CN107399429B - A dual-rotor dish UAV - Google Patents

Abstract

The invention discloses a double-rotor butterfly-shaped unmanned aerial vehicle, which belongs to the technical field of aircraft. The UAV consists of a body, an upper rotor, a lower rotor, a drive train, a rudder control system, and a positioning gear train. The upper rotor is located at the upper part of the body, the lower rotor is located at the lower part of the body, the driving wheel of the transmission system and the rudder blade of the rudder control system are located between the upper and lower rotors, the driving wheel is in direct contact with the discs of the upper and lower rotors, and the positioning gear train is distributed on the disc. On the circumference of the disc, the contact pressure between the upper and lower rotors and the driving wheel is maintained and rotated around the center of the body. The driving wheel of the drive train drives the upper rotor and the lower rotor to rotate in the same speed and reverse direction to generate the thrust required by the UAV, and the steering gear changes the initial orientation of the rudder blade, thereby changing the size distribution and direction of the thrust. The thrust magnitude and direction of the front and rear of the double-rotor butterfly UAV body can be independently and flexibly adjusted, and the maneuverability is strong, which is beneficial to the flight and take-off and landing control in complex spaces.

Description

A dual-rotor dish UAV

technical field

The invention belongs to the technical field of rotorcraft, and in particular relates to a double-rotor dish-shaped unmanned aerial vehicle.

Background technique

Rotorcraft is an aircraft that generates lift and maneuverability control through the active motion of the rotor. It has stronger maneuverability than fixed-wing aircraft. It does not require a runway for take-off and landing. flight in space. The general rotor cantilever length of the rotor helicopter is large, the carrying capacity is small, the flight resistance is large, and the tail and complex pitch control mechanism are required to control the aerial attitude and maneuverability of the aircraft, and the structure is complex and the cost is high. A known dual-rotor drone (CN106428543A) utilizes the principle of a mechanical gyroscope to hinge a pair of rotors as rotors to an inner frame, the inner frame and the outer frame are hinged, and the outer frame is hinged to the fuselage of the drone. Rotate around two hinge axes and adjust the rotor speed to achieve the purpose of maneuverability control. Due to its large frame shape, the inertia of the control system is large, and the control sensitivity is poor.

SUMMARY OF THE INVENTION

In order to overcome the shortcomings of the existing rotorcraft, such as the complex rotor control mechanism, the large length of the rotor cantilever, the small bearing capacity, and the large flight resistance, the present invention provides a dual-rotor dish-shaped UAV, which is expected to have a simple transmission mechanism, The control mechanism occupies a small space, and the aerodynamic size and direction of the front and rear of the fuselage can be flexibly adjusted.

A dual-rotor dish-shaped UAV provided by the present invention includes:

Fuselage 17, support 20, upper fin 16, lower fin 2, upper disc 18, lower disc 25, left drive train 31, right drive train 29, front rudder control system 28, rear rudder control system 30, Positioning gear train 27; the fuselage 17 is fixedly connected with n supports 20 to form an axisymmetric body, the axis of the supports 20 is perpendicular to the axis of the fuselage, the supports 20 are evenly distributed on the outer circumference of the fuselage 17 and The axis of the support is located on the same plane; the upper fin 16 is connected with the bottom plate of the upper disc 18 to form a rotating pair, and the axis of the rotating pair is parallel to the axis of the upper disc 18 and perpendicular to the rotation plane of the upper fin 16. The fins 16 are evenly distributed along the circumference of the upper disc 18 to form the upper rotor of the drone; the lower fins 2 are connected with the bottom plate of the lower disc 25 to form a rotating pair, and the axis of the rotating pair is parallel to the axis of the lower disc 25 And perpendicular to the rotation plane of the lower fins 2, the lower fins 2 are evenly distributed along the circumference of the lower disc 25 to form the lower rotor of the drone; the upper disc 18 is located on the upper part of the fuselage 17, and the upper disc 18 The axis of the upper disc 18 is coincident with the axis of the fuselage 17, the bottom plate of the upper disc 18 is on the top and its disc mouth panel is below; The axes are coincident, the bottom plate of the lower disc 25 is at the bottom and its disc mouth panel is at the top; the left drive train 31 and the right drive train 29 are located between the upper disc 18 and the lower disc 25, and are symmetrically installed on two sides of the body. On the other hand, the two have the same structure and composition, and are collectively referred to as the drive train; the driving wheel 7 of the drive train is in frontal contact with the plate mouth panels of the upper disc 18 and the lower disc 25 at the same time; the front rudder control system 28 and the rear rudder control system The system 30 is located between the upper disc 18 and the lower disc 25, and is symmetrically installed on the front and rear of the body. The two have the same structural composition and are collectively referred to as the rudder control system; It is in frontal contact with the disc mouth panel of the lower disc 25, and the rudder blade 22 of the rudder control system cantilevered out of the body; The circumference of the body is evenly distributed, and is hinged with the driving shaft 8 and the fixed shaft 23 connected with the support 20 respectively; the upper pressing wheel 15 of the positioning wheel train is in contact with the reverse side of the plate mouth panel of the upper disc 18, and the lower pressing wheel 3 and the lower disc are in contact with each other. The plate 25 is in reverse contact with the plate of the plate; the upper centering wheel 12 of the positioning wheel train is in contact with the outer circle of the plate of the upper plate 18, and the lower centering wheel 6 of the positioning wheel is in contact with the outer circle of the plate of the plate of the lower plate 25. touch.

The number of the supports 20 and the positioning gear train 27 is n≥4.

The described left drive train 31 and right drive train 29 have exactly the same composition and component structure, and are collectively referred to as drive trains; the drive train mainly includes a main motor 1, a driving shaft 8, and a driving wheel 7, and the axes of the three coincide; the driving shaft 8 and the hole of the support 20 form a rotating pair and are fixedly connected with the driving wheel 7, the central hole of one end of the driving shaft 8 is inserted into the output shaft of the main motor and is fixedly connected, and the other end of the driving shaft 8 is hinged and used with the bracket 11 of the positioning wheel train. The retaining ring 9 and the washer 10 are positioned axially; the main motor 1 is fixedly connected to the fuselage 17 .

The front rudder control system 28 and the rear rudder control system 30 have exactly the same composition and component structure, and are collectively referred to as rudder control systems; the rudder control system mainly includes a steering gear 19, a fixed axis 23, a bearing wheel 24, a rotating shaft 21, and a rudder. The axes of the blades 22 and the like are coincident; the fixed shaft 23 has an interference fit with the hole of the support 20 and forms a rotating pair with the bearing wheel 24; Positioning; the rotating shaft 21 passes through the central hole of the fixed shaft 23 to form a rotating pair, one end is fixedly connected to the output shaft of the steering gear 19, and the other end is fixedly connected to the rudder blade 22.

The positioning wheel train 27 includes an upper pressure wheel 3, a lower wheel frame 4, an elastic belt 5, a lower centering wheel 6, a bracket 11, an upper centering wheel 12, a pin 13, an upper wheel frame 14, and an upper pressure wheel 15, so The bracket 11 is symmetrical about the center hole, the axes of the upper optical axis and the lower optical axis are overlapped and perpendicular to the axis of the center hole, and the upper optical axis and the lower optical axis are provided with upper and lower symmetrical transverse pin holes and are connected with the pins. 13 is fixedly connected, and the center hole of the bracket 11 is hinged with the fixed shaft 23 or the driving shaft 8 to form a hinge; The circular surface is in contact; the lower centering wheel 6 and the lower optical axis are gap-fitted to form a rotating pair, and at the same time are in contact with the outer circular surface of the lower disc 25; the upper wheel frame 14 is located above the upper centering wheel 12, and its empty sleeve On the upper optical axis, the protruding end of the pin 13 is in contact with the notch of the upper wheel frame 14 to form a movable pair that can be adjusted along the axis. The shaft diameter of the upper wheel frame 14 is connected with the upper pressure wheel 15 to form a rotating pair. The axis of rotation of the bracket 11 is parallel to the axis of the center hole of the bracket 11; the lower wheel frame 4 is located below the lower centering wheel 6, and its empty sleeve is on the lower optical axis, and the protruding end of the pin 13 contacts with the gap of the lower wheel frame 4 to form The movable pair can be adjusted along the axis. The shaft diameter of the lower wheel frame 4 is connected with the lower pressure wheel 3 to form a rotating pair, and the rotation axis of the lower pressure wheel 3 is parallel to the axis of the central hole of the bracket 11; the elastic belt 5 is connected to the upper wheel frame. 14 and the lower wheel frame 4 balance the contact force generated by the upper pressing wheel 15 and the lower pressing wheel 3 .

The number m of the upper fins 16 installed on the upper rotor is the same as the number m of the lower fins 2 installed on the lower rotor, and m≧4, and the rotation directions of the upper fins 16 and the lower fins 2 are opposite.

The rudder blade 22 is a rectangular flat plate symmetrical about its rotational axis, and its axial length is smaller than its radial width.

The main motor 1 of the left drive train 31 and the right drive train 29 directly drives the drive wheel 7 to rotate through the drive shaft 8, and the two drive wheels on both sides of the machine body rotate at the same speed and opposite directions; The upper and lower rotors are driven to rotate by the adhesion between the driving wheel and the upper and lower discs, and at the same time, the upper and lower discs rotate around a fixed axis under the action of the upper and lower centering wheels of the positioning wheel train 27; the constant speed reverse rotation of the upper and lower rotors only produces no The axial thrust of the man-machine body can be adjusted by changing the motor speed. Since the helix angle of the upper and lower rotors of the body is the same but the rotation directions are opposite, the aerodynamic thrust generated by the upper and lower rotors is superimposed to increase the thrust.

The steering gears of the front rudder control system 28 and the rear rudder control system 30 directly drive the rudder blades to rotate through the rotating shaft, and change the initial orientation of the front and rear rudder blades of the body, thereby changing the magnitude and direction of the local thrust in the front and rear of the body. Since the rudder blade is symmetrical about its rotational axis, the working load is small, and the rotational inertia of the transmission mechanism is small, the local thrust size and direction can be adjusted sensitively, the response is fast, and the operation is easy.

Due to the axial symmetry of the moving components such as the upper and lower rotors, the self-balancing of the centrifugal force of the rotating parts, the balance of the aerodynamic couple moments up and down the body, and the gyroscopic effect of the high-speed rotor, the UAV as a whole has the ability to automatically maintain a stable spatial orientation. The upper and lower surfaces of the fuselage and the surfaces of the upper and lower discs form a flat flying saucer shape, which is beneficial to reduce fluid resistance and improve lift.

When the body axis is plumb, the initial orientation of the front and rear rudder blades is 0° (the state of the rear rudder blades as shown in Figure 2), and the resultant force of the thrust is located above the center of gravity of the body. . When the drone rises to a certain height smoothly, the front and rear steering gears work independently to make the rudder blades turn 90° rapidly, and the thrust changes in the front and rear of the standby body make the body tilt forward or backward by a certain angle, and then the rudder blades quickly reset. Generate a component force that pushes the body forward or backward to make the drone go forward or backward. If the deflection angle of the front and rear rudder blades is less than 90° at the same time, the front and rear rudder blades will form a steering couple moment, which will cause the UAV to generate steering motion.

Compared with the prior art, the present invention has the following technical effects:

1. There are many fins on the circumference of the upper rotor and the lower rotor. The turning radius of the fins is large and the cantilever is small, which is suitable for high rotation speed and can generate large lift; at the same time, the structure of the moving components is symmetrical, and the dynamic balance performance is good.

2. The upper and lower rotors have simple structures, the upper and lower discs have high rigidity and many support points, and the structure has a large bearing capacity.

3. The transmission mechanism for the rotation of the upper rotor and the lower rotor is simple, and the ability to adapt to the environment is strong; the control mechanism of the front and rear rudder blades is simple, the control torque is small, and the maneuverability control is sensitive.

Description of drawings

Figure 1 is a schematic view of the front assembly of the dual-rotor dish UAV.

Figure 2 is a schematic view of the top-view assembly of the dual-rotor dish UAV.

FIG. 3 is an enlarged view of the drive train and the positioning gear train of the dual-rotor dish UAV in the A part of FIG. 1 .

Fig. 4 is an enlarged view of the rudder control system and the positioning gear train of the dual-rotor dish-shaped UAV in position B in Fig. 1 .

In the picture: 1. Main motor, 2. Lower wing, 3. Lower pressing wheel, 4. Lower wheel frame, 5. Elastic belt, 6. Lower centering wheel, 7. Driving wheel, 8. Drive shaft, 9. Block Ring, 10. Washer, 11. Bracket, 12. Upper centering wheel, 13. Pin, 14. Upper wheel frame, 15. Upper pressure wheel, 16. Upper wing, 17. Body, 18. Upper disc, 19. Steering gear, 20. Support, 21. Rotating shaft, 22. Rudder blade, 23. Fixed shaft, 24. Bearing wheel, 25. Lower disc, 26. Connecting screw, 27. Positioning gear train, 28. Front rudder Control system, 29. Right drive train, 30. Rear rudder control system, 31. Left drive train.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the present invention is not limited to the following embodiments.

Figure 1 is a schematic view of the front assembly of the dual-rotor dish UAV. Four upper fins 16 with the same structure are connected with the upper disc 18 through connecting screws 26 to form an upper rotor, and four lower fins 2 with the same structure are connected with the lower disc 25 through connecting screws 26 to form a lower rotor; the fuselage 17 and The four supports 20 are fixedly connected with screws to form an axisymmetric body. The supports 20 are evenly distributed on the outer circumference of the fuselage 17 and the axes of the supports are on the same plane; the lower part of the fuselage 17 is provided with a support frame, and the drone can be Touch the ground smoothly.

Figure 2 is a schematic view of the top-view assembly of the dual-rotor dish UAV. Four groups of identical centering gear trains 27 are evenly distributed on the circumference of the body, the left drive train 31 and the right drive train 29 have the same structure and are symmetrically installed on both sides of the body, the front rudder control system 28 and the rear rudder control system 30 The structure is the same and symmetrically installed on the front and rear of the body.

Figure 3 is an enlarged view A of the dual-rotor dish UAV drive train and positioning gear train. The main motor 1, the driving shaft 8 and the driving wheel 7 are directly connected to form a transmission system, and the axes of the three coincide. The hole is inserted into the output shaft of the main motor and is fixedly connected with screws. The other end of the driving shaft 8 is hinged with the bracket 11 of the positioning wheel train and is axially positioned with a retaining ring 9 and a washer 10; the main motor 1 and the fuselage 17 are fixedly connected by screws.

The positioning wheel train 27 is composed of the upper pressure wheel 3, the lower wheel frame 4, the elastic belt 5, the lower centering wheel 6, the bracket 11, the upper centering wheel 12, the pin 13, the upper wheel frame 14, the upper pressure wheel 15, etc. The center hole of the bracket 11 and the fixed shaft 23 or the driving shaft 8 are gap-fitted to form a hinge; the upper centering wheel 12 and the upper optical axis of the bracket 11 are gap-fitted to form a rotating pair, and are in contact with the outer surface of the upper disc 18. The lower centering wheel 6 and the lower optical axis of the bracket 11 are gap-fitted to form a rotating pair, and are in contact with the outer surface of the lower disc 25 at the same time; the upper wheel frame 14 is gap-fitted with the upper optical axis of the bracket 11 and is fixedly connected with the upper optical axis The pin 13 of the upper wheel frame 14 is connected with the upper pressing wheel 15 to form a rotating pair, and the shaft end is positioned with a baffle plate and a screw; The connected pin 13 is in contact; the shaft diameter of the lower wheel frame 4 is connected with the lower pressure wheel 3 to form a rotating pair, and the shaft end is positioned with a baffle plate and a screw; the elastic belt 5 connects the upper wheel frame 14 and the lower wheel frame 4 to balance the upper pressure wheel 15 and the contact force generated by the lower pressure roller 3.

The main motor 1 of the left drive train 31 and the right drive train 29 directly drives the drive wheel 7 to rotate through the drive shaft 8, and the two drive wheels on both sides of the machine body rotate at the same speed and opposite directions; The upper and lower rotors are driven to rotate by the adhesion between the driving wheel and the upper and lower discs, and at the same time, the upper and lower discs rotate around a fixed axis under the action of the upper and lower centering wheels of the positioning wheel train 27; the constant speed reverse rotation of the upper and lower rotors only produces no The axial thrust of the man-machine body can be adjusted by changing the motor speed.

Figure 4 is an enlarged view B of the rudder control system and positioning gear train of the dual-rotor dish UAV. The rudder control system is composed of the steering gear 19, the fixed shaft 23, the bearing wheel 24, the rotating shaft 21, the rudder blade 22, etc., and their axes coincide; , the shaft end of the fixed shaft 23 is hinged with the bracket 11 of the positioning wheel train and is positioned axially by the retaining ring 9 and the washer 10; , and the other end is fixedly connected with the rudder blade 22 .

The steering gears of the front rudder control system 28 and the rear rudder control system 30 directly drive the rudder blades to rotate through the rotating shaft, and change the initial orientation of the front and rear rudder blades of the body, thereby changing the magnitude and direction of the local thrust in the front and rear of the body. When the body axis is plumb, the initial orientation of the front and rear rudder blades is 0° (the state of the rear rudder blades as shown in Figure 2), and the resultant force of the thrust is located above the center of gravity of the body. . When the drone rises to a certain height smoothly, the front and rear steering gears work independently to make the rudder blades turn 90° rapidly, and the thrust changes in the front and rear of the standby body make the body tilt forward or backward by a certain angle, and then the rudder blades quickly reset. Generate a component force that pushes the body forward or backward to make the drone go forward or backward. If the deflection angle of the front and rear rudder blades is less than 90° at the same time, the front and rear rudder blades will form a steering couple moment, which will cause the UAV to generate steering motion.

Claims (6)

1. a kind of DCB Specimen dish unmanned plane, which is characterized in that the unmanned plane includes fuselage (17), support (20), upper panel (16), lower panel (2), upper disc (18), lower disc (25), Left Drive system (31), right power train (29), front rudder control system (28), Rudder control system (30), positioning train (27) afterwards；The fuselage (17) and n support (20) are fixedly connected to form axisymmetric body, The axis of support (20) is perpendicular to the axis of fuselage, and support (20) is evenly distributed on the excircle of fuselage (17) and bearing axis It is generally aligned in the same plane；The upper panel (16) connect to form revolute pair with the bottom plate of upper disc (18), and the axis of revolute pair is parallel In upper disc (18) axis and perpendicular to the plane of rotation of upper panel (16), upper panel (16) is equal along the circumference of upper disc (18) Even distribution forms the upper rotor of unmanned plane；The lower panel (2) connect to form revolute pair with the bottom plate of lower disc (25), rotation Secondary axis is parallel to the axis of lower disc (25) perpendicular to the plane of rotation of lower panel (2), and lower panel (2) is along lower disc (25) even circumferential distribution, forms the lower rotor of unmanned plane；The upper disc (18) is located at the top of fuselage (17), upper disc (18) axis is overlapped with the axis of fuselage (17), and the bottom plate of upper disc (18) is in upper and its dish mouth panel under；Under described Disc (25) is located at the lower part of fuselage (17), and the axis of lower disc (25) is overlapped with the axis of fuselage (17), lower disc (25) Bottom plate is in lower and its dish mouth panel upper；The Left Drive system (31) and right power train (29) be respectively positioned on disc (18) and under Between disc (25), the two sides of body are symmetrically mounted on, the structure composition of the two is identical, is referred to as power train；The power train Driving wheel (7) is contacted with the dish mouth panel front of upper disc (18) and lower disc (25) simultaneously；Front rudder control system (28) and after Rudder control system (30) is respectively positioned between disc (18) and lower disc (25), is symmetrically mounted on the front and back of body, the structure group of the two At identical, it is referred to as rudder control system；The bearing wheels (24) of the rudder control system dish mouth face with upper disc (18) and lower disc (25) simultaneously Rudder blade (22) cantilever of plate front face, rudder control system stretches out outside body；The positioning train (27) be located at upper panel (16) and under Between fin (2), n positioning train (27) is distributed along body even circumferential, the driving shaft (8) that is connect respectively with support (20) and Dead axle (23) is hinged；The upper pressure wheel (15) of the positioning train is contacted with the dish mouth panel reverse side of upper disc (18), lower pressure wheel (3) It is contacted with the dish mouth panel reverse side of lower disc (25)；It positions outside the upper centering wheel (12) of train and the dish mouth panel of upper disc (18) Circle contact, the lower centering wheel (6) for positioning train contact with the dish mouth panel outer circle of lower disc (25)；The support (20) and positioning Quantity n >=4 of train (27).

2. a kind of DCB Specimen dish unmanned plane according to claim 1, which is characterized in that the power train includes main electricity The axis of machine (1), driving shaft (8), driving wheel (7), three is overlapped；The hole of the driving shaft (8) and support (20), which is formed, to be rotated Pair is simultaneously fixedly connected with driving wheel (7), and the output shaft of one end centre bore insertion main motor (1) of driving shaft (8) is simultaneously fixedly connected, The other end of driving shaft (8) is hinged with the bracket (11) for positioning train and carries out axially position with retaining ring (9) and washer (10)；Institute Main motor (1) is stated to be fixedly connected with fuselage (17).

3. a kind of DCB Specimen dish unmanned plane according to claim 1, which is characterized in that the rudder control system includes steering engine (19), dead axle (23), bearing wheels (24), shaft (21), rudder blade (22), their axis are overlapped；The dead axle (23) and support (20) hole is interference fitted and forms revolute pair with bearing wheels (24), and shaft end is hinged with the bracket (11) for positioning train and uses retaining ring (9) and washer (10) carries out axially position；The centre bore that the shaft (21) passes through dead axle (23) forms revolute pair, shaft (21) One end is fixedly connected with the output shaft of steering engine (19), and the other end is fixedly connected with rudder blade (22).

4. a kind of DCB Specimen dish unmanned plane according to claim 1, which is characterized in that positioning train (27) packet Include upper pressure wheel (3), lower wheel carrier (4), elastic band (5), lower centering wheel (6), bracket (11), upper centering wheel (12), pin (13), upper wheel Frame (14), upper pressure wheel (15), the bracket (11) are, the axis of upper part optical axis and lower part optical axis symmetrical above and below about centre bore Line be overlapped it is simultaneously vertical with the axis of its centre bore, be equipped on top optical axis and lower part optical axis lateral pin hole symmetrical above and below and with Pin 13 is fixedly connected, and the centre bore of bracket (11) and the dead axle (23) or driving shaft (8) clearance fit are formed hingedly；It is described Upper centering wheel (12) and top optical axis clearance fit form revolute pair, while the outer circle face contact with upper disc (18)；Under described Centering wheel (6) and lower part optical axis clearance fit form revolute pair, while the outer circle face contact with lower disc (25)；The upper wheel carrier (14) it is located at the top of upper centering wheel (12), empty set is on the optical axis of top, the notch of the extension end of pin 13 and upper wheel carrier (14) Contact is formed along the adjustable prismatic pair of axis, and the diameter of axle of upper wheel carrier (14) connect to form revolute pair with upper pressure wheel (15), upper pressure The pivot center for taking turns (15) is parallel with the centre bore axis of bracket (11)；The lower wheel carrier (4) is located under lower centering wheel (6) Side, on the optical axis of lower part, the extension end of pin 13 contacts to be formed with the notch of lower wheel carrier (4) and move along axis is adjustable empty set The diameter of axle of pair, lower wheel carrier (4) connect to form revolute pair with lower pressure wheel (3), in the pivot center of lower pressure wheel (3) and bracket (11) Heart axially bored line is parallel；Wheel carrier (14) and lower wheel carrier (4) balance upper pressure wheel (15) and lower pressure wheel (3) in elastic band (5) connection The contact force of generation.

5. a kind of DCB Specimen dish unmanned plane according to claim 1, which is characterized in that the upper limb of the upper rotor installation Lower panel (2) quantity m that piece (16) quantity and lower rotor are installed is identical, m >=4, and the rotation direction of upper panel (16) and lower panel (2) On the contrary.

6. a kind of DCB Specimen dish unmanned plane according to claim 1, which is characterized in that the rudder blade (22) is about it The symmetrical rectangular plate of axis of rotation, axial length are less than radial width.