CN108545178B - Coaxial dual-rotor UAV based on vector mechanism - Google Patents

Abstract

The invention provides a coaxial double-rotor unmanned aerial vehicle based on a vector mechanism, which comprises: the device comprises a power assembly (1), a vector deflection mechanism (2) and a machine body (3); the power assembly (1) comprises a coaxial motor driving unit, an upper rotor wing unit and a lower rotor wing unit; the vector deflection mechanism (2) comprises: an inner ring seat (21), an inner ring seat deflection unit, an outer ring seat (22), an outer ring seat deflection unit and a vector mechanism base (23). The advantages are that: the invention realizes the vector pulling force technology of the coaxial double-rotor unmanned aerial vehicle by using two vector control steering engines to control a two-degree-of-freedom rotating mechanism, provides a brand new coaxial double-rotor unmanned aerial vehicle configuration, has a simple structure, effectively simplifies the structure for changing the thrust space direction of the rotor, reduces the number of parts of a power device, and improves the reliability and structural safety of the system.

Description

Coaxial dual-rotor UAV based on vector mechanism

technical field

The invention belongs to the technical field of vertical take-off and landing unmanned aerial vehicles, and in particular relates to a coaxial double-rotor unmanned aerial vehicle based on a vector mechanism.

Background technique

Coaxial dual-rotor UAV has the advantages of vertical take-off and landing, low requirements for take-off and landing sites, and convenient use, and has great development prospects. Traditional unmanned helicopters have to arrange the tail rotor because of the need to balance the reaction torque and control the heading, which leads to the disadvantages of complex results, large volume and poor reliability. Most of the existing coaxial dual-rotor drones use two or more engines to connect with the reducer and other mechanisms, and the two output shafts of the reducer that turn in opposite directions are respectively connected with the upper and lower rotors to realize the reverse rotation of the upper and lower rotors. Therefore, the reaction torques brought by the two rotors cancel each other out, effectively overcoming the inherent defects of traditional unmanned helicopters. This kind of coaxial dual-rotor UAV has been widely used in jungle inspection, emergency rescue and disaster relief, sports photography and other fields.

Traditional coaxial dual-rotor drones mostly control the attitude and motion of the drone by deflecting the rotor axis, such as a large-load low-structure dual-coaxial dual-rotor unmanned aerial vehicle disclosed in the invention patent CN201510182069.5 The shortcoming of the full-pitch mechanism used is that there are certain difficulties in safety design, such as complex structure of power components, many parts and large resistance.

Contents of the invention

Aiming at the defects existing in the prior art, the present invention provides a coaxial dual-rotor UAV based on a vector mechanism, which can effectively solve the above problems.

The technical scheme that the present invention adopts is as follows:

The invention provides a coaxial dual-rotor UAV based on a vector mechanism, comprising: a power assembly (1), a vector deflection mechanism (2) and a fuselage (3);

The power assembly (1) comprises a coaxial motor drive unit, an upper rotor unit and a lower rotor unit; wherein, the coaxial motor drive unit comprises a coaxial motor (17) and a motor mount (18); the coaxial The motor (17) includes an upper motor (17A) and a lower motor (17B); the upper motor (17A) and the lower motor (17B) are installed tail-to-tail on the upper and lower sides of the motor mount (18); The upper motor (17A) has no output shaft; the lower motor (17B) has a motor output shaft (12), and the motor output shaft (12) of the lower motor (17B) passes through the center of the upper motor (17A) the hole pierces upwards;

The lower rotor unit comprises a lower rotor cover (11B), a lower rotor hub (15) and a lower rotor blade (16); the lower rotor hub (15) is fixedly assembled on the lower rotor cover (11B) A lower rotor blade (16) is respectively hinged on both sides of the lower rotor hub (15); the lower rotor cover (11B) is sleeved on the outside of the upper motor (17A), and the motor The output shaft (12) passes through the center of the lower rotor hub (15); the lower rotor hub (15) is fixedly connected with the mounting hole on the motor rotor housing of the upper motor (17A), and passes through the The above motor (17A) drives the lower rotor hub (15) to rotate, and then drives the lower rotor cover (11B) and the lower rotor blade (16) to rotate synchronously;

The upper rotor unit includes an upper rotor cover (11A), an upper rotor hub (13), an upper rotor blade (14) and an upper rotor mounting cap (19);

The upper rotor hub (13) is fixedly assembled on the upper rotor cover (11A), and an upper rotor blade (14) is respectively hinged on both sides of the upper rotor hub (13); (11A) is installed above the lower rotor cover (11B), and the motor output shaft (12) is fastened to the upper rotor hub (13) through the upper rotor mounting cap (19), through the The lower motor (17B) drives the upper rotor hub (13) to rotate, and then drives the upper rotor cover (11A) and the upper rotor blade (14) to rotate synchronously;

The vector deflection mechanism (2) includes: an inner ring seat (21), an inner ring seat deflection unit, an outer ring seat (22), an outer ring seat deflection unit, and a vector mechanism base (23);

The top of the inner ring seat (21) is provided with a power assembly installation hole (28A), and the motor mounting seat (18) of the power assembly (1) is fixedly connected with the power assembly installation hole (28A), thereby realizing The fixed connection between the power assembly (1) and the inner ring seat (21);

The inner ring seat (21) is arranged inside the outer ring seat (22), and both sides of the central axis of the inner ring seat (21) pass through the inner ring rotating shaft (27A) and the outer ring seat ( 22) are hinged on both sides of the central axis; the inner ring seat deflection unit is used to drive the inner ring seat (21) to deflect in Y direction relative to the outer ring seat (22) around the inner ring rotating shaft (27A) , the deflection unit of the inner ring seat includes an inner ring steering gear (24A) and an inner ring rocker pull rod mechanism; the inner ring steering gear (24A) is fixedly installed on the outer ring seat (22), and the inner ring The output end of the steering gear (24A) is connected to the inner ring seat (21) through the inner ring rocker arm pull rod mechanism;

The vector mechanism base (23) is installed under the outer ring seat (22), and the two sides of the outer ring seat (22) are connected to the vector mechanism base (23) by the outer ring rotating shaft (27B). ) is hinged; the outer ring seat deflection unit is used to drive the outer ring seat (22) to deflect in the Z direction relative to the vector mechanism base (23) around the outer ring rotating shaft (27B), and the outer ring The seat deflection unit includes an outer ring steering gear (24B) and an outer ring rocker arm pull rod mechanism;

The outer ring steering gear (24B) is fixedly installed on the vector mechanism base (23), and the output end of the outer ring steering gear (24B) is connected to the outer ring seat through the outer ring rocker arm pull rod mechanism. (22) connected;

The vector mechanism base (23) is provided with fuselage mounting holes (28D), and is fixedly connected with the fuselage (3) through the fuselage mounting holes (28D).

Preferably, both the lower rotor blade (16) and the upper rotor blade (14) are folding blades.

Preferably, the inner ring rocker pull rod mechanism includes: an inner ring rocker arm (25A) and an inner ring pull rod (26A);

The upper end of the inner ring rod (26A) is hinged with the inner ring seat (21) at the hinge hole (28B) of the inner ring seat and the inner ring rod, and the lower end is hinged with the inner ring rocker arm (25A) at Inner ring steering gear rocker arm pull rod hinge shaft (27C), the upper end of the inner ring rocker arm (25A) is hinged with the inner ring pull rod (26A), and the lower end is hinged with the inner ring steering gear (24A). The inner ring steering gear (24A) is fixed on the inner ring steering gear installation position (29A) on the outer ring base (22).

Preferably, the outer ring rocker pull rod mechanism includes an outer ring rocker arm (25B) and an outer ring pull rod (26B);

The upper end of the outer ring pull rod (26B) is hinged to the outer ring seat (22) at the joint hole (28C) between the outer ring seat and the outer ring pull rod, and the lower end is hinged to the outer ring rocker arm (25B) on the outer ring Steering gear rocker arm tie rod hinge shaft (27D), the upper end of the outer ring rocker arm (25B) is hinged with the outer ring pull rod (26B), the lower end is hinged with the outer ring steering gear (24B), and the outer ring The steering gear (24B) is fixed on the outer ring steering gear mounting position (29B) on the vector mechanism base (23).

Preferably, the motor mounting seat (18) is an aluminum mounting seat matching the motor, which is circular, and the outer edge is provided with four screw fastening lugs;

The inner ring seat (21) takes the dimensions of the motor mounting seat (18) as a reference, and a circular groove is arranged in the middle to accommodate the coaxial motor (17);

The outer ring seat (22) is a chamfered square ring part, the upper and lower surfaces are respectively provided with the shaft groove lugs of the yaw dimension and the pitch dimension, and the inner ring steering gear installation position (29A) is arranged under the rear side, and the right A round hole is provided on the side to be hinged with the outer ring pull rod (26B);

The upper surface of the vector mechanism base (23) is provided with a rotating shaft groove lug and an outer ring servo mounting position (29B).

Preferably, the fuselage (3) includes a fuselage cabin section (32), and a satellite navigation receiving antenna mount (31) is fixedly installed above the fuselage cabin section (32), and the satellite navigation receiving antenna mount Satellite navigation receiving antenna receiver (34) is housed in (31); The inside of described fuselage cabin section (32) accommodates airborne computer (35), battery (36) and electronic governor (37); The bottom of the fuselage cabin section (32) is fixedly installed with a tripod (33).

The coaxial dual-rotor UAV based on the vector mechanism provided by the present invention has the following advantages:

The invention provides a coaxial dual-rotor unmanned aerial vehicle based on a thrust vector mechanism. The power of the unmanned aerial vehicle is provided by two upper and lower motors mounted on the same motor base, that is, a coaxial motor. The vector deflection mechanism passes two vector Control the steering gear to control the rotation of the power components on the two axes of pitch and roll in the aircraft shaft system, so as to achieve the purpose of controlling the attitude and motion of the aircraft. The invention has the characteristics of simple power device, small size, good maneuverability and high reliability, and is suitable as an aircraft platform of a miniature unmanned aerial vehicle system.

Description of drawings

Fig. 1 is the three-dimensional assembly drawing of the coaxial dual-rotor UAV based on the vector mechanism provided by the present invention;

Figure 2 is a three-dimensional assembly diagram of the power assembly;

Fig. 3 is a schematic diagram of the explosion of each part of the power assembly;

Figure 4 is a three-dimensional assembly diagram of the vector deflection mechanism;

Fig. 5 is the front assembly view of the vector deflection mechanism;

Fig. 6 is a right view assembly drawing of the vector deflection mechanism;

Figure 7 is a rear view assembly drawing of the vector deflection mechanism;

Fig. 8 is a schematic diagram after the vector deflection mechanism is split along the axis 27A;

Fig. 9 is a schematic diagram of the rotation of the vector deflection mechanism along the axis 27A;

Fig. 10 is a schematic diagram after the vector deflection mechanism is split along the axis 27B;

Fig. 11 is a schematic diagram of the rotation of the vector deflection mechanism along the axis 27B;

Figure 12 is a schematic diagram of the assembly of the inner and outer ring seats of the vector deflection mechanism;

Figure 13 is a schematic diagram of the assembly of the outer ring seat of the vector deflection mechanism and the base of the vector mechanism;

Figure 14 is a top view of the vector deflection mechanism;

Figure 15 is a three-dimensional assembly diagram of the fuselage;

Figure 16 is a schematic diagram of loading inside the fuselage;

in:

1: power components

11A: upper oar cover; 11B: lower oar cover;

12: motor output shaft; 13: upper rotor hub; 14: upper rotor blade;

15: lower rotor hub; 16: lower rotor blades;

17: coaxial motor; 17A: upper motor; 17B: lower motor; 18: motor mount; 19: upper rotor mounting cap;

2: Vector deflection mechanism;

20: Motor cable hole position; 21: Inner ring seat; 22: Outer ring seat;

23: Vector mechanism base; 24A: Inner ring steering gear; 24B: Outer ring steering gear;

25A: inner ring rocker arm; 25B: outer ring rocker arm;

26A: inner ring rod; 26B: outer ring rod;

27A: inner ring shaft; 27B: outer ring shaft;

27C: hinged shaft of the rocker rod of the inner ring steering gear; 27D: hinged shaft of the rocker rod of the outer ring steering gear;

28A: The installation hole of the power component; 28B: The hinge hole of the inner ring seat and the inner ring tie rod;

28C: Hinge holes for outer ring seat and outer ring tie rod; 28D: Mounting holes for fuselage;

29A: the installation position of the inner ring steering gear; 29B: the installation position of the outer ring steering gear;

3: fuselage;

31: satellite navigation receiving antenna mount; 32: fuselage compartment; 33: tripod;

34: satellite navigation receiving antenna receiver; 35: onboard computer; 36: battery; 37: electronic governor.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

In order to overcome the shortcomings of the traditional coaxial dual-rotor structure/mechanism complex and many parts, the present invention provides a coaxial dual-rotor unmanned aerial vehicle based on the thrust vector mechanism. The power of the unmanned aerial vehicle is mounted on the same motor base The upper and lower motors are provided by the coaxial motor, and the vector deflection mechanism controls the rotation of the power component on the two axes of pitch and roll in the aircraft shaft system through two vector control steering gears, so as to achieve the control of aircraft attitude and motion. Purpose. The invention has the characteristics of simple power device, small size, good maneuverability and high reliability, and is suitable as an aircraft platform of a miniature unmanned aerial vehicle system.

The present invention provides a coaxial dual-rotor UAV based on a vector mechanism, including: a power assembly 1 , a vector deflection mechanism 2 and a fuselage 3 . The vector deflection mechanism 2 is arranged between the power assembly 1 and the fuselage 3 . As shown in Figure 1, this figure is the overall assembly drawing of the present invention, the uppermost power assembly 1 and the vector deflection mechanism 2 in the middle are fixedly connected to the power assembly installation hole 28A, and the fuselage 3 below is fixed to the vector deflection mechanism 2 Connect with the fuselage mounting hole 28D. The following is a detailed introduction to these three parts:

(1) Power components:

As shown in Figures 2 and 3, the power assembly 1 includes a coaxial motor drive unit, an upper rotor unit and a lower rotor unit; wherein, the coaxial motor drive unit includes a coaxial motor 17 and a motor mount 18; the motor mount 18 is The aluminum mounting base matched with the motor is circular, with four screw fastening lugs on the outer edge for connection with other structures;

Coaxial motor 17 comprises upper motor 17A and lower motor 17B; Upper motor 17A and lower motor 17B are installed tail-to-tail on the upper and lower sides of motor mount 18; The lower rotor hub is assembled; the lower motor 17B has a motor output shaft 12, and the motor output shaft 12 of the lower motor 17B passes upwards through the center hole of the upper motor 17A, and is connected with the upper motor stator through a bearing, and the motor output shaft 12 is used To connect the upper rotor hub 13;

The lower rotor unit comprises a lower rotor cover 11B, a lower rotor hub 15 and a lower rotor blade 16; the lower rotor hub 15 is fixedly mounted on the lower rotor cover 11B, and the lower rotor cover 11B rotates with the lower rotor hub 15, and the lower rotor A lower rotor blade 16 is hinged on both sides of the propeller hub 15, which naturally droops when stored. After the motor is started, it is rotated and opened by centrifugal force, and can be stably maintained in a direction perpendicular to the rotation axis. Drooping, in order to meet the dual requirements of use and storage space restrictions. The lower propeller cover 11B is sleeved on the outside of the upper motor 17A, and the motor output shaft 12 passes through the center of the lower rotor hub 15; the lower rotor hub 15 is fixedly connected to the mounting hole on the motor rotor housing of the upper motor 17A, Through the upper motor 17A, the lower rotor hub 15 is driven to rotate, and then the lower rotor cover 11B and the lower rotor blade 16 are driven to rotate synchronously;

The upper rotor unit includes an upper rotor cover 11A, an upper rotor hub 13, an upper rotor blade 14 and an upper rotor mounting cap 19;

The upper rotor hub 13 is fixedly assembled on the upper rotor cover 11A, and the upper rotor cover 11A rotates together with the upper rotor hub 13. One is hinged on each side of the upper rotor hub 13, and the upper rotor blades 14 naturally droop when they are stored. After starting, it is rotated and opened by centrifugal force, and can be stably maintained in a direction perpendicular to the rotation axis. After the motor is turned off, it will naturally droop again under the action of gravity, so as to meet the dual requirements of use and storage space restrictions.

The upper rotor cover 11A is installed above the lower rotor cover 11B, and the motor output shaft 12 is fastened to the upper rotor hub 13 through the upper rotor mounting cap 19, and the upper rotor hub 13 is driven to rotate by the lower motor 17B, thereby driving the upper rotor The shroud 11A and the upper rotor blades 14 rotate synchronously.

In the present invention, the upper and lower rotor blades are foldable rotors, and blade rotating shafts are provided on both sides of the hub, which can be folded down to reduce the occupied space during storage, and can be automatically unscrewed during use.

Its working principle is:

The coaxial motor 17 can rotate bidirectionally after receiving the signal from the on-board computer, and provides power for the upper and lower rotors through direct connection or output shaft connection respectively, so as to provide lift for the whole machine. There is a certain gap between the upper propeller cover 11A and the lower propeller cover 11B to avoid reverse high-speed friction that may be caused when each of them rotates with the rotor.

(2) Vector deflection mechanism:

The main function of the vector deflection mechanism is: through the rotation output of the two steering gears, the rotation of the motor within a certain range on the two degrees of freedom can be realized.

As shown in Fig. 4 and Fig. 5, the vector deflection mechanism 2 includes: an inner ring seat 21, an inner ring seat deflection unit, an outer ring seat 22, an outer ring seat deflection unit and a vector mechanism base 23;

The top of the inner ring seat 21 is provided with a power assembly installation hole 28A, and the motor mounting seat 18 of the power assembly 1 is fixedly connected with the power assembly installation hole 28A, thereby realizing the fixed connection between the power assembly 1 and the inner ring seat 21;

The inner ring seat 21 is arranged inside the outer ring seat 22, and the two sides of the central axis of the inner ring seat 21 are hinged with the two sides of the central axis of the outer ring seat 22 through the inner ring rotating shaft 27A; the inner ring seat deflection unit is used to drive the inner The ring seat 21 deflects in the Y direction relative to the outer ring seat 22 around the inner ring rotation axis 27A. The inner ring seat deflection unit includes the inner ring steering gear 24A and the inner ring rocker rod mechanism; the inner ring steering gear 24A is fixedly installed on the outer ring base 22 On, the output end of the inner ring steering gear 24A is connected with the inner ring seat 21 through the inner ring rocker arm pull rod mechanism;

Wherein, the inner ring rocker pull rod mechanism includes: inner ring rocker arm 25A and inner ring pull rod 26A;

The upper end of the inner ring rod 26A is hinged with the inner ring seat 21 at the hinge hole 28B of the inner ring seat and the inner ring rod, and the lower end is hinged with the inner ring rocker arm 25A at the hinge shaft 27C of the inner ring steering gear rocker rod rod. The upper end of the arm 25A is hinged with the inner ring pull rod 26A, and the lower end is hinged with the inner ring steering gear 24A. The inner ring steering gear 24A is fixed on the inner ring steering gear mounting position 29A on the outer ring seat 22 .

The working principle of the deflection unit of the inner ring base is: the inner ring steering gear 24A will drive the inner ring rocker arm 25A to move after receiving the deflection signal from the control system, and the inner ring pull rod 26A and the inner ring rocker arm 25A form a link mechanism to move. Finally, the inner ring seat 21 is driven to rotate around the inner ring rotating shaft 27A.

The vector mechanism base 23 is installed below the outer ring seat 22, and the two sides of the outer ring seat 22 are hinged with the vector mechanism base 23 through the outer ring rotating shaft 27B; the outer ring seat deflection unit is used to drive the outer ring seat 22 around the outer ring The rotating shaft 27B deflects in the Z direction relative to the vector mechanism base 23, and the outer ring seat deflection unit includes the outer ring steering gear 24B and the outer ring rocker arm pull rod mechanism;

The outer ring steering gear 24B is fixedly installed on the vector mechanism base 23, and the output end of the outer ring steering gear 24B is connected to the outer ring seat 22 through the outer ring rocker arm pull rod mechanism;

In practical application, the outer ring rocker arm pull mechanism includes outer ring rocker arm 25B and outer ring pull rod 26B;

The upper end of the outer ring rod 26B is hinged with the outer ring seat 22 at the joint hole 28C of the outer ring seat and the outer ring rod, and the lower end is hinged with the outer ring rocker arm 25B at the hinge shaft 27D of the outer ring steering gear rocker rod rod, and the outer ring rocker arm 25B The upper end is hinged with the outer ring pull rod 26B, the lower end is hinged with the outer ring steering gear 24B, and the outer ring steering gear 24B is fixed on the outer ring steering gear installation position 29B on the vector mechanism base 23 .

The working principle of the outer ring seat deflection unit is: the outer ring steering gear 24B will drive the outer ring rocker arm 25B to move after receiving the deflection signal from the control system, and the outer ring pull rod 26B and the outer ring rocker arm 25B form a link mechanism to move. Finally, the outer ring seat 22 is driven to rotate around the outer ring rotating shaft 27B.

As shown in Figure 8 and Figure 10, it is a schematic diagram of the disassembly of the vector deflection mechanism. In Figure 8, the inner ring seat 21 and the outer ring seat 22 are hinged at the inner ring rotating shaft 27A and can rotate around the inner ring rotating shaft 27A; 10, the outer ring seat 22 and the vector mechanism base 23 are hinged at the outer ring rotating shaft 27B and can rotate around the outer ring rotating shaft 27B.

As shown in Figure 9 and Figure 11, it is a schematic diagram of the rotation of the vector deflection mechanism. In Figure 9, the inner ring seat 21 and the outer ring seat 22 can rotate around the inner ring rotating shaft 27A as shown; in Figure 11, the outer ring seat 22 The base 23 of the vector mechanism can rotate around the outer ring rotating shaft 27B as shown in the figure.

As shown in Figure 12, this figure is a schematic diagram of the inner and outer ring seats and the inner ring steering gear rocker rod. The inner ring steering gear 24A is installed at the inner ring steering gear installation position 29A on the outer ring seat 22. The link mechanism formed by 25A and the inner ring pull rod 26A is connected to the inner ring base 21 and connected to the hinge hole 28B of the inner ring base and the inner ring pull rod. The inner ring seat 21 and the outer ring seat 22 are hinged on the inner ring rotating shaft 27A and can rotate around the axis. The inner ring rocker arm 25A and the inner ring pull rod 26A are hinged on the hinge shaft 27C of the inner ring steering gear rocker arm pull rod and can rotate around the axis. The inner ring steering gear 24A will generate a corresponding movement after receiving the signal from the onboard computer, and then drive the inner ring seat 21 to rotate.

As shown in Figure 13, this figure is a schematic diagram of the outer ring seat, the vector mechanism base and the rocker arm pull rod of the outer ring steering gear. Similar to the above, the outer ring steering gear 24A is installed on the vector mechanism base 23. At the installation position 29B, the connecting rod mechanism composed of the outer ring rocker arm 25B and the outer ring pull rod 26B and the vector mechanism base 23 are hinged at the hinge hole 28C of the outer ring seat and the outer ring pull rod, and the outer ring seat 22 is connected to the vector mechanism base. The seat 23 is hinged at the outer ring rotating shaft 27B and can rotate around the axis. The outer ring rocker arm 25B and the outer ring pull rod 26B are hinged at the hinge shaft 27D of the outer ring steering gear rocker arm pull rod and can rotate around the axis. After the outer ring steering gear 24B receives the signal from the on-board computer, it will generate a corresponding movement, and then drive the outer ring seat 22 to rotate.

As shown in Figure 14, this figure is a top view of the vector deflection mechanism, the inner ring seat 21 and the outer ring seat are hinged at the inner ring rotating shaft 27A, and 28A is the installation hole of the power assembly.

The vector mechanism base 23 is provided with four fuselage mounting holes 28D, through which the fuselage mounting holes 28D are fixedly connected with the fuselage 3 by bolts.

The inner ring seat 21 takes the dimensions of the motor mounting seat 18 as a reference, and there is a circular groove in the middle to accommodate the coaxial motor 17; in addition, there are motor wire holes 20, shaft grooves, etc.

The outer ring seat 22 is a chamfered square ring part, the upper and lower surfaces are respectively provided with the shaft groove lugs of the yaw dimension and the pitch dimension, the inner ring steering gear installation position 29A is arranged under the rear side, and the circle is arranged on the right side. The hole is used to hinge with the outer ring pull rod 26B;

The upper surface of the vector mechanism base 23 is provided with a rotating shaft groove lug and an outer ring servo mounting position 29B.

In the present invention, both the inner ring seat 21 and the vector mechanism base 23 have holes for motor wires, which are used to arrange and fix the motor wires in a narrow space, and ensure that the wires will not interfere with the normal operation of the vector deflection mechanism. Through the above-mentioned method, the vector thrust mechanism can realize the two-degree-of-freedom rotation of the rotor thrust direction around the y-axis and the z-axis respectively, and then generate a moment around the center of gravity to control the flight attitude of the aircraft.

(3) Fuselage:

As shown in Figure 15 and Figure 16, this figure is a schematic view of the fuselage part, the fuselage 3 includes a fuselage cabin section 32, and the top of the fuselage cabin section 32 is fixedly installed with a satellite navigation receiving antenna mount 31, specifically, the fuselage cabin The section 32 and the satellite navigation receiving antenna mounting seat 31 are installed in the fuselage mounting hole 28D of the vector mechanism base 23 through four through bolts, and the satellite navigation receiving antenna mounting seat 31 is equipped with a satellite navigation receiving antenna receiver 34 for The onboard computer provides satellite navigation information necessary for flight control. The interior of the fuselage compartment section 32 accommodates an on-board computer 35, a battery 36 and an electronic governor 37; the on-board computer 35 is the control center of the whole machine, and sends corresponding signals to the on-board equipment after receiving instructions from the remote control equipment , and then make the airborne equipment make corresponding movements according to the requirements to realize the control of the aircraft movement. The battery 36 is the main energy source of the whole machine, which supplies power for the power unit and the control system, and the electronic governor 37 mainly plays two roles. The second is to convert the DC current of the battery into the three-way alternating current required by the coaxial motor after receiving the signal from the onboard computer, so as to ensure the normal operation of the power unit.

The bottom of the fuselage cabin section 32 is fixedly installed with a foot frame 33 . The tripod 33 is inserted and fixed to the bottom of the fuselage section 32, which can be used to support the aircraft and prevent possible overturning accidents of the coaxial dual-rotor UAV during take-off and landing.

Specifically, the fuselage is a slender square box structure for accommodating large-capacity batteries, electronic governors, etc., and is fastened together with the vector deflection mechanism with bolts through the screw holes at the four corners. The tripod is four cylindrical pillars, which are inserted into the preset mounting holes at the bottom of the fuselage to provide stable support during take-off and landing.

It can be seen that the present invention realizes the vector pull technology of the coaxial dual-rotor UAV by using two vector control steering gears to control a two-degree-of-freedom rotating mechanism, and provides a new coaxial dual-rotor UAV configuration. The structure is simple, which effectively simplifies the structure for changing the spatial orientation of the rotor thrust, reduces the number of parts of the power device, and improves the reliability and structural safety of the system.

The above is only a preferred embodiment of the present invention, it should be pointed out that, for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications can also be made. It should be regarded as the protection scope of the present invention.

Claims (4)

1. Coaxial double rotor unmanned aerial vehicle based on vector mechanism, characterized by, include: the device comprises a power assembly (1), a vector deflection mechanism (2) and a machine body (3);

the power assembly (1) comprises a coaxial motor driving unit, an upper rotor wing unit and a lower rotor wing unit; wherein the coaxial motor drive unit comprises a coaxial motor (17) and a motor mounting seat (18); the coaxial motor (17) comprises an upper motor (17A) and a lower motor (17B); the upper motor (17A) and the lower motor (17B) are arranged on the upper side and the lower side of the motor mounting seat (18) in a tail-to-tail manner; the upper motor (17A) has no output shaft; the lower motor (17B) is provided with a motor output shaft (12), and the motor output shaft (12) of the lower motor (17B) penetrates out upwards through a central hole of the upper motor (17A);

the lower rotor unit comprises a lower rotor cap (11B), a lower rotor hub (15) and lower rotor blades (16); the lower rotor hub (15) is fixedly assembled on the lower rotor cover (11B), and two sides of the lower rotor hub (15) are hinged with one lower rotor blade (16) respectively; the lower rotor cover (11B) is sleeved outside the upper motor (17A) and enables the motor output shaft (12) to pass through the center of the lower rotor hub (15); the lower rotor hub (15) is fixedly connected with a mounting hole on a motor rotor shell of the upper motor (17A), and the lower rotor hub (15) is driven to rotate through the upper motor (17A), so that the lower rotor cover (11B) and the lower rotor blades (16) are driven to synchronously rotate;

the upper rotor unit comprises an upper rotor cap (11A), an upper rotor hub (13), upper rotor blades (14) and an upper rotor mounting cap (19);

the upper rotor hub (13) is fixedly assembled on the upper rotor cover (11A), and two sides of the upper rotor hub (13) are respectively hinged with an upper rotor blade (14); the upper rotor cover (11A) is arranged above the lower rotor cover (11B), the motor output shaft (12) is fastened with the upper rotor hub (13) through an upper rotor mounting cap (19), and the upper rotor hub (13) is driven to rotate through the lower motor (17B), so that the upper rotor cover (11A) and the upper rotor blades (14) are driven to synchronously rotate;

the vector deflection mechanism (2) includes: an inner ring seat (21), an inner ring seat deflection unit, an outer ring seat (22), an outer ring seat deflection unit and a vector mechanism base (23);

the top of the inner ring seat (21) is provided with a power assembly installation hole site (28A), and a motor installation seat (18) of the power assembly (1) is fixedly connected with the power assembly installation hole site (28A), so that the power assembly (1) and the inner ring seat (21) are fixedly connected;

the inner ring seat (21) is arranged in the outer ring seat (22), and two sides of the central axis of the inner ring seat (21) are hinged with two sides of the central axis of the outer ring seat (22) through an inner ring rotating shaft (27A); the inner ring seat deflection unit is used for driving the inner ring seat (21) to deflect in the Y direction relative to the outer ring seat (22) around the inner ring rotating shaft (27A), and comprises an inner ring steering engine (24A) and an inner ring rocker arm pull rod mechanism; the inner ring steering engine (24A) is fixedly arranged on the outer ring seat (22), and the output end of the inner ring steering engine (24A) is connected with the inner ring seat (21) through the inner ring rocker arm pull rod mechanism;

the vector mechanism base (23) is arranged below the outer ring seat (22), and two sides of the outer ring seat (22) are hinged with the vector mechanism base (23) through an outer ring rotating shaft (27B); the outer ring seat deflection unit is used for driving the outer ring seat (22) to deflect around the outer ring rotating shaft (27B) in the Z direction relative to the vector mechanism base (23), and comprises an outer ring steering engine (24B) and an outer ring rocker arm pull rod mechanism;

the outer ring steering engine (24B) is fixedly arranged on the vector mechanism base (23), and the output end of the outer ring steering engine (24B) is connected with the outer ring seat (22) through the outer ring rocker arm pull rod mechanism;

the vector mechanism base (23) is provided with a machine body installation hole site (28D), and is fixedly connected with the machine body (3) through the machine body installation hole site (28D);

wherein the lower rotor blade (16) and the upper rotor blade (14) are both folding blades;

wherein, inner ring rocking arm pull rod mechanism includes: an inner ring rocker arm (25A) and an inner ring pull rod (26A);

the upper end of the inner ring pull rod (26A) is hinged to a position of a hinge hole (28B) between the inner ring seat (21) and the inner ring pull rod, the lower end of the inner ring pull rod is hinged to an inner ring steering gear rocker arm pull rod hinge shaft (27C) by an inner ring rocker arm (25A), the upper end of the inner ring rocker arm (25A) is hinged to the inner ring pull rod (26A), the lower end of the inner ring rocker arm is hinged to the inner ring steering gear (24A), and the inner ring steering gear (24A) is fixed on the outer ring seat (22) and is arranged on an inner ring steering gear mounting position (29A).

2. The coaxial dual rotor unmanned aerial vehicle based on a vector mechanism according to claim 1, wherein the outer ring rocker arm pull rod mechanism comprises an outer ring rocker arm (25B) and an outer ring pull rod (26B);

the upper end of the outer ring pull rod (26B) is hinged with the outer ring seat (22) at the position of a hinge hole position (28C) of the outer ring seat and the outer ring pull rod, the lower end of the outer ring pull rod is hinged with the outer ring rocker arm (25B) at a hinge shaft (27D) of the outer ring steering engine pull rod, the upper end of the outer ring rocker arm (25B) is hinged with the outer ring pull rod (26B), the lower end of the outer ring rocker arm is hinged with the outer ring steering engine (24B), and the outer ring steering engine (24B) is fixed at an outer ring steering engine mounting position (29B) on the vector mechanism base (23).

3. The coaxial double-rotor unmanned aerial vehicle based on the vector mechanism according to claim 1, wherein the motor mounting seat (18) is an aluminum mounting seat matched with a motor, is in a circular shape, and is provided with four screw fastening lugs at the outer edge;

the inner ring seat (21) takes the sizes of the motor mounting seat (18) as references, and a circular groove is arranged in the middle of the inner ring seat for accommodating the coaxial motor (17);

the outer ring seat (22) is a chamfering square ring part, the upper surface and the lower surface are respectively provided with a rotating shaft groove lug in yaw dimension and pitch dimension, an inner ring steering engine mounting position (29A) is arranged below the rear side edge, and a round hole is arranged on the right side edge and is hinged with the outer ring pull rod (26B);

the upper surface of the vector mechanism base (23) is provided with a rotating shaft groove lug and an outer ring steering engine mounting position (29B).

4. The coaxial double-rotor unmanned aerial vehicle based on the vector mechanism according to claim 1, wherein the fuselage (3) comprises a fuselage cabin section (32), a satellite navigation receiving antenna mounting seat (31) is fixedly arranged above the fuselage cabin section (32), and a satellite navigation receiving antenna receiver (34) is arranged in the satellite navigation receiving antenna mounting seat (31); the interior of the fuselage section (32) accommodates an onboard computer (35), a battery (36) and an electronic governor (37); the foot rest (33) is fixedly arranged at the bottom of the fuselage cabin section (32).

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