WO2018098993A1 - Dispositif de direction biaxiale à servocommande vectorielle pour hélice et décollage et atterrissage verticaux d'un aéronef sans pilote à ailes fixes - Google Patents

Dispositif de direction biaxiale à servocommande vectorielle pour hélice et décollage et atterrissage verticaux d'un aéronef sans pilote à ailes fixes Download PDF

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Publication number
WO2018098993A1
WO2018098993A1 PCT/CN2017/082980 CN2017082980W WO2018098993A1 WO 2018098993 A1 WO2018098993 A1 WO 2018098993A1 CN 2017082980 W CN2017082980 W CN 2017082980W WO 2018098993 A1 WO2018098993 A1 WO 2018098993A1
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WIPO (PCT)
Prior art keywords
propeller
steering gear
engine
base
swing arm
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PCT/CN2017/082980
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English (en)
Chinese (zh)
Inventor
蔡英杰
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深圳市优鹰科技有限公司
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Publication of WO2018098993A1 publication Critical patent/WO2018098993A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/25—Fixed-wing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C9/00—Adjustable control surfaces or members, e.g. rudders
    • B64C9/04—Adjustable control surfaces or members, e.g. rudders with compound dependent movements
    • 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
    • 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

Definitions

  • the invention relates to the technical field of drones, in particular to a propeller biaxial vector servo redirection device and a vertical take-off and landing fixed-wing UAV formed by the reversing device.
  • the UAV is a non-manned aerial vehicle that is controlled by radio remote control equipment and its own program control device. It is widely used because of its flexibility, quick response, unmanned flight and low operational requirements. Aerial photography, agricultural plant protection, disaster relief, geological mapping, news reports, power inspections, film and television shooting, military reconnaissance and many other fields.
  • the thrust reversal technology plays a vital role in the flight attitude adjustment and flight height adjustment of the drone.
  • the thrust reversal technology in the traditional sense generally refers to the technology that the engine thrust is controlled by the deflection of the nozzle or the tail jet to replace the control surface of the original aircraft or enhance the maneuvering function of the aircraft, and to control the flight of the aircraft in real time.
  • the existing drones mainly rely on the propeller Control to achieve the thrust function of the thrust, that is, by controlling the engine to cause the thrust to generate longitudinal or lateral deflection, thereby generating additional thrust components and additional thrust moments for the drone to achieve thrust deflection of the aircraft, thereby enabling the aircraft to Gain additional control capabilities to achieve flight attitude and flight altitude adjustment control.
  • the existing propeller thrust direction changing mechanism there are still some deficiencies in the design of the structure, which leads to many problems such as poor flexibility of the propeller direction, small range of direction change, and poor stability of the direction change process.
  • Some propeller changing mechanisms also have defects such as relatively complicated structure, unreasonable arrangement of structural components, difficulty in implementation, and the like.
  • the existing UAVs are generally divided into fixed-wing UAVs and Rotary Wing UAVs; among them, the rotary-wing UAV mainly relies on the engine to make the rotary wing rotate around its own axis, and the rotary wing rotates.
  • the relative motion with the air obtains lift, but since the rotary wing provides mainly lift, the rotary wing drone obtains a smaller horizontal thrust parallel to the fuselage axis, so the horizontal flight speed is slower.
  • the fixed-wing drone is mainly driven by the engine.
  • the engine drive generates horizontal thrust parallel to the axis of the fuselage, so that the drone can fly at high speed in the air, but because the engine can not produce lift perpendicular to the axis of the fuselage, it is fixed.
  • the winged drone can only obtain the lift by the relative movement between the fixed wing and the air to overcome the gravity of the fixed-wing UAV.
  • the magnitude of the lift and the relative motion speed between the fixed wing and the air are positively correlated.
  • the horizontal speed is such that the fixed-wing drone gains sufficient lift to take off; 2.
  • the fixed-wing drone needs to maintain sufficient flight speed after take-off to obtain sufficient lift to overcome its own gravity. Based on this, current drones either have a slower horizontal flight or rely on long runways and need to maintain sufficient flight speed after takeoff.
  • an object of the present invention to provide a propeller biaxial vector servo redirecting device; another object of the present invention is to provide a vertical takeoff and landing fixed wing formed based on the redirecting device Drone.
  • the first technical solution adopted by the present invention is:
  • a propeller biaxial vector servo redirection device comprising a fixed steering gear fixedly mounted on a tail end of a drone, a rotary steering gear coupled to a fixed steering gear, and a propeller engine coupled to a rotating steering gear And a propeller mounted on the output shaft of the propeller engine;
  • the fixed steering gear drives the rotary steering gear to rotate up and down in a YZ axis plane relative to the fixed steering gear, the rotary steering gear driving the propeller engine relative to the rotating steering gear
  • the left and right rotational motions are performed in the plane of the upper XY axis, and the propeller engine drives the propeller to perform a rotational motion with the central axis of the propeller engine as a central axis.
  • the fixed steering gear includes a first steering base fixedly mounted on the tail end of the drone and a first vector motor fixedly mounted on the first steering base, the first An output shaft of a vector motor is arranged along the X-axis direction, and a center line of the output shaft of the first vector motor is located in a central region of the first servo base;
  • Two first spiral arms are disposed on the bottom surface of the rotating steering gear and symmetrically disposed along the X-axis direction, and the ends of the two first rotating arms are respectively axially connected to the lower region of the first steering base and are respectively located a first active swing arm is sleeved on the output shaft of the first vector motor, and a first connecting swing arm is connected to the central region of the rotary steering gear.
  • the head end of an active swing arm is axially coupled to the end of the first articulating arm;
  • the first vector motor drives the rotary steering gear through the first active swing arm and the first articulating swing arm with the connecting line between the ends of the two first rotating arms as the rotation axis in the YZ axis plane relative to the first steering gear
  • the base is rotated from top to bottom or from bottom to top.
  • the cross-sectional shape of the first servo base in the X-axis direction is a "U" shape
  • the first vector motor is fixedly mounted on the bottom plate of the first steering base
  • the two A swing arm is located between the two opposite side plates of the first servo base and each of the first swing arms is connected to a side plate of the corresponding first servo base via a pivot axis.
  • a plurality of anti-slip racks are circumferentially and evenly disposed on the inner wall of the sleeve hole of the first active swing arm.
  • the head end of the first active swing arm is formed with two oppositely distributed first shaft plates, and the end of the first connecting swing arm is clamped between the two first shaft plates and passes through a connecting shaft Connected to the first shaft plate.
  • the rotary steering gear comprises a second steering gear base and a second vector motor fixedly mounted on a bottom surface of the second steering gear base, the two first first arm being provided by the second steering base
  • the left and right sides of the bottom surface of the seat are extended toward the direction of the first servo base, the output shaft of the second vector motor is arranged along the Y-axis direction, and the lower region of the second servo base is along the X a limit strip opening is defined in the axial direction, and an output shaft of the second vector motor is located in a central portion of the limit strip opening;
  • Two second spiral arms are symmetrically disposed on the bottom surface of the propeller engine and on the upper and lower sides of the limiting bar mouth, and the top surface of the second steering gear base corresponds to each second spiral arm
  • the position of each of the second vector arms is coupled with a second active swing arm, and the eccentric region of the propeller engine is coupled with a second Connecting the swing arm, the head end of the second active swing arm is axially connected to the end of the second connecting swing arm;
  • the second vector motor drives the propeller engine through the second active swing arm and the second articulated swing arm with the connecting line between the ends of the two second spiral arms as the rotation axis in the XY plane relative to the second steering base Make a left-to-right or right-to-left rotary motion.
  • a plurality of anti-slip racks are circumferentially and evenly disposed on the inner wall of the sleeve hole of the second active swing arm.
  • the head end of the second active swing arm is formed with two oppositely distributed second shaft plates, and the end of the second connecting swing arm is clamped between the two second shaft plates and passes through a connecting shaft Connected to the second shaft plate.
  • the propeller engine includes an engine body and an engine base fixedly mounted on a bottom surface of the engine body, and the two second arms are formed on a bottom surface of the engine base, and the engine base Also provided on the bottom surface are two second shaft plates for clamping the head end of the second connecting swing arm and axially connecting with the head end of the second connecting swing arm, and the two second shaft plates are The two second arms are distributed in a triangle shape centering on the central axis of the engine body, and the propeller is fitted on the output shaft of the engine body.
  • a vertical take-off and landing fixed-wing UAV comprising a fuselage and two wings fixed to the fuselage and symmetrically distributed with respect to a length direction of the fuselage, each of the wings being vertically mounted a power propeller, the tail end of the fuselage is provided with a propeller biaxial vector servo redirecting device;
  • the vertical power propeller includes a suspension beam fixed to a front end side of the wing along a Z-axis direction, a fixing seat installed at a front end of the suspension beam, a lifting motor seated on the fixing seat along the Y-axis direction, and A lifting propeller that rotates in the X-Z axis plane on the output shaft of the hoist motor and with the central axis of the hoisting motor as the rotating shaft.
  • the present invention utilizes the driving and structural relationship between the fixed steering gear, the steering servo, the propeller engine and the propeller, and can realize the driving effect of the two-axis universal direction, so as to finally enable the rotation state of the propeller to be multiple
  • the direction and the in-plane are carried out to provide conditions for the aircraft to hover, horizontally push, and turn at various angles, effectively expanding the range of the UAV's direction of change, and providing a change in the flight attitude of the UAV. Strong guarantee; its structure is simple and compact, control precision and stability are high, flexibility is strong, and it has strong practical application value and market promotion value.
  • the fixed-wing UAV formed by the direction changing device can not only realize the functions of vertical take-off and landing, air hovering, flight attitude adjustment, etc., but also can effectively save the conversion by changing the direction changing device and the vertical power propeller.
  • the energy loss of the man-machine provides favorable conditions for extending the life of the drone and reducing its mission load.
  • FIG. 1 is a schematic structural view of a redirecting device according to an embodiment of the present invention in an installed state
  • FIG. 2 is a schematic structural view showing the structure of a redirecting device according to an embodiment of the present invention
  • FIG. 3 is a schematic exploded view of a redirecting device according to an embodiment of the present invention (1);
  • FIG. 4 is a schematic exploded view of a redirecting device according to an embodiment of the present invention (2);
  • Figure 5 is a schematic exploded view of the structure of the redirecting device according to the embodiment of the present invention (3);
  • Figure 6 is a schematic exploded view of the structure of the redirecting device according to the embodiment of the present invention (4);
  • Figure 7 is a perspective view showing the structure of a fixed-wing UAV according to an embodiment of the present invention.
  • Figure 8 is a plan view showing the structure of a fixed-wing UAV according to an embodiment of the present invention.
  • the propeller biaxial vector servo redirection device includes a fixed installation on the tail end of the UAV (such as the end surface of the UAV).
  • a fixed steering gear a drives the steering servo b to rotate up and down in the YZ axis plane with respect to the fixed steering gear a
  • the steering servo b drives the propeller engine c to rotate left and right in the upper XY plane relative to the rotating steering gear b
  • the XY axis plane mentioned here is an opposite plane, that is, when there is no relative rotation between the turning servo b and the fixed steering gear a, the turning of the steering gear b drives the propeller engine c.
  • the propeller engine c drives the propeller d to the propeller engine c
  • the central axis rotates for the center axis motion.
  • the fixed steering gear a acts on the rotational driving of the steering servo b
  • the rotary steering gear b drives the propeller engine c to perform synchronous rotation
  • the rotary steering gear b directly drives the propeller engine c to form a two-axis universal joint.
  • the driving effect that is, the rotation state of the propeller d can be finally made in a plurality of directions and planes; for example, after the device of the embodiment is mounted on a fixed-wing UAV, by using other forms of propellers and passing
  • the steering control of the propeller d realizes the high-altitude hovering, horizontal pushing, and steering of various angles of the aircraft, which effectively expands the range of the UAV's redirecting direction and provides a powerful guarantee for the change of the flying attitude of the UAV. .
  • the fixed steering gear a of the present embodiment includes a first steering gear base 10 fixedly mounted on the tail end of the drone and fixedly mounted on a first vector motor 11 on the first steering base 10; wherein the output shaft of the first vector motor 11 is disposed on the first steering base 10 in the X-axis direction, and the first vector motor 11
  • the center line of the output shaft is located in the central region of the first steering base 10; at the same time, two first spiral arms 20 are disposed symmetrically on the bottom surface of the rotating steering gear b and along the X-axis direction, and the two first rotations
  • the ends of the arms 20 are all connected to the first rudder
  • the lower portion of the base 10 of the machine base 10 is located on the left and right sides of the first vector motor 11, respectively, and the first active swing arm 12 is sleeved on the output shaft of the first vector motor 11 in the middle region of the steering servo b.
  • the shaft is connected with a first connecting swing arm 21, and the head end of the first active swing arm 12 is axially connected with the end of the first connecting swing arm 21; thus, the power provided by the first vector motor 11 can be used to pass the first active swing
  • the arm 12 and the first engaging swing arm 21 to drive the turning servo b can be made with respect to the first steering base 10 in the YZ axis plane with the connecting line between the ends of the two first rotating arms 20 as the rotation axis.
  • the top-down or bottom-up rotational motion ie, equivalent to enabling the turning servo b to be fixed with the lower edge of the fixed servo a as the axis and opening or closing at a certain angle).
  • the rotary steering gear b can be rotated within 90 degrees with respect to the fixed steering gear a, such as when the central axis of the steering gear b is rotated and the fixed steering gear a
  • the propeller d can be rotated left and right at any angle in the plane of the XY axis; when the central axis of the steering servo b is perpendicular to the central axis of the fixed steering gear a (ie, two
  • the propeller d can be rotated at any angle in the XZ axis plane; at the same time, the vector motor is used to provide power, and the precision, stability and flexibility of the steering servo b can also be exercised.
  • Sex provides the basis for system control.
  • the first steering base 10 of the present embodiment adopts a structure in which the cross-sectional shape in the X-axis direction is "U"-shaped.
  • the first vector motor 11 is fixedly mounted on the bottom plate of the first steering base 10, and the two first spiral arms 20 are located between the two opposite side plates of the first steering base 10 and each first The arms 20 are each connected to the side plates of the corresponding first servo base 10 via a pivot axis.
  • the U-shaped structure of the first steering base 10 can be used to provide the first vector motor 11 with sufficient installation space, so that the rotary steering gear b can be aligned with the fixed rudder with the first rotating arm 20 as the axis.
  • Machine a performs a smooth rotation.
  • a plurality of strips are circumferentially and evenly disposed on the inner wall of the sleeve hole of the first active swing arm 12.
  • a non-slip rack (not shown) is used to enhance the friction between the first active swing arm 12 and the output shaft of the first vector motor 11 by using a non-slip rack.
  • first active swing arm 12 In order to avoid unnecessary swing of the first active swing arm 12 during the passage of the first connecting swing arm 21, two oppositely distributed first axial plates e are formed at the head end of the first active swing arm 12, first The end of the engaging swing arm 21 is clamped between the two first shaft plates e and connected to the first shaft plate e through a connecting shaft.
  • the rotary steering gear b of the present embodiment includes a second steering gear base 22 and a second vector motor 23 fixedly mounted on the bottom surface of the second steering gear base 22, two The first spiral arms 20 are formed by extending the left and right sides of the bottom surface of the second steering base 22 toward the first steering base 10, and the output shaft of the second vector motor 23 is at the second steering base.
  • a limit bar opening f is opened in the lower region of the second steering base 23 and along the X-axis direction, and the output shaft of the second vector motor 23 is located in the central portion of the limit bar opening f
  • Two second spiral arms 30 are symmetrically disposed on the bottom surface of the propeller engine c and on the upper and lower sides of the limit bar opening f, on the top surface of the second steering base 22 and each second The corresponding positions of the arms 30 are formed with a support arm 24 axially coupled to the corresponding second arm 30.
  • the output shaft of the second vector motor 23 is sleeved with a second active swing arm 25, and the eccentricity of the propeller engine c
  • the regional shaft is connected with a second connecting swing arm 31, and the head end of the second active swing arm 25 is opposite to the end of the second connecting swing arm 31.
  • the propeller engine c can be driven by the second active swing arm 25 and the second articulating arm 31 by the power provided by the second vector motor 23, and the connecting line between the ends of the two second spiral arms 30 is
  • the rotation axis makes a left-to-right or right-to-left rotation motion with respect to the second steering base 22 in the XY plane (ie, the equivalent of the propeller engine c can rotate the steering gear c in the Y-axis direction of the central axis For the shaft and at a certain angle for left-hand rotation or right-hand rotation movement); when there is no relative movement between the fixed steering gear a and the rotary steering gear b, the left-right direction change effect of the entire device can be realized, and the fixed steering gear is fixed a When the relative movement of the turning servo b occurs, the superposition effect of the turning direction effect can also be realized, thereby providing conditions for the multi-direction changing direction of the device, thereby advantageously ensuring the functions of lifting, hovering and changing of the drone. .
  • a plurality of anti-slip racks are circumferentially and evenly disposed on the inner wall of the sleeve hole of the second active swing arm 25 of the present embodiment.
  • the head end is formed with two oppositely distributed second shaft plates g. The ends of the second engaging swing arms 31 are clamped between the two second shaft plates g and connected to the second shaft plate g through a connecting shaft.
  • the propeller engine c of the present embodiment includes an engine body 32 and an engine base 33 fixedly mounted on the bottom surface of the engine body 32.
  • the two second arm arms 30 are formed on the bottom surface of the engine base 33, and
  • the bottom surface of the engine base 33 is also symmetrically disposed with two second shaft plates h for clamping the head end of the second connecting swing arm 31 and axially connecting with the head end of the second connecting swing arm 31, two
  • the second axle plate h and the two second swing arms 30 are triangularly distributed around the central axis of the engine body 32, and the propeller d is fitted to the output shaft of the engine body 32.
  • the embodiment of the present invention further provides a vertical take-off and landing fixed-wing unmanned aerial vehicle, as shown in FIG. 7 and FIG. 8 and simultaneously combined with FIG. 1 to FIG. 6, which includes a fuselage k and Two wings m fixed on the fuselage k and symmetrically distributed with respect to the longitudinal direction of the fuselage k (ie, the Z-axis direction), and each of the wings m is provided with a vertical power propeller, in the fuselage
  • the tail end of k is provided with a propeller biaxial vector servo redirection device as described above; wherein the vertical power propeller includes a suspension beam 40 fixed to the front end side of the wing m in the Z-axis direction, and is installed at the front end of the suspension beam 40
  • the fixing base 41 and the lifting motor 42 seated on the fixing base 41 in the Y-axis direction (the output shaft thereof may be arranged upward in the Y-axis direction, or may be arranged downward in the Y
  • the vertical power (ie, the Y-axis direction) provided by the vertical power propeller can be used to realize the take-off and landing of the drone, and it is not necessary to set a special runway for the fixed-wing drone so that it can be in any environmental place.
  • Both can take off and land, in the process can turn off the redirecting device; when the aircraft is flying in the air, using the air buoyancy and the multi-directional thrust generated by the redirecting device, the aircraft can maintain sufficient horizontal flight power, and Realizing the steering of the aircraft and changing the attitude of the aircraft, etc., the vertical power propeller can be turned off during this process; while the drone is hovering in the air, the vertical power propeller can be activated and the redirecting device can be turned off.

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Abstract

L'invention concerne un dispositif de direction biaxiale à servocommande vectorielle pour une hélice et un décollage et atterrissage verticaux d'un aéronef sans pilote à ailes fixes. Le dispositif de direction biaxiale à commande vectorielle comprend un moteur de direction fixe agencé de manière fixe au niveau d'une extrémité arrière d'un aéronef sans pilote, un moteur de direction rotatif relié au moteur de direction fixe par des arbres, un moteur à hélice relié au moteur de direction rotatif par des arbres et une hélice emmanchée sur un arbre de sortie du moteur à hélice. Le moteur de direction fixe entraîne en rotation le moteur de direction rotatif vers le haut et vers le bas, le moteur de direction rotatif entraîne en rotation le moteur d'hélice vers la gauche et vers la droite, et le moteur d'hélice entraîne l'hélice en rotation. Au moyen des relations d'entraînement et de structure entre le moteur de direction fixe, le moteur de direction rotatif, le moteur d'hélice et l'hélice, l'effet d'entraînement universel biaxial peut être réalisé, et enfin, l'état de rotation de l'hélice peut être effectué dans de multiples directions et plans, ce qui permet d'obtenir des conditions de vol stationnaire à haute altitude, de poussée horizontale, de rotation selon divers angles du véhicule et analogue, et d'élargir efficacement la plage de rotation de l'aéronef sans pilote et d'offrir une solide garantie de changement des positions de vol de l'aéronef sans pilote.
PCT/CN2017/082980 2016-11-30 2017-05-04 Dispositif de direction biaxiale à servocommande vectorielle pour hélice et décollage et atterrissage verticaux d'un aéronef sans pilote à ailes fixes WO2018098993A1 (fr)

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CN201611092737.6A CN106428527B (zh) 2016-11-30 2016-11-30 一种螺旋桨双轴矢量伺服变向装置及垂直起降固定翼无人机
CN201611092737.6 2016-11-30

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CN112660371A (zh) * 2019-10-15 2021-04-16 上海峰飞航空科技有限公司 垂直起降无人机的飞行控制系统及方法
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CN107539440A (zh) * 2017-09-04 2018-01-05 佛山市文飞科技有限公司 一种水上救援无人机
CN107972848B (zh) * 2017-12-06 2024-03-15 北京俪鸥航空科技有限公司 飞行器多余度动力矢量控制尾舵
CN108791810B (zh) * 2018-05-07 2020-08-25 上海歌尔泰克机器人有限公司 一种机翼倾转控制机构以及飞行器
CN110185887A (zh) * 2019-05-23 2019-08-30 天津精仪精测科技有限公司 一种管道检测机器人
CN115806072B (zh) * 2022-12-21 2024-01-26 南方科技大学 一种基于矢量控制旋翼飞行器及其控制方法

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