the drone has the characteristics of high portability, simple operation and flexible use, and is widely used in various fields.
  • the drone realizes various flight operations of the drone through the different rotation speeds of the propellers on each arm.
  • only one propeller is fixed on each arm, it is flying in hovering, side flying and rotating. It is impossible to smoothly switch between states, only suitable for flight under static conditions, poor maneuverability, unfavorable for handling and taking off and landing, and easy to get out of control.
  • the purpose of the present application is to provide a drone that can smoothly switch between flight states such as hovering, side flying, and rotation, and has better maneuverability and handling performance, and more stable takeoff and landing.
  • An unmanned aerial vehicle comprising at least an arm and a power module disposed on the arm, the power module including a first propeller, a second propeller, a first driving device for driving the rotation of the first propeller, and a second driving for driving the rotation of the second propeller
  • the first propeller is located above the arm and is connected with a first driving device between the arm
  • the second propeller is located below the arm and is connected with a second driving device between the arm.
  • a propeller is fixed on each of the upper and lower arms of each arm, and each propeller is controlled by a driving device, so that the drone can complete various flight operations of the drone by separately adjusting the rotational speeds of different driving devices during flight. It facilitates the control of a variety of drones, enabling the drone to smoothly switch between flight states such as hovering, side flying and rotating. The maneuverability and handling performance are good, and the takeoff and landing is more stable, suitable for static and quasi-static conditions. The flight is under; and the drone is more powerful and has a longer flight time.
  • the drone further includes a mounting seat fixed to the arm, and a mounting seat is connected between the first driving device and the second driving device.
  • a first propeller, a first drive, a second propeller, and The second driving device is fixed on the arm through the mounting seat, so that the installation and connection of the drone is simpler, and the assembly of the whole machine is more stable, and the strength of the body is ensured.
  • the drone further includes a sleeve fixed to the end of the arm, and the mount is fixed in the sleeve.
  • the propeller and the driving device are fixed to the end of the arm by the cooperation of the mounting seat and the sleeve, thereby reducing the torque generated by the power module, minimizing the weight of the end of the UAV arm, and making the structure of the UAV simpler. It effectively reduces the weight of the aircraft and makes the flight time of the drone longer.
  • the sleeve and the arm are integrally formed.
  • the mount is an annular disc provided with an opening.
  • the opening will automatically open or contract according to the size of the inner wall of the sleeve, and the mounting seat automatically matches the inner wall of the sleeve, so that the mounting seat is tightly attached to the inner wall of the sleeve, so that the mounting seat and the sleeve are The connection is more stable.
  • the drone further includes a fastener, the sleeve is provided with at least one first fixing hole, and the mounting seat is provided with a second fixing hole communicating with the first fixing hole, the first fixing hole and the second fixing hole Fasteners are connected between them.
  • the mounting seat is fixed in the accommodating cavity by the cooperation of the first fixing hole, the second fixing hole and the fastener, and is convenient for installation and disassembly.
  • the direction in which the first driving device drives the first propeller to rotate is opposite to the direction in which the second driving device drives the second propeller to rotate.
  • the first propeller and the second propeller rotate in opposite directions to form a balance of torque in the horizontal direction of the drone, which makes the flight of the drone more stable.
  • first propeller and the second propeller are arranged vertically.
  • the drone can complete various flight actions of the drone by adjusting the rotational speeds of different driving devices during the flight process, so that the drone's handling performance is better.
  • the central axis of the first propeller and the central axis of the second propeller are on the same vertical line.
  • the drone further includes a center frame having four arms, and the four arms are evenly arranged along the circumferential direction of the center frame.
  • the UAV becomes a six-degree-of-freedom vertical take-off and landing machine. Its symmetrical structure makes the drone flight more stable and can quickly switch between flight states such as hovering, side flying and rotating. Good performance and maneuverability for both static and quasi-static conditions.
  • Each of the arms of the present application is fixed with a propeller above and below, and each propeller is controlled by a driving device, so that the drone can complete the unmanned aerial vehicles by adjusting the rotational speeds of different driving devices during the flight.
  • the flight action facilitates the control of a variety of drones, enabling the drone to smoothly switch between flight states such as hovering, side-flight and rotation.
  • the maneuverability and handling performance are good, and the take-off and landing is more stable, suitable for static and Flight under quasi-static conditions.
  • FIG. 1 is a schematic structural view of a drone according to an embodiment of the present application.
  • FIG. 2 is a schematic structural view of a mounting seat of an embodiment of the present application.
  • Arm 20. Power module, 210. First propeller, 220. Second propeller, 230. First drive, 240. Second drive, 30. Mount, 310. Second fixed hole, 320. Opening, 40. sleeve, 410. first fixing hole.
  • a drone includes at least an arm 10 and a power module 20 disposed on the arm 10 .
  • the power module 20 includes a first propeller 210 , a second propeller 220 , and a first propeller 210 rotating a driving device 230, a second driving device 240 for driving the rotation of the second propeller 220, the first propeller 210 is located above the arm 10, and is connected with the first driving device 230 between the arm 10, and the second propeller 220 is located at the machine A second driving device 240 is connected below the arm 10 and between the arm 10 .
  • a propeller is fixed to each of the upper and lower arms of each arm 10, and each propeller is controlled by a driving device, so that the drone can complete various flights of the drone by separately adjusting the rotational speeds of different driving devices during flight.
  • the action facilitates the control of a variety of drones, enabling the drone to smoothly switch between flight states such as hovering, side-flight and rotation.
  • the maneuverability and handling performance are good, and the take-off and landing is more stable, suitable for static and quasi-static. Flight under conditions; and the drone's power is greater and the flight time is longer.
  • the drone further includes a center frame (not shown in the drawing), and the arm 10 has four, and the four arms 10 are evenly arranged along the circumferential direction of the center frame.
  • the drone becomes a six-degree-of-freedom vertical take-off and landing machine. Its symmetrical structure makes the drone flight more stable, and can quickly switch between flight states such as hovering, side flying and rotating, taking off and landing performance and maneuvering. Good performance for both static and quasi-static conditions.
  • the number of the arms 10 can also be actually set to be more than two.
  • the drone further includes a mounting seat 30 .
  • the mounting base 30 is fixed to the arm 10 , and a mounting seat 30 is connected between the first driving device 230 and the second driving device 240 .
  • the first propeller 210, the first driving device 230, the second propeller 220 and the second driving device 240 are fixed to the arm 10 through the mounting seat 30, so that the installation and connection of the drone is simpler and more stable in the assembly of the whole machine. Under the condition of the strength of the fuselage, reduce the weight of the aircraft and achieve longer lasting flight time.
  • first propeller 210 and the second propeller 220 are both fixed to the end of the arm 10 through the mounting base 30.
  • the first propeller 210 and the second propeller 220 can also be fixed to other positions of the arm 10 according to actual needs.
  • the drone further includes a sleeve 40 fixed to the end of the arm 10, the sleeve 40 and the arm 10 being an integral forming mechanism, and the mounting seat 30 is fixed in the sleeve.
  • the mounting seat 30 is embedded in the end of the arm 10 to reduce the torque generated by the power module 20, so that the weight of the end of the UAV arm 10 is minimized, and the sleeve 40 and the arm 10 are integrally formed to realize an integrated machine.
  • the structure of the drone is made simpler, the weight of the aircraft is effectively reduced, and the flight time of the drone is made longer.
  • the mounting seat 30 is an annular disk provided with an opening 320.
  • the opening 420 is automatically opened according to the size of the inner wall of the sleeve 40.
  • the mounting seat 30 is automatically mated with the inner wall of the sleeve 40 such that the mounting seat 30 abuts against the inner wall of the sleeve 40 to securely stabilize the mounting seat 30 and the sleeve 40.
  • the drone further includes a fastener (not shown in the drawing), the sleeve 40 and the at least one first fixing hole 410, and the mounting seat 30 is provided with the first fixing hole 410.
  • Two fixing holes 310, and fasteners are connected between the first fixing holes 410 and the second fixing holes 310.
  • the mounting seat 30 is fixed in the accommodating cavity 110 by the cooperation of the first fixing hole 410, the second fixing hole 310 and the fastener for easy installation and disassembly.
  • Other connection modes can be adopted between the mounting seat 30 and the accommodating cavity 110 according to actual needs.
  • the outer circumference of the mounting seat 30 is evenly arranged with three second fixing holes 310 in the circumferential direction.
  • the arm 10 is also provided with three first fixing holes 410 that cooperate with the second fixing holes 310.
  • the first fixing holes 410 and the second fixing holes 310 can also be disposed one or more according to actual needs.
  • the central axis of the first propeller 210 and the central axis of the second propeller 220 are on the same vertical line, so that when the drone changes the heading, it is easier to maintain the flying height of the drone, so that no one The flight of the machine is safer; and the first propeller 210 and the second propeller 220 are vertically arranged, and the direction in which the first driving device 230 drives the first propeller 210 to rotate is opposite to the direction in which the second driving device 240 drives the second propeller 220 to rotate, so that no During the flight, the man-machine can complete various flight actions of the drone by adjusting the rotational speeds of different driving devices respectively, so that the maneuvering performance of the drone is better; the first propeller 210 and the second propeller 220 are reversely rotated to form The torque balance in the horizontal direction of the drone makes the flight of the drone more stable.
  • the first driving device 230 and the second driving device 240 are both motors.
  • the structure of the drone is simpler and the manufacturing cost is lower.
  • the first driving device 230 and the second driving device 240 can also adopt other power mechanisms according to actual needs.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Toys (AREA)

Abstract

一种无人机，至少包括机臂（10）以及设于机臂（10）的动力模块（20），动力模块（20）包括第一螺旋桨（210）、第二螺旋桨（220）、驱动第一螺旋桨（210）旋转的第一驱动装置（230）、驱动第二螺旋桨（220）旋转的第二驱动装置（240），第一螺旋桨（210）位于机臂（10）的上方、并与机臂（10）之间连接有第一驱动装置（230），第二螺旋桨（220）位于机臂（10）的下方、并与机臂（10）之间连接有第二驱动装置（240）。无人机在飞行过程中通过分别调整不同驱动装置的转速即可完成无人机的各种飞行动作，方便了多种无人机的控制。

Description

无人机 技术领域
本申请涉及一种飞行器技术领域，特别涉及一种无人机。
背景技术
无人机具有便携性高、操作简单、使用灵活等特点，在各个领域得到广泛地应用。无人机通过每个机臂上的螺旋桨的转速不同来实现无人机的各种飞行动作，但目前由于每个机臂上只固定有一个螺旋桨，因此在悬停、侧飞和旋转等飞行状态之间无法进行顺利切换，只适合静态条件下的飞行，机动性能差，不利于操控和起降，容易失控。
发明内容
本申请的目的在于提供一种无人机，能够在悬停、侧飞和旋转等飞行状态之间顺利切换，机动性能和操控性能好，起降更稳定。
为实现本申请的目的，采取的技术方案是：
一种无人机，至少包括机臂以及设于机臂的动力模块，动力模块包括第一螺旋桨、第二螺旋桨、驱动第一螺旋桨旋转的第一驱动装置、驱动第二螺旋桨旋转的第二驱动装置，第一螺旋桨位于机臂的上方、并与机臂之间连接有第一驱动装置，第二螺旋桨位于机臂的下方、并与机臂之间连接有第二驱动装置。
每个机臂上下方各固定有一个螺旋桨，且每个螺旋桨通过一个驱动装置进行控制，使无人机在飞行过程中通过分别调整不同驱动装置的转速即可完成无人机的各种飞行动作，方便了多种无人机的控制，使无人机能够在悬停、侧飞和旋转等飞行状态之间顺利切换，机动性能和操控性能好，起降更稳定，适合静态和准静态条件下的飞行；且使无人机的动力更大，飞行时间更久。
下面对技术方案进一步说明：
进一步的是，无人机还包括安装座，安装座固定于机臂，第一驱动装置和第二驱动装置之间连接有安装座。第一螺旋桨、第一驱动装置、第二螺旋桨和 第二驱动装置通过安装座固定在机臂上，使无人机的安装连接更简单，在整机装配上更加稳定，保证机身的强度。
进一步的是，无人机还包括套筒，套筒固定于机臂的末端，安装座固定于套筒内。通过安装座和套筒的配合将螺旋桨和驱动装置固定于机臂的末端，减少动力模块产生的力矩，使无人机机臂末端的重量降至最低，且使无人机的结构更简单，有效减少了飞机的重量，使无人机的飞行时间更持久。
进一步的是，套筒与机臂为一体成型结构。实现一体化机身，在保证机身强度的情况下，使无人机的结构更简单，有效减少了飞机的重量，实现更持久的飞行时间。
进一步的是，安装座为设有开口的环形圆盘。将安装座安装于套筒内时，开口会根据套筒内壁的大小自动张开或收缩，安装座与套筒内壁自动匹配，使安装座紧贴套筒的内壁，使安装座和套筒之间固定地更稳固。
进一步的是，无人机还包括紧固件，套筒设有与至少一个第一固定孔，安装座设有与第一固定孔连通的第二固定孔，第一固定孔和第二固定孔之间连接有紧固件。通过第一固定孔、第二固定孔和紧固件的配合，将安装座固定在容纳腔内，便于安装和拆卸。
进一步的是，第一驱动装置驱动第一螺旋桨旋转的方向与第二驱动装置驱动第二螺旋桨旋转的方向相反。第一螺旋桨和第二螺旋桨反向旋转，形成了无人机水平方向的力矩平衡，使无人机的飞行更稳定。
进一步的是，第一螺旋桨和第二螺旋桨垂直布置。使得无人机在飞行过程中通过分别调整不同驱动装置的转速即可完成无人机的各种飞行动作，使无人机的操控性能更好。
进一步的是，第一螺旋桨的中心轴线和第二螺旋桨的中心轴线位于同一竖直线上。使无人机在改变航向时，更容易保持无人机的飞行高度，使无人机的飞行更安全。
进一步的是，无人机还包括中心架，机臂有四个，四个机臂沿中心架的周向均匀布置。使无人机成为一种六自由度的垂直起降机，其对称结构使无人机飞行更加平稳、能在悬停、侧飞和旋转等飞行状态之间进行迅速切换，起降性 能和机动性能良好，适合静态和准静态条件飞行。
与现有技术相比，本申请具有以下有益效果：
本申请的每个机臂上下方各固定有一个螺旋桨，且每个螺旋桨通过一个驱动装置进行控制，使无人机在飞行过程中通过分别调整不同驱动装置的转速即可完成无人机的各种飞行动作，方便了多种无人机的控制，使无人机能够在悬停、侧飞和旋转等飞行状态之间顺利切换，机动性能和操控性能好，起降更稳定，适合静态和准静态条件下的飞行。
附图说明
图1是本申请实施例无人机的结构示意图；
图2是本申请实施例安装座的结构示意图。
附图标记说明：
10.机臂，20.动力模块，210.第一螺旋桨，220.第二螺旋桨，230.第一驱动装置，240.第二驱动装置，30.安装座，310.第二固定孔，320.开口，40.套筒，410.第一固定孔。
具体实施方式
下面结合附图对本申请的实施例进行详细说明：
如图1所示，一种无人机，至少包括机臂10以及设于机臂10的动力模块20，动力模块20包括第一螺旋桨210、第二螺旋桨220、驱动第一螺旋桨210旋转的第一驱动装置230、驱动第二螺旋桨220旋转的第二驱动装置240，第一螺旋桨210位于机臂10的上方、并与机臂10之间连接有第一驱动装置230，第二螺旋桨220位于机臂10的下方、并与机臂10之间连接有第二驱动装置240。
每个机臂10上下方各固定有一个螺旋桨，且每个螺旋桨通过一个驱动装置进行控制，使无人机在飞行过程中通过分别调整不同驱动装置的转速即可完成无人机的各种飞行动作，方便了多种无人机的控制，使无人机能够在悬停、侧飞和旋转等飞行状态之间顺利切换，机动性能和操控性能好，起降更稳定，适合静态和准静态条件下的飞行；且使无人机的动力更大，飞行时间更久。
在本实施例中，无人机还包括中心架(附图未标识)，机臂10有四个，四个机臂10沿中心架的周向均匀布置。使无人机成为一种六自由度的垂直起降机，其对称结构使无人机飞行更加平稳、能在悬停、侧飞和旋转等飞行状态之间进行迅速切换，起降性能和机动性能良好，适合静态和准静态条件飞行。机臂10的数量还可以实际需要设置两个以上。
如图1所示，无人机还包括安装座30，安装座30固定于机臂10，第一驱动装置230和第二驱动装置240之间连接有安装座30。第一螺旋桨210、第一驱动装置230、第二螺旋桨220和第二驱动装置240通过安装座30固定在机臂10，使无人机的安装连接更简单，在整机装配上更加稳定，在保证机身的强度情况下，减少飞机的重量，实现更持久的飞行时间。
在本实施例中，第一螺旋桨210和第二螺旋桨220均通过安装座30固定于机臂10末端，第一螺旋桨210和第二螺旋桨220还可以根据实际需要固定于机臂10的其他位置。
且无人机还包括套筒40，套筒固定于机臂10的末端，套筒40与机臂10为一体成型机构，安装座30固定于套筒内。将安装座30嵌入机臂10的末端，减少动力模块20产生的力矩，使无人机机臂10末端的重量降至最低，且套筒40与机臂10为一体成型结构，实现一体化机身，在保证机身强度的情况下，使无人机的结构更简单，有效减少了飞机的重量，使无人机的飞行时间更持久。
在本实施例中，如图2所示，安装座30为设有开口320的环形圆盘，将安装座30安装于套筒40内时，开口420会根据套筒40内壁的大小自动张开或收缩，安装座30与套筒40内壁自动匹配，使安装座30紧贴套筒40的内壁，使安装座30和套筒40之间固定地更稳固。
如图1和图2所示，无人机还包括紧固件(附图未标识)，套筒40与至少一个第一固定孔410，安装座30设有与第一固定孔410配合的第二固定孔310，第一固定孔410和第二固定孔310之间连接有紧固件。通过第一固定孔410、第二固定孔310和紧固件的配合，将安装座30固定在容纳腔110内，便于安装和拆卸。安装座30和容纳腔110之间还可以根据实际需要采用其他的连接方式。
在本实施例中，安装座30的外周沿周向均匀布置有三个第二固定孔310， 机臂10也设有三个与第二固定孔310配合的第一固定孔410，第一固定孔410、第二固定孔310还可以根据实际需要设置一个以上。
如图1所示，第一螺旋桨210的中心轴线和第二螺旋桨220的中心轴线位于同一竖直线上，使无人机在改变航向时，更容易保持无人机的飞行高度，使无人机的飞行更安全；且第一螺旋桨210和第二螺旋桨220垂直布置，第一驱动装置230驱动第一螺旋桨210旋转的方向与第二驱动装置240驱动第二螺旋桨220旋转的方向相反，使得无人机在飞行过程中通过分别调整不同驱动装置的转速即可完成无人机的各种飞行动作，使无人机的操控性能更好；第一螺旋桨210和第二螺旋桨220反向旋转，形成了无人机水平方向的力矩平衡，使无人机的飞行更稳定。
在本实施例中，第一驱动装置230和第二驱动装置240均为电机。使无人机的结构更简单，制造成本更低。第一驱动装置230和第二驱动装置240还可以根据实际需要采用其他动力机构。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对专利申请范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本专利申请的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种无人机，其特征在于，至少包括机臂以及设于所述机臂的动力模块，所述动力模块包括第一螺旋桨、第二螺旋桨、驱动所述第一螺旋桨旋转的第一驱动装置、驱动所述第二螺旋桨旋转的第二驱动装置，所述第一螺旋桨位于所述机臂的上方、并与所述机臂之间连接有所述第一驱动装置，所述第二螺旋桨位于所述机臂的下方、并与所述机臂之间连接有所述第二驱动装置。
  2. 根据权利要求1所述的无人机，其特征在于，还包括安装座，所述安装座固定于所述机臂，所述第一驱动装置和所述第二驱动装置之间连接有所述安装座。
  3. 根据权利要求2所述的无人机，其特征在于，还包括套筒，所述套筒固定于所述机臂的末端，所述安装座固定于所述套筒内。
  4. 根据权利要求3所述的无人机，其特征在于，所述套筒与所述机臂为一体成型结构。
  5. 根据权利要求3所述的无人机，其特征在于，所述安装座为设有开口的环形圆盘。
  6. 根据权利要求3所述的无人机，其特征在于，还包括紧固件，所述套筒设有至少一个第一固定孔，所述安装座设有与所述第一固定孔连通的第二固定孔，所述第一固定孔和所述第二固定孔之间连接有所述紧固件。
  7. 根据权利要求1所述的无人机，其特征在于，所述第一驱动装置驱动所述第一螺旋桨旋转的方向与所述第二驱动装置驱动所述第二螺旋桨旋转的方向相反。
  8. 根据权利要求1所述的无人机，其特征在于，所述第一螺旋桨和所述第二螺旋桨垂直布置。
  9. 根据权利要求1所述的无人机，其特征在于，所述第一螺旋桨的中心轴线和所述第二螺旋桨的中心轴线位于同一竖直线上。
  10. 根据权利要求1至9任一项所述的无人机，其特征在于，还包括中心架，所述机臂有四个，四个所述机臂沿所述中心架的周向均匀布置。
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