WO2018090790A1 - Mécanisme de commande de rotor et véhicule aérien sans pilote à pales à double rotor - Google Patents

Mécanisme de commande de rotor et véhicule aérien sans pilote à pales à double rotor Download PDF

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Publication number
WO2018090790A1
WO2018090790A1 PCT/CN2017/107374 CN2017107374W WO2018090790A1 WO 2018090790 A1 WO2018090790 A1 WO 2018090790A1 CN 2017107374 W CN2017107374 W CN 2017107374W WO 2018090790 A1 WO2018090790 A1 WO 2018090790A1
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WO
WIPO (PCT)
Prior art keywords
rotor
axis
motor
outer beam
control mechanism
Prior art date
Application number
PCT/CN2017/107374
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English (en)
Chinese (zh)
Inventor
杨超峰
Original Assignee
杨超峰
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Filing date
Publication date
Application filed by 杨超峰 filed Critical 杨超峰
Publication of WO2018090790A1 publication Critical patent/WO2018090790A1/fr

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Classifications

    • 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
    • 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
    • B64C27/52—Tilting of rotor bodily relative to fuselage
    • 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
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/296—Rotors with variable spatial positions relative to the UAV body
    • B64U30/297—Tilting rotors
    • 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

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the X-bearing 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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:
  • 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;
  • 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;
  • 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.
  • 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. ,
  • 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.
  • 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.
  • 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.
  • 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 ⁇ 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.
  • 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.
  • ⁇ bearings which are matched with the two boring head mechanisms of the outer beam of the rotor.
  • One of the ⁇ bearings is equipped with a control motor called a ⁇ shaft motor.
  • a stern-axis transmission reduction device which can be assembled into the machine by the two ⁇ -shaft mechanisms of the outer beam of the rotor and the two ⁇ bearings of the arm.
  • the ⁇ shaft motor is connected to a ⁇ 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.
  • 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;
  • 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;
  • 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.
  • 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.
  • 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.
  • the mesh cover 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.
  • the camera body is equipped with a camera.
  • 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.
  • the drone recovery ⁇ 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;
  • the drone performs various flight operations, and the tilting is only the rotor, and the posture of the fuselage is not affected.
  • 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.
  • FIG. 1 is a perspective view of a rotor control mechanism of the present invention
  • FIG. 3 is a perspective view showing an application example of a rotor control mechanism of the present invention.
  • FIG. 4 is an exploded view showing an application example of a rotor control mechanism of the present invention.
  • FIG. 5 is a simplified outer beam of the X-axis of the present invention.
  • FIG. 6 is a rotor control mechanism for simplifying an outer beam by using an X-axis according to the present invention
  • FIG. 7 is a simplified Y-axis outer beam of the present invention.
  • FIG. 8 is a rotor control mechanism for simplifying an outer beam by using a Y-axis according to the present invention
  • 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
  • FIG. 11 is a perspective view of a rotor control mechanism with rotor protection according to the present invention.
  • FIG. 12 is an exploded view of a rotor control mechanism with rotor protection according to the present invention.
  • FIG. 13 is a rotor control mechanism without a mesh cover according to the present invention.
  • FIG. 14 is a perspective view of a double-rotor UAV of the present invention.
  • FIG. 15 is an exploded view of the dual-rotor UAV of the present invention.
  • FIG. 16 is a schematic diagram of a hovering posture of a double-rotor UAV according to the present invention.
  • FIG. 17 is a schematic view of the front and rear flight of the dual-rotor UAV of the present invention.
  • FIG. 18 is a schematic diagram of left and right flight of the dual-rotor UAV of the present invention.
  • FIG. 19 is a schematic view showing the recovery form of the double-rotor UAV of the present invention.
  • FIG. 21 is a double-rotor UAV with a Y-axis simplified external beam according to the present invention.
  • FIG. 22 is a double-rotor UAV using the X-axis and the Y-axis to simplify the outer beam;
  • FIG. 23 is a double-rotor UAV without a mesh cover according to the present invention.
  • FIG. 24 is a schematic structural view of a fuselage body with a shock absorbing mechanism according to the present invention.
  • This embodiment can be equipped with two pairs of rotors.
  • 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 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
  • 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.
  • 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.
  • 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.
  • FIG. 6 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.
  • FIG. 8 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.
  • 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.
  • FIG. 10 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 ⁇ 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 ⁇ bearing 13, which simplifies the design and size of the fuselage.
  • the disadvantage is that both the X-axis and the ⁇ -axis have only one bearing load.
  • 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.
  • Double Rotor UAV Embodiment 1 Double Rotor UAV Embodiment 1:
  • 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 ⁇ axis, and the center lines of the X axis and the ⁇ 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 decel
  • 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.
  • 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.
  • 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.
  • 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.
  • 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;
  • 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 lift force.
  • the horizontal component of the thrust pushes the drone to fly back and forth;
  • 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 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;
  • 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.
  • Double Rotor UAV Embodiment 2 Double Rotor UAV Embodiment 2:
  • the double-rotor UAV embodiment 1 can simplify the rotor control mechanism in three ways:
  • Double Rotor UAV Embodiment 3 Double Rotor UAV Embodiment 3:
  • 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.
  • 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.
  • 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 ⁇ 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.
  • 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.

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Abstract

La présente invention concerne un mécanisme de commande de rotor (1) et un véhicule aérien sans pilote à pales à double rotor. Le mécanisme de commande de rotor (1) comprend une barre de pale de rotor (3), une barre de pale de rotor externe (8), un moteur d'axe x (10), et un dispositif d'entraînement de transmission et de réduction d'axe x (11). Le véhicule aérien sans pilote utilisant le mécanisme comprend : un palier d'axe Y (13), un moteur d'axe Y (14), et un dispositif d'entraînement de transmission et de réduction d'axe Y (15) utilisé pour installer le mécanisme de commande de rotor (1). La commande du mécanisme de commande de rotor (1) est obtenue en utilisant le moteur et le dispositif d'entraînement de transmission et de réduction correspondant du mécanisme de commande de rotor (1) pour commander des pales de rotor (6) à tourner autour de deux arbres, et en commandant les pales de rotor (6) à tourner autour de deux arbres et en ajustant une vitesse de rotation des pales de rotor (6), ce qui permet de fournir un mécanisme de commande simple. Le véhicule aérien sans pilote à pales à double rotor comprend trois composants comprenant le mécanisme de commande de pale de rotor (1), un corps de véhicule aérien sans pilote (2), et les pales de rotor (6). Le corps de véhicule aérien sans pilote (2) comprend une structure en forme de U comprenant un corps de véhicule principal (18) et deux bras (19), ce qui le rend facile à transporter et fournit une stabilité élevée.
PCT/CN2017/107374 2016-11-11 2017-10-23 Mécanisme de commande de rotor et véhicule aérien sans pilote à pales à double rotor WO2018090790A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201611016100 2016-11-11
CN201611020529.5 2016-11-21
CN201611020529.5A CN106428543B (zh) 2016-11-11 2016-11-21 一种旋翼控制机构和双旋翼无人机

Publications (1)

Publication Number Publication Date
WO2018090790A1 true WO2018090790A1 (fr) 2018-05-24

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