WO2018090790A1

WO2018090790A1 - Rotor control mechanism and dual-rotor blade unmanned aerial vehicle

Info

Publication number: WO2018090790A1
Application number: PCT/CN2017/107374
Authority: WO
Inventors: 杨超峰
Original assignee: 杨超峰
Priority date: 2016-11-11
Filing date: 2017-10-23
Publication date: 2018-05-24
Also published as: CN106428543B; CN106428543A

Abstract

A rotor control mechanism (1) and a dual-rotor blade unmanned aerial vehicle. The rotor control mechanism (1) comprises a rotor blade beam (3), an external rotor blade beam (8), an x-axis motor (10), and an x-axis transmission and reduction drive device (11). The unmanned aerial vehicle adopting the mechanism comprises: a Y-axis bearing (13), a Y-axis motor (14), and a Y-axis transmission and reduction drive device (15) used to install the rotor control mechanism (1). Control of the rotor control mechanism (1) is achieved by employing the motor and the corresponding transmission and reduction drive device of the rotor control mechanism (1) to control rotor blades (6) to rotate around two shafts, and by controlling the rotor blades (6) to rotate around two shafts and adjusting a rotational speed of the rotor blades (6), providing a simple control mechanism. The dual-rotor blade unmanned aerial vehicle comprises three components including the rotor blade control mechanism (1), an unmanned aerial vehicle body (2), and the rotor blades (6). The unmanned aerial vehicle body (2) comprises a U-shaped structure comprising a main vehicle body (18) and two arms (19), being easy to carry, and providing high stability.

Description

Rotor control mechanism and double rotor drone technical field

[0001] The present invention relates to the field of drones, and more particularly to a rotor control mechanism and a double-rotor drone that are small in size, easy to carry, and highly secure.

Background technique

[0002] Single-rotor helicopters have a large rotor and a small tail rotor. The large rotor provides the lift of the helicopter and the thrust for various actions. The tail rotor is used for heading control. Coaxial twin-rotor helicopters have two identical rotors, one on top of the same rotor shaft, the two rotors rotate in opposite directions, their counter-torques cancel each other out, so no tail rotor is needed, compared to single-rotor helicopters. Compact, the size is only about 60% of that of a single-rotor helicopter; in addition, because the tail rotor is not needed to offset the torque of the rotor, its energy efficiency is more than 10% higher than that of a single-rotor helicopter.

technical problem

[0003] Due to the two rotors, the swashplate of the rotor operated by the coaxial twin-rotor helicopter is complicated. Coaxial twin-rotor helicopters are an important category of consumer drones, but their current market position is far less than that of multi-rotor aircraft. The main reasons are: 1. The tilting disc mechanism of the rotor is too complicated; 2. The structure of the entire helicopter is from There are two rotors and the fuselage directly under the rotor. The structure is very irregular. In order to simplify the swashplate design, the consumer drone usually has a small tail rotor, which is not convenient to carry around. 3. For non-professional The average consumer has poor maneuverability. When the accident is out of balance, it is easy to hit obstacles or fall, and the stability is low. 4. High-speed rotating rotors are not fenced, and it is easy to hit obstacles. In addition, consumer-grade drones usually fly low, and rotors are easy to injure people and not safe enough.

Problem solution

Technical solution

[0004] In view of the deficiencies in the above technology, the present invention provides a rotor control mechanism and a dual-rotor unmanned aerial vehicle, which is small in size, convenient to carry, and has high stability and high safety during operation.

[0005] In view of the problem that the swash plate of the helicopter is too complicated, the present invention proposes a novel design method of the rotor control mechanism, and the basic idea is: cancel the swash plate, and the rotor is fixedly mounted on the rotor shaft of the motor, the rotor The blade angle is fixed, and a mechanism with two rotating shafts is designed to install the rotor and the motor subsystem into the mechanism, which can control the rotation of the rotor around the two rotating axes to achieve the purpose of steering the rotor.

[0006] Based on the above design idea, a novel rotor control mechanism can be designed, the basic structure of which is: the core mechanism of the entire rotor control mechanism, the rotor control mechanism rotates along the X-axis and the Y-axis; Rotor beam, one or two motor seats are arranged on the rotor beam, and the motor is installed in the motor seat. If there are two motor seats, the two motors are installed in the forward and reverse directions, that is, the axes of the two motors are facing up and down, the motor The rotor is mounted on the shaft; two shaft head mechanisms of the X-axis are arranged at both ends of the rotor beam, which are called X-axis head mechanisms; and the outer beam of the rotor has two bearings matched with the X-axis head mechanism on the rotor beam. Known as the X-bearing, one of the X-bearings is equipped with a control motor, called the X-axis motor, and the corresponding transmission reduction gear, called the X-axis transmission reduction gear, through the X-axis head mechanism of the rotor beam and the outer beam of the rotor The X-bearing fits the rotor beam and the subsystems mounted thereon into the rotor outer beam. The X-axis motor is connected to an X-axis head mechanism on the rotor beam via an X-axis drive reduction gear There are two shaft head mechanisms on the outer beam of the rotor along the Y-axis axis, called the Y-axis head mechanism. The UAV body to which the rotor control mechanism is applied is provided with two bearings matching the two Y-axis head mechanisms of the rotor outer beam, which are called Y bearings, and one of the bearings is provided with a control motor called a Y-axis. The motor, and the corresponding transmission reduction gear, called the Y-axis transmission reduction gear, can be assembled into the machine by the rotor outer beam and the subsystem mounted on the outer beam of the rotor through the Y-axis mechanism of the rotor outer beam and the Y-bearing of the fuselage. The Y-axis motor is coupled to a Y-axis head mechanism on the rotor beam by a Y-axis transmission reduction device.

[0007] The UAV can control the rotation of the rotor around the X-axis and the Y-axis through the X-axis motor and the Y-axis motor. The UAV can be configured with multiple sets of rotor control mechanisms, and it is only necessary to simply control the X of each set of rotor control mechanisms. The shaft motor and the Y-axis motor allow the sub-rotors to properly tilt, and by adjusting the rotation speed of each rotor, the drone can be agilely manipulated to perform various flight actions. The rotor control mechanism of the present invention eliminates the complicated swashplate of a conventional helicopter, and the entire control mechanism is simple. In addition, the rotor control mechanism can be designed to support the rotation of the rotor around the X-axis and the Y-axis 360. Therefore, when the drone is accidentally turned over by the external force, the rotor can be quickly rotated to the horizontal position so that the thrust of the rotor is vertically upward. , avoid falling.

[0008] For large helicopters, the diameter of the rotor is several meters or more, and the rotor control mechanism of the present invention may be too large and too heavy to be suitable. However, for consumer drones, the rotor diameter is usually only two or thirty centimeters. The rotor control mechanism of the present invention has no problem at all. In order to reduce the weight of the entire rotor control mechanism, it can be simplified in three ways:

[0009] The outer beam of the rotor has only one X bearing, and the rotor beam has only one X-axis head mechanism, which has the advantage of reducing the complexity of the outer structure of the rotor outer wing and the rotor beam;

[0010] The outer beam of the rotor has only one Y-axis head mechanism, which has the advantage of reducing the complexity of the outer beam of the rotor, and the U-body body only needs to be provided with a Y bearing, which can simplify the design of the fuselage;

[0011] The outer beam of the rotor has only one X bearing and one Y-axis head mechanism, and the rotor beam has only one X-axis head mechanism. Its advantages reduce the structural complexity of the rotor outer beam and the rotor beam. The UAV body also requires a Y-axis to simplify the design and size of the fuselage.

[0012] Consumer-grade drones typically fly very low, with many obstacles around them, and providing a protective mechanism for the rotor is a better design. The rotor control mechanism proposed by the present invention can further incorporate a rotor protection mechanism. The basic structure of the rotor control mechanism with rotor protection mechanism is as follows: A rotor guard frame is added to the rotor beam of the rotor control mechanism. The upper and lower sides of the rotor guard frame are covered with a mesh cover, a rotor guard frame and two mesh covers. The panels form a protective fence that wraps the rotor. Increasing the rotor protection mechanism does not change the working mechanism of the rotor control mechanism. Since the mesh cover has a certain negative influence on the airflow and increases the weight, it is not necessary to apply the mesh cover for applications where the protection requirements are not required to be so high. ,

[0013] The design points of the rotor control mechanism of the present invention are:

[0014] In principle, the X-axis and the Y-axis of the rotary control mechanism are not parallel to achieve the purpose of controlling the rotor, but the vertical intersecting of the center lines of the X-axis and the Y-axis is a preferred design; the center of gravity of the entire rotor control mechanism is as close as possible XY axis center line intersection coincidence is the preferred design; the rotor's rotation axis center line passes through the XY axis center line intersection, or for the dual-rotor UAV, the rotation axes of the two rotors are symmetrically distributed on both sides of the XY axis center line intersection Preferred design. These preferred designs reduce the load on the X-axis and Y-axis motors.

[0015] The size of the rotor outer beam and fuselage is such that a 360 degree rotation of the rotor about the X and Y axes is preferred. In this way, when the drone is in any tilt position, the rotor can be manipulated so that the thrust is vertically upward to avoid falling.

[0016] Based on the novel rotor control mechanism proposed by the present invention, the present invention provides a consumer-grade dual-rotor UAV with rotor protection, portable and stability, the overall structure of which is composed of a rotor control mechanism, two rotors and a machine. It consists of three components.

[0017] The rotor control mechanism of the new drone has a rotor protection mechanism, and its basic structure is: the core of the entire mechanism The heart is that the rotor control mechanism can rotate along the X and Y axes, and the centerlines of the X and Υ axes intersect perpendicularly; a rotor beam is placed along the X axis, and a rotor protection frame is attached to the rotor beam. The upper and lower sides of the frame are covered with a mesh cover. The protective frame and the two mesh covers form a protective fence, and the rotor is wrapped therein. Two motor seats are arranged on the rotor beam, and one motor seat is installed. Motor, two motors are installed in front and back, that is, the motor shaft is facing up and down, and the rotor is mounted on the shaft of the motor.

The two rotors are opposite in direction; the two ends of the rotor beam are provided with two X-axis head mechanisms; the outermost part of the rotor control mechanism is a frame-shaped rotor outer beam; the two ends of the rotor outer beam and the X-axis There are two bearings, called X-bearings, which match the two X-axis head mechanisms on the rotor beam. One of the X-bearings is equipped with a control motor, called the X-axis motor, and the corresponding drive reduction gear. For the X-axis transmission reduction gearbox, the rotor beam and the sub-assembly assembled by the X-axis head mechanism of the rotor beam and the X-bearing of the rotor outer beam can be assembled into the outer beam of the rotor, and the X-axis motor is driven by the X-axis transmission speed reduction mechanism. An X-axis head mechanism of the rotor beam is connected, the outer diameter of the rotor is large enough, and the X-axis motor can control the rotor beam and the subsystem mounted on the rotor beam to rotate 360 degrees around the X-axis; the outer beam of the rotor is in the direction of the axis of the shaft Two shaft head mechanisms are provided to become the boring head mechanism. The body of the drone adopts a "U" type structure, which consists of two arms and a fuselage body. There are two bearings on the arm, called Υ bearings, which are matched with the two boring head mechanisms of the outer beam of the rotor. One of the Υ bearings is equipped with a control motor called a Υ shaft motor. There is also a corresponding transmission reduction device, called a stern-axis transmission reduction device, which can be assembled into the machine by the two Υ-shaft mechanisms of the outer beam of the rotor and the two Υ bearings of the arm. The Υ shaft motor is connected to a Υ shaft head mechanism of the outer beam of the rotor by a yaw shaft transmission reduction device, and the arm is long enough, and the yoke motor can control the outer beam of the rotor and the subsystem assembled thereon to make a 360 degree around the yoke Rotate. The body of the fuselage contains application components of the drone, such as batteries, cameras, various sensors, main control boards, GPS, etc. The required parts can also be installed on the arm and the two mesh covers, for example for all-round use. An obstacle-free ultrasonic sensor. Which application components are to be installed on the drone depends on the application requirements of the drone, and the invention is not limited.

[0018] The operating principle of the double-rotor UAV of the present invention:

[0019] Hovering: In a windless environment, the two rotors are horizontally held by the X-axis motor and the stern-axis motor of the rotor control mechanism, that is, the rotor rotation axis is vertical, and the slewing rotor thrust is positive; The speed of the two rotors is equal to the gravity of the drone and the rotation torques generated by the two rotors are mutually Offset

[0020] Raise/lower: Keep the two rotors in the positive direction and the same rotation torque, adjust the rotor speed so that the lift generated by the two rotors is greater than/less than the gravity of the drone;

[0021] Yaw: Keep the two rotors in the positive direction of the rotor, adjust the rotation speed of the two rotors, so that their rotation torques are not equal, and control the drone to turn;

[0022] Front and rear flight: Set the X-axis direction to the front-rear direction. The Y-axis motor controls the rotor to deflect a certain angle around the Y-axis to increase the rotor speed. The vertical component of the rotor thrust is equal to the gravity, and the horizontal component of the rotor thrust is pushed. Flying before and after the man-machine;

[0023] Left and right flight: Set the Y-axis direction to the left-right direction. The X-axis motor controls the rotor to deflect a certain angle along the X-axis, increase the rotor speed, and maintain the vertical component of the rotor thrust, that is, the lift is equal to the gravity, and the horizontal component of the rotor thrust is pushed. The drone flies around;

[0024] The dual-rotor UAV of the present invention has a technical feature: The rotor thrust is only used for drone flight control, and cannot be used to control the attitude of the fuselage. The attitude of the fuselage is completely determined by the gravity and wind of the drone. Because the two rotors can be tilted 360 degrees around the X and Y axes, regardless of the attitude of the fuselage, the rotor control mechanism can perform normal flight control of the drone. Design the drone, the center of gravity is set according to the application requirements of the drone, usually the center of gravity is set near the geometric center of the fuselage body.

[0025] In order to reduce the weight of the drone, the rotor control mechanism can be simplified in three ways: only one X bearing is provided for the outer beam of the rotor, and only one X-axis head mechanism is provided for the rotor beam; or only one Y-axis is provided for the outer beam of the rotor Head mechanism, the fuselage only has one Y bearing, there is one arm. Or there is only one X bearing and one Y-axis head mechanism for the outer beam of the rotor. The rotor beam has only one X-axis head mechanism. The body has only one Y bearing and one arm.

[0026] The above three simplified dual-rotor UAVs merely simplify the complexity of the X-axis and Y-axis mechanisms of the rotor control mechanism, and the handling mechanism is not affected.

[0027] Since the mesh cover has a certain negative influence on the air flow and increases the weight, the mesh cover may not be assembled for applications where the protection requirement is not required to be so high.

[0028] An important application of the consumer-class drone is shooting. The camera body is equipped with a camera. In order to improve the stability of the image, a shock absorbing mechanism can be added to the body of the drone, and the damping mechanism can eliminate the rotation of the rotor. Awkward vibrations enhance the image. Advantageous effects of the invention

Beneficial effect

[0029] The beneficial effects of the present invention are:

[0030] 1. The complicated tilter of the conventional coaxial double-rotor helicopter is eliminated, and the structure is simple;

[0031] 2. When the drone is tilted at a large angle, or even turned over, the auger can be rotated agilely to keep the rotor thrust vertically upward to avoid falling;

[0032] 3. The drone recovery 折叠 can fold the rotor system into the U-shaped slot of the fuselage for easy carrying;

[0033] 4. The high-speed rotating rotor is wrapped in a protective fence, which will not accidentally injure people, and can take off and land directly on the palm;

[0034] 5. The drone performs various flight operations, and the tilting is only the rotor, and the posture of the fuselage is not affected. In fact, the wind resistance generated by the drone movement has a certain influence on the posture of the body, but due to the shooting The drone is very slow and has a very small effect, so the image is very smooth.

Brief description of the drawing

DRAWINGS

1 is a perspective view of a rotor control mechanism of the present invention;

2 is an exploded view of the rotor control mechanism of the present invention;

3 is a perspective view showing an application example of a rotor control mechanism of the present invention;

4 is an exploded view showing an application example of a rotor control mechanism of the present invention;

[0039] FIG. 5 is a simplified outer beam of the X-axis of the present invention;

[0040] FIG. 6 is a rotor control mechanism for simplifying an outer beam by using an X-axis according to the present invention;

[0041] FIG. 7 is a simplified Y-axis outer beam of the present invention;

[0042] FIG. 8 is a rotor control mechanism for simplifying an outer beam by using a Y-axis according to the present invention;

[0043] FIG. 9 is a simplified outer beam of both the X-axis and the Y-axis of the present invention;

10 is a rotor control mechanism for simplifying an outer beam by using both an X-axis and a Y-axis according to the present invention;

11 is a perspective view of a rotor control mechanism with rotor protection according to the present invention;

12 is an exploded view of a rotor control mechanism with rotor protection according to the present invention;

[0047] FIG. 13 is a rotor control mechanism without a mesh cover according to the present invention;

Figure 14 is a perspective view of a double-rotor UAV of the present invention; [0049] FIG. 15 is an exploded view of the dual-rotor UAV of the present invention;

16 is a schematic diagram of a hovering posture of a double-rotor UAV according to the present invention;

[0051] FIG. 17 is a schematic view of the front and rear flight of the dual-rotor UAV of the present invention;

[0052] FIG. 18 is a schematic diagram of left and right flight of the dual-rotor UAV of the present invention;

[0053] FIG. 19 is a schematic view showing the recovery form of the double-rotor UAV of the present invention;

20 is a double-rotor UAV using an X-axis simplified outer beam according to the present invention;

[0055] FIG. 21 is a double-rotor UAV with a Y-axis simplified external beam according to the present invention;

[0056] FIG. 22 is a double-rotor UAV using the X-axis and the Y-axis to simplify the outer beam;

[0057] FIG. 23 is a double-rotor UAV without a mesh cover according to the present invention;

24 is a schematic structural view of a fuselage body with a shock absorbing mechanism according to the present invention.

[0059] The illustration in the figure indicates:

[0060] 1, rotor control mechanism 2, drone fuselage

[0061] 2A, dual arm unmanned aircraft body 2B, single arm unmanned aircraft body

[0062] 2C, UAV body with damper mechanism 3A, simplified rotor beam

[0063] 4. Motor base 5, motor

[0064] 6, rotor 7, X-axis head mechanism

[0065] 8, rotor outer beam 8A, X-axis simplified rotor outer beam

[0066] 8B, Y-axis simplified rotor outer beam 8C, X-axis and Y-axis are simplified rotor outer beams

[0067] 9, X bearing 10, X-axis motor

[0068] 11, X-axis transmission reduction device 12, Y-axis head mechanism

[0069] 13, Y bearing 14, Y-axis motor

[0070] 15, Y-axis transmission reduction device 16, protective frame

[0071] 17. Mesh cover 18, body body

[0072] 19. Arm 20, a shock absorbing mechanism.

BEST MODE FOR CARRYING OUT THE INVENTION

[0073] In order to more clearly illustrate the rotor control mechanism of the present invention, the present invention will be further described with reference to the accompanying drawings. [0074] A rotor control mechanism embodiment:

[0075] This embodiment can be equipped with two pairs of rotors. Referring to FIGS. 1-2, the core mechanism of the rotor control mechanism is that the rotor control mechanism rotates around the X-axis and the Y-axis, and a rotor is disposed along the X-axis axis. The beam 3 is provided with two upper and lower motor bases 4 in the center of the rotor beam 3, and the motor 5 is installed in the motor seat. The two motors are installed in the front and back, and the rotor 6 is mounted on the shaft of the motor; two ends of the rotor beam 3 are provided with two X The shaft head mechanism 7; a frame-shaped rotor outer beam 8 is provided with two X bearings 9, one of which is provided with an X-axis motor 10 and an X-axis transmission reduction device 11, and the X-axis motor 10 can be A stepping motor or a servo motor, the rotor beam 3 and the sub-assembly assembled thereon are assembled into the rotor outer beam 8 by the X-axis head mechanism 7 of the rotor beam 3 and the X-bearing 9 of the rotor outer beam 8, in this embodiment The X-axis transmission reduction device 11 is composed of a pair of large and small gears mounted on the shaft of the X-axis motor 10, and the large gear is mounted on an X-axis head mechanism 7 of the rotor beam 3, so that the X-axis motor 10 and the Rotor beam X-axis head mechanism 7 connection The rotor outer beam 8 is further provided with two Y-axis head mechanisms 12 along the Y-axis.

[0076] Using the present rotor control mechanism, as shown in FIG. 3 and FIG. 4, two Y bearings 13 are disposed on the fuselage body, and one Y-axis motor 14 and a Y-axis transmission reduction device 15 are disposed at one Y bearing 13. The Y-axis motor 14 may be a stepping motor or a servo motor, and the rotor outer beam and the subsystem assembled thereon are assembled into the fuselage through the Y-axis head mechanism 12 of the rotor outer beam 8 and the Y bearing 13 of the fuselage. In the embodiment, the Y-axis transmission reduction gear 15 is composed of a pair of large and small gears, the pinion gear is mounted on the shaft of the Y-axis motor 14, and the large gear is mounted on a Y-axis head mechanism 12 of the rotor outer beam 8, so that the Y-axis motor 14 is It is connected to the Y-axis head mechanism 12 of the rotor outer beam. In the present embodiment, the UAV can control the rotation of the rotor about the X-axis and the Y-axis through the X-axis motor 10 and the Y-axis motor 14, as long as the frame-shaped rotor outer beam 8 and the UAV arm 19 are sized. Large enough that the drone can control the rotor to rotate 360 degrees around the X and Y axes.

[0077] To alleviate the weight of the rotor control mechanism of the present embodiment, it can be simplified in three ways:

[0078] 1. Replace the rotor outer beam 8 of FIG. 1 with the rotor outer beam 8A of FIG. 5. The simplified rotor control mechanism is shown in FIG. 6, which is different from the mechanism of FIG. 1 in that: the rotor outer beam 8A is only one. The X bearing 9, the rotor beam 3A is also provided with only one X-axis head mechanism 7. The advantage is that the rotor outer beam 8A and the rotor beam 3A are only half the size of the original, and the disadvantage is that only one X bearing 9 bears the weight.

2. Replace the rotor outer beam 8 of FIG. 1 with the rotor outer beam 8B of FIG. 7. The simplified rotor control mechanism is as shown in FIG. 8, which is different from the mechanism of FIG. 1 in that: the rotor outer beam 8B is only one. Y-axis head mechanism 12. The advantage is that the rotor outer beam 8B is only half the size, and the drone body 2 only needs to be provided with a Y bearing 13, which simplifies the body design. The disadvantage is that only one Y bearing 13 bears weight.

[0080] 3. Replace the rotor outer beam 8 of FIG. 1 with the rotor outer beam 8C of FIG. 9. The simplified rotor control mechanism is shown in FIG. 10, which is different from the mechanism of FIG. 1 in that: the rotor outer beam 8C is only one. The X bearing 9 and a boring head mechanism 12, and the rotor beam 3 Α are provided with only one X-axis head mechanism 7. The advantage is that the rotor outer beam 8C is only 1/4 size, the rotor beam 3 is only half the size, and the drone body 2 only needs to be provided with a Υ bearing 13, which simplifies the design and size of the fuselage. The disadvantage is that both the X-axis and the Υ-axis have only one bearing load.

[0041] The rotor control mechanism of the present embodiment can be added to the rotor protection function. As shown in FIG. 11 and FIG. 12, it is only necessary to add a rotor protection frame 16 to the rotor beam 3 of the present embodiment and increase the upper and lower sides of the rotor protection frame 16. A mesh cover 17 can be realized. When it is not required for protection, the mesh cover 17 can also be removed, as shown in FIG.

In order to more clearly illustrate the dual-rotor UAV of the present invention, the present invention will be further described with reference to the accompanying drawings.

[0073] Double Rotor UAV Embodiment 1:

[0084] Referring to FIGS. 14-15, the overall structure is composed of a set of three components: a rotor control mechanism 1, two rotors 6, and a fuselage. The rotor control mechanism 1 has a rotor protection mechanism. The basic structure is as follows: The core of the whole mechanism is that the rotor beam rotates around the X axis and the Υ axis, and the center lines of the X axis and the Υ axis intersect perpendicularly (the intersection point is marked as 0); The shaft has a rotor beam 3, and a rotor protection frame 16 is mounted on the rotor beam 3. The upper and lower sides of the rotor protection frame 16 are covered with a mesh cover 17, and the protective frame 16 and the two mesh covers 17 form a protective fence. The rotor 6 is wrapped therein; two motor bases 4 are arranged at a position corresponding to the zero point of the rotor beam 3, and one motor 5 is mounted on each motor base 4, and the two motors 5 are mounted in the forward and reverse directions, and the shaft of the motor 5 The rotor 6 is mounted thereon, and the two rotors 6 are oppositely turned; the two ends of the rotor beam 3 are provided with two X-axis head mechanisms 7; the outermost part of the mechanism is a frame-shaped rotor outer beam 8; the rotor outer beam 8 and the X-axis Two X-bearings 9 are provided at the two intersections, which are matched with two X-axis head mechanisms 7 on the rotor beam 3, one of which has an X-axis motor 10 and a corresponding X-axis drive deceleration. Device 11, through the X-axis head mechanism 7 of the rotor beam 3 and the rotor The X bearing 9 of the beam 8 can fit the rotor beam 3 and the subsystem assembled thereon into the rotor outer beam 8. In this embodiment, the X-axis transmission reduction device 11 is composed of a pair of large and small gears, and the small gear is assembled on the X-axis motor. On the shaft of 10, the large gear is mounted on an X-axis head mechanism 7 of the rotor beam 3, and the X-axis motor 10 is connected to an X-axis head mechanism 7 of the rotor beam. The size of the rotor outer beam 8 is large enough to make the rotor beam 3 and assembling the subsystems on it The system can rotate 360 degrees around the X axis; two Y-axis head mechanisms 12 of the Y-axis are provided at two intersections of the rotor outer beam 8 and the Y-axis.

[0085] The fuselage of the drone adopts a "U" type structure, and is composed of two long arms 19 and a fuselage main body 18. The arm 19 is provided with two Y bearings 13 which are matched with the two Y-axis mechanisms 12 of the rotor outer beam 8, wherein one Y bearing 13 is provided with a Y-axis motor 14 and a Y-axis transmission reduction device 15, through the rotor The two Y-axis head mechanisms 12 of the outer beam 8 and the two Y-bearings 13 of the arm 19 can assemble the rotor outer beam and the subsystem assembled thereon into the fuselage. In this embodiment, the Y-axis transmission reduction device 15 is For the large and small gears, the pinion is mounted on the shaft of the Y-axis motor 14, and the large gear is mounted on a Y-axis mechanism 12 of the rotor outer beam 8, the Y-axis motor 14 and the Y-axis mechanism of the outer beam of the rotor 12 connections. The arm is long enough to allow the rotor outer beam 8 and the subsystems on which it is mounted to rotate 360 degrees around the Y axis. The body of the fuselage includes application components of the drone, and the invention is not limited, and is determined by the application requirements, and the center of gravity of the design is placed at the geometric center thereof.

[0086] The operating principle of the dual-rotor UAV of this embodiment:

[0087] Hovering: As shown in FIG. 16, in the windless environment, the two rotors are horizontally held by the X-axis motor and the Y-axis motor of the rotor control mechanism, that is, the rotation axis of the rotor is vertical, and the thrust of the rotor is positive; At the same time, the rotation speeds of the two rotors are adjusted so that the lift of the two rotors is equal to the gravity of the drone and the rotation torques generated by the two rotors cancel each other out;

[0088] Raise/lower: Keep the two rotors in the positive direction and the same rotation torque, adjust the rotor speed so that the lift generated by the two rotors is greater than/less than the gravity of the drone;

[0089] yaw: keep the two rotors in the positive direction of the thrust, adjust the speed of the two rotors, so that their rotation torques are not equal, and control the drone to turn;

[0090] Front and rear flight: Set the X-axis direction to the front-rear direction. As shown in Figure 17, the Y-axis motor controls the rotor to deflect a certain angle around the Y-axis to increase the rotor speed. The vertical component of the rotor thrust is equal to the lift force. The horizontal component of the thrust pushes the drone to fly back and forth;

[0091] Left and right flight: Set the Y-axis direction to the left-right direction. As shown in Figure 18, the X-axis motor controls the rotor to deflect a certain angle along the X-axis to increase the rotor speed and maintain the vertical component of the rotor thrust, that is, the lift is equal to the gravity.

The horizontal component of the rotor thrust pushes the drone to fly left and right;

[0092] The drone is easy to carry, and the rotor can be folded into the "U" type slot of the fuselage, as shown in FIG. 19, which is a recycling form of the drone. Embodiments of the invention

[0093] Double Rotor UAV Embodiment 2:

[0094] In order to reduce the weight of the drone, the double-rotor UAV embodiment 1 can simplify the rotor control mechanism in three ways:

[0095] 1. Replace the rotor outer beam 8 of FIG. 14 with the rotor outer beam 8A of FIG. 5. The simplified drone is shown in FIG. 20, and the mechanism is: the rotor outer beam 8A is provided with only one X bearing 9, and the rotor beam only An X-axis head mechanism 7 is provided.

[0096] 2. Replace the rotor outer beam 8 of FIG. 14 with the rotor outer beam 8B of FIG. 7. The simplified drone is shown in FIG. 21, and the mechanism is: the rotor outer beam 8B is provided with only one Y-axis head mechanism 12, The man-machine body 2B is provided with only one Y bearing 13, and one arm 19 is sufficient.

[0097] 3. Replace the rotor outer beam 8 of FIG. 14 with the rotor outer beam 8C of FIG. 9. The simplified drone is shown in FIG. 22, and the mechanism is: the rotor outer beam 8C is provided with only one X bearing 9 and one Y axis. The head mechanism 12, the rotor beam is provided with only one X-axis head mechanism 7, and the UAV body 2B is provided with only one Y bearing 13, and one arm 19 is sufficient.

[0098] Double Rotor UAV Embodiment 3:

[0099] For the case where the rotor protection requirements are not high, the double-rotor UAV embodiment 1 may not be equipped with a mesh cover, and the unmanned aerial vehicle shown in Fig. 14 is removed from the mesh cover.

[0100] Double Rotor UAV Embodiment 4:

[0101] The drone of the double-rotor drone embodiment 1 can add a damper mechanism 20 to the fuselage to eliminate the vibration of the rotor, and the drone body 2C having the damper mechanism is as shown in FIG.

Industrial applicability

[0102] The structure introduced by the present invention eliminates the complicated tilter of the conventional coaxial double-rotor helicopter, and has a simple structure; when the drone is tilted at a large angle, or even flipped, the auger can rotate the rotor to keep the thrust of the rotor vertically upward to avoid falling; The drone recovery 折叠 can fold the rotor system into the u-shaped slot of the fuselage for easy carrying; the high-speed rotating rotor is wrapped in a protective fence, which will not accidentally injure people, and can take off and land directly on the palm; Do all kinds of flying movements, only the rotor is tilted, the attitude of the fuselage is not affected. In fact, the wind resistance generated by the drone movement has a certain influence on the attitude of the fuselage, but due to the slow movement of the drone, the effect Very small, so the captured image is very smooth.

Sequence table free content The above description is only a few specific embodiments of the present invention, but the present invention is not limited thereto, and any changes that can be made by those skilled in the art should fall within the protection scope of the present invention.

Claims

Claim

[Claim 1] A rotor control mechanism, wherein a rotor control mechanism is spatially rotated about an X-axis and a Y-axis, and a rotor beam is disposed on an axis of the X-axis, and is disposed on a rotor beam There are one or two motor seats, and the motor is installed in the motor seat. When there are two motor seats, the shafts of the two motors are mounted one upwards and one downwards, and the rotors are mounted on the shafts of the motor; the ends of the rotor beams are provided with two X-axis head mechanism; the outer beam of the rotor is provided with two X-bearings matched with the X-axis head mechanism on the rotor beam, one of which has an X-axis motor and an X-axis transmission reduction device through the rotor beam The X-axis head mechanism and the X-bearing of the rotor outer beam assemble the rotor beam and the subsystem mounted thereon into the rotor outer beam, and the X-axis transmission reduction device will have one of the X-axis motors and one of the X-axis heads on the rotor beam The X-axis motor control rotor beam and the subsystem mounted on the rotor beam rotate about the X-axis of the rotor beam;

The rotor outer beam is further provided with two Y-axis head mechanisms, the Y-axis head mechanism is located on the Y-axis axis, and the Y-axis head mechanism is connected with the Y bearing on the UAV body, the Y-axis The head mechanism is connected to a Y-axis motor on the UAV body by a Y-axis transmission reduction device disposed on the UAV body, and the Y-axis motor controls the outer beam of the rotor and the outer beam of the rotor The subsystem rotates about the Y axis where the Y-axis head mechanism is located.

[Claim 2] A rotor control mechanism according to claim 1, wherein the rotor outer beam has a plurality of simplified structures, including: the rotor outer beam of the rotor control mechanism is provided with only one X bearing, The rotor beam has only one X-axis head mechanism;

Or the rotor outer beam of the rotor control mechanism is only provided with a Y-axis head mechanism; or the rotor outer beam of the rotor control mechanism is provided with only one X bearing and one Y-axis head mechanism, and the rotor beam has only one X-axis head mechanism. .

[Claim 3] A rotor control mechanism according to any one of claims 1 or 2, wherein the rotor beam is provided with a rotor guard frame, and the upper and lower sides of the rotor guard frame are covered with one The mesh cover, the rotor guard frame and the two mesh covers are combined to form a protective fence, and the rotor is wrapped therein.

[Claim 4] A double-rotor UAV, comprising a set of rotor control mechanisms and two rotors And the fuselage, the rotor control mechanism is spatially rotated about an X axis and a Y axis; a rotor beam is disposed along the axis of the X axis, and a rotor protection frame is provided on the rotor beam, the rotor protection frame The upper and lower sides are covered with a mesh cover, and the protective frame and the two mesh covers form a protective fence, and the rotor is wrapped therein; two motor seats are arranged on the rotor beam, and each motor seat is mounted thereon. a motor, the shafts of the two motors are mounted one upwards and one downward, each of the motors has a rotor mounted thereon, the two rotors are oppositely turned; the rotor beam is provided with an X-axis head at both ends; The outermost part of the rotor control mechanism is a frame-shaped rotor outer beam; the outer beam of the rotor is provided with two X bearings at both ends of the X axis, and the X bearing is matched with the two X-axis head mechanisms on the rotor beam. One of the X bearings is equipped with an X-axis motor and a corresponding X-axis drive reduction gear. The rotor beam and the subsystem mounted on the rotor beam are assembled by the X-axis head mechanism of the rotor beam and the X-bearing of the rotor outer beam. In the rotor outer beam, the X-axis transmission reduction device connects an X-axis motor and an X-axis head mechanism of the rotor beam, and the X-axis motor controls the rotor beam and the subsystem mounted on the rotor beam to rotate around the X-axis; The rotor outer beam is provided with a boring head mechanism at two end points of the yaw axis;

The UAV fuselage adopts a "U" type structure, including two arms and a fuselage; each arm is provided with a Υ bearing, and the Υ bearing is matched with the Υ shaft mechanism of the outer beam of the rotor, One of the Υ bearings is equipped with a Υ shaft motor and a Υ shaft transmission reduction gear, and the outer stern of the rotor and the subsystem assembled on the outer beam of the rotor are passed through the two boring head mechanisms of the outer beam of the rotor and the two Υ bearings of the arm. Assembled into the unmanned aircraft body, the cymbal drive reduction device connects the stern shaft motor and a stern head mechanism of the rotor outer beam, and the stern shaft motor controls the outer beam of the rotor and the subsystem assembled thereon The gamma axis rotates.

[Claim 5] The double-rotor UAV according to claim 4, wherein the rotor outer beam has a plurality of simplified manners, including that the rotor outer beam has only one X bearing, and the rotor beam has only one X-axis head mechanism;

Or the rotor outer beam is only provided with a Υ shaft head mechanism, and only one Υ bearing is arranged on the body of the drone;

Or the rotor outer beam only has one X bearing and one boring head mechanism, and the rotor beam is only provided. An X-axis head mechanism with only one Y bearing on the fuselage body.

[Claim 6] The double-rotor UAV according to any one of claims 4 or 5, characterized in that: the machine body is further provided with a damper mechanism for increasing flight stability.