CN110422339A - A kind of assemble method of coaxial double-rotary wing formula unmanned plane - Google Patents
A kind of assemble method of coaxial double-rotary wing formula unmanned plane Download PDFInfo
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- CN110422339A CN110422339A CN201910813787.6A CN201910813787A CN110422339A CN 110422339 A CN110422339 A CN 110422339A CN 201910813787 A CN201910813787 A CN 201910813787A CN 110422339 A CN110422339 A CN 110422339A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
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Abstract
The present invention discloses a kind of assemble method of coaxial double-rotary wing formula unmanned plane, wherein, the assemble method includes: to assemble unmanned plane using modular method, wherein, the assemble method includes: the hollow spindle that inclination disk module, lower rotor module and upper rotor module are in turn mounted to along axial direction according to sequence from top to bottom to unmanned plane, wherein, it tilts to be formed between disk module and lower rotor module and be sequentially connected to drive lower rotor module bending moment, and upper rotor module and inclination disk module keep connection open circuit.The present invention can simplify structure by using modularized design, and assemble simple.
Description
Technical field
The present invention relates to vehicle technology field more particularly to a kind of assemble methods of coaxial double-rotary wing formula unmanned plane.
Background technique
The history for being developed so far existing more than 80 year of unmanned plane.Unmanned plane is to utilize radio robot and the journey provided for oneself
The not manned aircraft of sequence control device manipulation.Without cockpit on machine, but automatic pilot, presetting apparatus is installed etc. and sets
It is standby.On ground, naval vessels or machine tool remote control station personnel are by equipment such as radars, are tracked, positioned to unmanned plane, is remotely controlled, telemetering
And Digital Transmission.Unmanned plane can take off as conventional airplane under wireless remotecontrol or be launched with booster rocket, can also
Aerial launch is taken to by machine tool to fly.When recycling, the available mode automatic Landing as conventional airplane landing mission of unmanned plane,
It can also be recycled by remote control parachute or block.Unmanned plane can be reused several times.
Unmanned plane by application field can be divided into it is military with it is civilian.Military aspect, unmanned plane can be widely used for aerial reconnaissance, prison
Depending on, communication, antisubmarine, electronic interferences etc..Civilian aspect can be widely applied to take photo by plane at present, agricultural, plant protection, miniature self-timer, express delivery
Transport, disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making etc.
Field.Classify (civil aviaton's regulation) by scale, unmanned plane can be divided into miniature drone, light-duty unmanned plane, small drone and big
Type unmanned plane.Miniature drone refers to that empty weight is less than or equal to 7kg.Light-duty unmanned plane refers to that quality is greater than 7kg, but be less than etc.
In the unmanned plane of 116kg, and full power is put down in winged, and calibrated airspeed is less than 100km/h (55nmile/h), and ceiling is less than 3000m.
Small drone refers to that empty weight is less than or equal to the unmanned plane of 5700kg, except miniature and light-duty unmanned plane.It is large-scale nobody
Machine refers to that empty weight is greater than the unmanned plane of 5700kg.
Traditional single rotor unmanned helicopter is since it is desired that balance reaction torque and control course, thus must configure tail
Paddle, so as to cause structure is complicated, volume is big, poor reliability, tail-rotor consumes 30% power.
Current miniature drone is mainly used in military purposes, thus miniature drone itself is carried monitoring, prison
The stability of the mission payloads such as equipment is listened to propose higher requirement.However, with the miniaturization of miniature drone, it is whole
Quality is more and more lighter, and the vibration of fuselage can be obvious, will affect the stability of mission payload operation sometimes.Meanwhile some
In special circumstances, since different task needs, the performance of miniature drone is often had different needs, but miniature drone
Often integraty is strong, poor compatibility, when executing task, generally requires to carry multiple or multiple groups and executes the micro-unmanned of different task
Machine, had not only increased the cost of execution task, but also was unfavorable for safeguarding.
The characteristics of coaxial double-rotor helicopter is that have the two secondary rotor up and down rotated around same theory axis a positive and a negative,
I.e. upper rotor and lower rotor, two secondary rotors are identical, they are mounted on one on the other in the same rotor shaft, between two secondary rotors
It is at regular intervals.The direction of rotation of two secondary rotors is on the contrary, therefore their reaction torque can offset each other.Existing coaxial double-rotary wing
Unmanned plane mostly uses greatly the mechanisms such as retarder to connect, by two of retarder turn to opposite output shaft respectively with upper rotor and
Lower rotor connection, to realize the reverse rotation of upper rotor and lower rotor, to keep two secondary rotor bring reaction torques mutual
It offsets.In this way, coaxial double-rotor helicopter is just not necessarily to install tail-rotor.In general, the directional control of coaxial double-rotor helicopter relies on
Upper and lower two rotor always away from differential change complete.
The major advantage of coaxial double-rotor helicopter be it is compact-sized, outer dimension is small, because of No Tail Rotor, also just without installation
Long tail boom, fuselage length is substantially shorter, therefore can realize miniaturization.Further, coaxial double-rotor helicopter has two
Secondary rotor generates lift, and the diameter of each rotor can also shorten.In addition, airframe components can compactly be arranged in helicopter center of gravity
Place, so flight stability is good, is also convenient for manipulating.Compared with single rotor tail-rotor helicopter, driving efficiency is obviously mentioned
It is high.
In addition, the advantages of coaxial double-rotary wing unmanned plane further include can VTOL, aerodynamic force is symmetrical, and hovering efficiency compares
Height, it is low and easy to use to landing site's requirement etc., therefore development prospect is huge.
Currently, coaxial unmanned plane can be divided into tradition machinery formula coaxial type and automatically controlled coaxial type, the former can be more mechanical linkages
Control, such as Russian cassette helicopter, the latter can possess 6 steering engine electric-control systems at present, reduce mechanical structure, and improving can
By property.But above two coaxial unmanned plane is by the full variable pitch contro l of blade up and down of upper rotor and lower rotor.Although relative to
Tradition machinery formula coaxial type, automatically controlled coaxial type has simplified mechanical structure, but is still controlled using the double pitches of 6 steering engines, steering engine
Quantity is more, and steering engine has air crash risk if breaking down, and assembles trouble.
It can be seen that existing coaxial double-rotary wing unmanned plane is mostly operated using the full displacement of upper and lower blade, to change unmanned plane
State of flight.Therefore, leading to above-mentioned unmanned plane, structure is complicated, is not easy to maintain, and reliability is low, assembling trouble.
Motor is the power core component of unmanned plane, and still, not only volume is big, heavy for existing unmanned plane motor, assembling fiber crops
It is tired, and power is small, and torque is small, and low bearing capacity, cruise duration is short, the serious development for restricting unmanned plane, is not able to satisfy coaxial double
The requirement of rotor wing unmanned aerial vehicle.
Therefore, this field needs a kind of assemble method of new coaxial double-rotary wing formula unmanned plane, can eliminate or at least slow
Solve above-mentioned all or part of defect of coaxial double-rotary wing formula unmanned plane in the prior art.
Summary of the invention
For above-mentioned the technical problems existing in the prior art, the purpose of the present invention is to provide a kind of coaxial double-rotary wing formulas
The assemble method of unmanned plane uses modularization assembling method, simplifies the structure of coaxial double-rotary wing formula unmanned plane, reliability
Height, and assemble simple.
For this purpose, providing a kind of assemble method of coaxial double-rotary wing formula unmanned plane according to an embodiment of the invention, wherein institute
It states assemble method and unmanned plane is assembled using modular method, wherein the assemble method includes:
Inclination disk module, lower rotor module and upper rotor module are in turn mounted to along axial direction according to sequence from top to bottom
The hollow spindle of unmanned plane, wherein transmission connection is formed between inclination disk module and lower rotor module to drive lower rotor module
Bending moment, and upper rotor module and inclination disk module keep connection open circuit.
Further, it is described will inclination disk module, lower rotor module and upper rotor module along axial direction according to from top to bottom
Sequence be in turn mounted to the hollow spindle of unmanned plane can include: will can removably tilt disk module, lower rotor respectively
Module and upper rotor module are installed to hollow spindle.
Further, disk module is tilted can include: pitch pull rod；Pitch bearing groove；Rolling bearing assembly comprising
Rolling bearing；And the flake bearing assembly with rolling bearing assembly immovable fitting, wherein flake bearing assembly includes flake axis
It holds, flake bearing block and the first metal ball-head for being connected to flake bearing block；
Wherein, inclination disk module is installed to the hollow spindle of unmanned plane can include: flake bearing is mounted on flake axis
It holds in seat, and the first metal ball-head is releasably connecting to flake bearing block；By rolling bearing and flake bearing block mistake
It is full of and is combined together；Rolling bearing assembly is installed in pitch bearing groove；Rolling bearing assembly and flake axis will be installed
The pitch bearing groove of bearing assembly, which securely covers, is attached to hollow spindle；And pitch pull rod is installed to pitch bearing groove.
Further, lower rotor module can include: the lower rotor assemblies and lower motor being connected to each other, wherein lower rotor
Component may include lower rotor blade, lower rotor hub, lower propeller hub mounting base and for changing upper rotor module and lower rotor module
Between spacing single layer pitch-changing mechanism, wherein lower motor may include matching used lower rotor and lower part stator, wherein
Lower rotor is able to rotate relative to lower part stator；
Wherein, lower rotor module is installed to the hollow spindle of unmanned plane can include: removably by lower part stator
Fixed to hollow spindle；Lower propeller hub mounting base is fastened to lower rotor；Lower rotor hub is installed to lower propeller hub mounting base；It will
Single layer pitch-changing mechanism one end is connected to lower rotor hub, and the other end is connected to lower propeller hub mounting base in a rotatable manner；And it will
Lower rotor blade is installed to lower rotor hub.
Further, upper rotor module can include: the upper rotor assemblies and upper motor being connected to each other, wherein upper rotor
Component may include upper rotor blade and upper rotor hub, wherein upper motor may include matching used upper rotor and top
Stator, wherein upper rotor is able to rotate relative to upper stator；
Wherein, upper rotor module is installed to the hollow spindle of unmanned plane can include: removably by upper stator
Fixed to hollow spindle；Upper rotor hub is fastened to upper rotor；And upper rotor blade is installed to upper rotor hub.
Further, it tilts and forms transmission connection between disk module and lower rotor module to drive lower rotor module bending moment can
It include: to tilt disk module one end shaft hole matching structure being adapted to pitch tie rod end is arranged；Lower rotor module is arranged and inclines
The other end shaft hole matching structure of swash plate tie rod end adaptation；Pitch pull rod passes through one end shaft hole matching structure and described
Other end shaft hole matching structure forms the transmission connection.
Further, one end shaft hole matching structure being adapted to pitch tie rod end is arranged in inclination disk module can include:
From outwardly projecting first protrusion of pitch bearing groove comprising penetrate the first connecting hole of the first protrusion；First connecting shaft,
One end is inserted into the first connecting hole, and the other end covers the respective end for being attached to pitch pull rod in a rotatable manner；
The other end shaft hole matching structure being adapted to pitch tie rod end is arranged in lower rotor module can include: from lower propeller hub
Outwardly projecting second protrusion of mounting base comprising penetrate the second connecting hole of the second protrusion；Second connecting shaft, one end insertion
In second connecting hole, the other end is rotatably inserted in the respective end of pitch pull rod.
Further, before the assemble method may also include that will tilt disk module is installed to the hollow spindle of unmanned plane,
Steering engine module can be removably installed to hollow spindle, and be set to below inclination disk module；
Wherein, steering engine module can include: two steering engines；Two steering engine rocker arms；Two steering engine connecting rods；Steering engine storehouse, is used for
Accommodate steering engine, steering engine rocker arm and steering engine connecting rod；And steering engine storehouse erecting bed；
Wherein, steering engine module is removably installed to hollow spindle can include: steering engine and steering engine storehouse can be installed
Hollow spindle is removably affixed to onto steering engine storehouse erecting bed, and by steering engine storehouse erecting bed；It can be by each steering engine rocker arm
Described one end is connected to corresponding steering engine in a manner of swingable, and the other end installs the second metal ball-head；It can be by each steering engine connecting rod one
End cap is attached to the first metal ball-head of inclination disk module, and other end set is attached to the second metal ball-head of corresponding steering engine rocker arm.
Further, the assemble method, which may also include that, is removably being installed to hollow spindle for steering engine module
Before, power module and winged control module are successively removably installed to hollow spindle, wherein power module setting exists
Fly below control module, and winged control module is arranged below steering engine module.
Further, the assemble method may also include that successively removably pacifies in power module and winged control module
After being attached to hollow spindle, navigation module can be removably installed at the top of unmanned plane, and be connected to hollow spindle, and will
The harness of navigation module, which passes through hollow spindle and is connected to, flies control module；And undercarriage can be removably installed to nobody
Motor spindle, also, undercarriage is mounted to fold relative to hollow spindle.
The assemble method of the coaxial double-rotary wing formula unmanned plane provided according to embodiments of the present invention can get it is following the utility model has the advantages that
The present invention can eliminate existing helicopter integrated degree height, external carry is difficult, carries by providing modularized design
The inconvenient defect of lotus selection, and assemble simple.
Further, it is total can to simplify existing full displacement by only providing single layer pitch-changing mechanism in lower rotor module by the present invention
The labyrinth of axis helicopter, so that more compact structure, and assemble simple.
Further, the present invention can reduce drive mechanism, be further simplified structure, make by providing electric-machine directly-driven design
It is more compact to obtain structure, improves reliability, and assembles simple.
Further, by the present invention in that unmanned plane is only controlled by two steering engines, steering engine quantity can be reduced, greatly improving can
By property, failure rate is greatly reduced, and assembles simple.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes of the invention one
Point, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, does not constitute improper limitations of the present invention.Attached
In figure:
Fig. 1 schematically shows being total to for the assemble method assembling of coaxial double-rotary wing formula unmanned plane according to an embodiment of the invention
The main view of axis double-rotor type unmanned plane；
Fig. 2 schematically shows the side view of the coaxial double-rotary wing formula unmanned plane of Fig. 1；
Fig. 3 schematically shows the stereogram exploded view of the coaxial double-rotary wing formula unmanned plane of Fig. 1；
Fig. 4 schematically shows main view of the coaxial double-rotary wing formula unmanned plane of Fig. 1 after removing part enclosure；
Fig. 5 schematically shows the side view of the coaxial double-rotary wing formula unmanned plane of Fig. 4；
Fig. 6 schematically shows the perspective view of the coaxial double-rotary wing formula unmanned plane of Fig. 4；
Fig. 7 schematically shows the partial view A of the coaxial double-rotary wing formula unmanned plane of Fig. 6, mainly shows single layer displacement machine
Structure；
Fig. 8 schematically shows the upper rotor hub with upper rotary wing oar jig of the coaxial double-rotary wing formula unmanned plane of Fig. 4 respectively
Partial sectional view under extended state and folded state and perspective view in a folded configuration；
The coaxial double-rotary wing formula unmanned plane that Fig. 9 schematically shows Fig. 1 is in folding in upper rotor blade and lower rotor blade
Perspective view under overlapping state；
Figure 10 schematically shows the partial view B of the coaxial double-rotary wing formula unmanned plane of Fig. 6；
Figure 11 schematically shows the exploded view of the inclination disk module of the coaxial double-rotary wing formula unmanned plane of Fig. 4；
Figure 12 schematically shows the various state diagrams of the undercarriage of the coaxial double-rotary wing formula unmanned plane of Fig. 1；
Figure 13 schematically shows the assemble method of coaxial double-rotary wing formula unmanned plane according to an embodiment of the invention；
Figure 14 schematically shows the group of the inclination disk module of coaxial double-rotary wing formula unmanned plane according to an embodiment of the invention
Fill step；
Figure 15 schematically shows the group of the lower rotor module of coaxial double-rotary wing formula unmanned plane according to an embodiment of the invention
Fill step；
Figure 16 schematically shows the group of the upper rotor module of coaxial double-rotary wing formula unmanned plane according to an embodiment of the invention
Fill step；And
Figure 17 schematically shows the inclination disk module of coaxial double-rotary wing formula unmanned plane according to an embodiment of the invention under
The assembling steps of transmission connection between rotor module.
Drawing reference numeral explanation
100: unmanned plane；110: body；111: shell；112: hollow spindle；120: upper rotor module；121: upper rotor group
Part；122: upper rotor blade；123: upper rotor hub；124: upper motor；125: upper rotary wing oar jig；130: lower rotor module；
131: lower rotor assemblies；132: lower rotor blade；133: lower rotor hub；134: lower propeller hub mounting base；135: lower motor；
136: limit shaft；137: through-hole；138: limit hole；139: the second protrusions；140: inclination disk module；141: pitch pull rod；
142: pitch bearing groove；143: rolling bearing；144: flake bearing assembly；145: flake bearing；146: flake bearing block；
147: the first metal ball-heads；148: the first protrusions；150: steering engine module；151: steering engine；152: steering engine rocker arm；153: the second metals
Bulb；154: steering engine connecting rod；160: navigation module；170: flying control module；180: power module；190: undercarriage.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the specific embodiment of the invention and
Technical solution of the present invention is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only of the invention
A part of the embodiment, instead of all the embodiments.Based on the embodiment of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
Below in conjunction with attached drawing, the technical solution of embodiment that the present invention will be described in detail offer.
Referring to Fig. 1 to 7, the assemble method composition of coaxial double-rotary wing formula unmanned plane according to an embodiment of the invention is shown
Coaxial double-rotary wing formula unmanned plane 100, wherein unmanned plane 100 includes:
Body 110 comprising shell 111 and the hollow spindle 112 being installed on inside shell 111；
Upper rotor module 120 is removably installed to hollow spindle 112, and the upper rotor including being connected to each other
Component 121 and upper motor 124, wherein upper rotor assemblies 121 are including upper rotor blade 122 and for installing rotor blade
122 upper rotor hub 123, wherein upper motor 124 is removably affixed to hollow spindle 112, and upper rotor hub
123 are fastened to upper motor 124；
Lower rotor module 130 is arranged below upper rotor module 120, and is removably installed to hollow spindle
112, and lower rotor assemblies 131 and lower motor 135 including being connected to each other, wherein lower rotor assemblies 131 include lower rotor
Leaf 132, the lower rotor hub 133 for installing lower rotor blade 132, the lower propeller hub for installing lower rotor hub 133 are installed
Seat 134 and for changing spacing between upper rotor assemblies 121 and lower rotor assemblies 131 single layer pitch-changing mechanism, wherein single layer
Pitch-changing mechanism one end is connected to lower rotor hub 133, and the other end is connected to lower propeller hub mounting base 134 in a rotatable manner, wherein
Lower motor 135 is removably affixed to hollow spindle 112, and lower propeller hub mounting base 134 is fastened to lower motor 135；
And
Disk module 140 is tilted, is arranged below lower rotor module 130, and be removably installed to hollow spindle
112, and the pitch pull rod 141 including being connected to lower rotor hub 133.
Referring to Fig. 7, in one embodiment, single layer pitch-changing mechanism may include along being parallel to lower 132 side of extension of rotor blade
To direction be connected to limit shaft 136 between lower rotor hub 133 and lower propeller hub mounting base 134, be set to lower rotor hub
The through-hole 137 of 133 lateral position in face of lower propeller hub mounting base 134 and be set to lower propeller hub mounting base 134 in face of through-hole
The opposed limit hole 138 of 137 lateral position, wherein limit shaft 136 can one end be fastened to through-hole 137, the other end is with rotatable side
Formula is installed in limit hole 138, so that lower rotor hub 133 can pass through axial rotation of the limit shaft 136 in limit hole 138
Realize displacement movement.
In one embodiment, upper rotor blade 122 can be installed to upper rotor hub 123, backspin by upper rotary wing oar jig 125
Wing blade 132 can be pressed from both sides by lower rotor and be installed to lower rotor hub 133.
For example, upper rotor blade 122 can be connected with upper rotary wing oar jig 125 by thread connecting modes such as bolts, and
Upper rotary wing oar jig 125 can be assembled to upper rotor hub 123 by thread connecting modes such as bolt and nut cooperations, install
Cheng Hou, upper rotor blade 122 can be folded up and down around bolt axle, and upper rotary wing oar jig 125 can also be folded up and down around bolt axle.In Fig. 8
(a), (b) and schematic diagram of the upper rotary wing oar jig 125 under extended state and folded state (c) is shown respectively and is folding
Perspective view under state.
In one embodiment, upper rotor module 120 may also comprise the installation of the upper propeller hub for installing rotor hub 123
Seat, but do not include pitch-changing mechanism.
Similarly, lower rotor blade 132 can also be connected with lower rotor folder by thread connecting modes such as bolts, and
Lower rotor folder can also be assembled to lower rotor hub 133 by thread connecting modes such as bolt and nut cooperations, install
Cheng Hou, lower rotor blade 132 can also be folded up and down around bolt axle, and lower rotor folder can also be folded up and down around bolt axle.
The coaxial double-rotary wing formula unmanned plane that Fig. 9 schematically shows Fig. 1 is in folding in upper rotor blade and lower rotor blade
Perspective view under overlapping state.
In one embodiment, upper motor 124 may include matching used upper rotor and upper stator, wherein top
Rotor is able to rotate relative to upper stator, wherein upper rotor hub 123 can be fastened to upper rotor, and upper stator can be removable
Mode is unloaded fixed to hollow spindle 112.Typically, upper motor 124 can be brushless motor.For example, upper rotor hub 123 can lead to
The connection types such as screw immovable fitting is crossed to the upper rotor of upper motor 124, upper stator can be by means of bolt etc. even
It connects mode and hollow spindle 112 is fixed to by the location hole of upper stator suit.It can be between upper stator and upper rotor
Axial rotation.The harness of upper motor 124 can be passed through from hollow spindle 112.
In one embodiment, lower motor 135 may include matching used lower rotor and lower part stator, wherein lower part
Rotor is able to rotate relative to lower part stator, wherein lower propeller hub mounting base 134 can be fastened to lower rotor, and lower part stator can
Disassembly mode is fixed to hollow spindle 112.Typically, lower motor 135 can also be brushless motor.Lower part stator can be by means of spiral shell
The connection types such as bolt are simultaneously fixed to hollow spindle 112 by the location hole of lower part stator suit.Lower propeller hub mounting base 134 can lead to
The thread connecting modes such as screw immovable fitting is crossed to lower rotor.Lower rotor hub 133 can be such as by limit shaft 136
Single layer pitch-changing mechanism is installed to lower propeller hub mounting base 134, so that lower rotor hub 133 can be rotated by the axial direction of limit shaft 136,
And change the spacing between upper rotor assemblies 121 and lower rotor assemblies 131, to realize that displacement acts.
It can be seen that coaxial double-rotary wing formula unmanned plane of the invention is motor-direct-drive type.
Further, displacement movement is completed to control lower rotor hub 133, lower rotor hub 133 can connect pitch mould
The pitch pull rod 141 of block 140, as shown in figs. 5 and 10.
In one embodiment, inclination disk module 140 can be installed to hollow spindle 112 by bearing connection type, so that inclining
Swash plate module 140 can be tilted or be rotated relative to hollow spindle 112, as shown in figure 11.
Referring to Figure 10 and 11, in one embodiment, disk module 140 is tilted can include: securely set is attached to hollow spindle 112
Pitch bearing groove 142；The rolling bearing assembly being installed in pitch bearing groove 142 may include rolling bearing 143；
And the flake bearing assembly 144 with rolling bearing assembly immovable fitting, wherein flake bearing assembly 144 may include flake bearing
145, for installing the flake bearing block 146 of flake bearing 145 and being releasably connecting to the of flake bearing block 146
One metal ball-head 147, wherein rolling bearing 143 can be interference fitted together with flake bearing block 146.In addition, inclination disk module
140 can also connecting ball head pull rod, with connect lower section steering engine module 150.
In one embodiment, inclination disk module 140 may also include at least one pitch pull rod 141, and one end passes through axis
Hole fit system is connected to pitch bearing groove, and the other end is connected to lower rotor hub 133 by shaft hole matching mode.
Further, the settable one end shaft hole matching knot with 141 end adapter of pitch pull rod of inclination disk module 140
Structure comprising: from outwardly projecting first protrusion 148 of pitch bearing groove comprising penetrate the first connection of the first protrusion 148
Hole；First connecting shaft, one end are inserted into the first connecting hole, and the other end covers in a rotatable manner is attached to pitch pull rod 141
Respective end.
Further, the settable other end shaft hole matching knot with 141 end adapter of pitch pull rod of lower rotor module 130
Structure includes: from outwardly projecting second protrusion 139 of lower propeller hub mounting base comprising penetrates the second connecting hole of the second protrusion 139；
Second connecting shaft, one end are inserted into the second connecting hole, and the other end is rotatably inserted in the respective end of pitch pull rod 141
Portion.
For example, in one embodiment, inclination disk module 140 may include a pitch pull rod 141, and one end passes through axis hole
Fit system is connected to the first connecting shaft of pitch bearing groove 142, and the other end is connected to lower rotor by shaft hole matching mode
Second connecting shaft of propeller hub 133.
In an alternate embodiment, inclination disk module 140 may include two and be symmetrically disposed on 112 two sides of hollow spindle
Pitch pull rod 141, one end are connected to the first connecting shaft of pitch bearing groove by shaft hole matching mode, and the other end passes through
Shaft hole matching mode is connected to the second connecting shaft of lower rotor hub 133.
As shown in Figure 10, in one embodiment, unmanned plane 100, which may also include, is removably installed to hollow spindle
112 steering engine module 150 may be disposed at 140 lower section of inclination disk module, and include:
Two steering engines 151；
Two steering engine rocker arms 152, wherein each 152 one end of steering engine rocker arm is connected to corresponding steering engine in a manner of swingable
151, the other end has the second metal ball-head 153；
Two steering engine connecting rods 154, wherein each 154 one end of steering engine connecting rod is connected to the first metal ball of inclination disk module 140
First 147, other end set is attached to the second metal ball-head 153 of corresponding steering engine rocker arm 152；
Steering engine storehouse is used to accommodate steering engine 151, steering engine rocker arm 152 and steering engine connecting rod 154；
Steering engine storehouse erecting bed, is used to install steering engine 151 and steering engine storehouse, and be removably affixed to hollow spindle
112。
In one embodiment, each steering engine connecting rod 154 can be ball-head tension rod, and one end set of ball-head tension rod is attached to the first metal ball
First 147, other end set is attached to the second metal ball-head 153 of corresponding steering engine rocker arm 152.
In one embodiment, steering engine rocker arm 152 can be connected to steering engine 151 by thread connecting modes such as screws, the
Two metal ball-heads 153 are mountable on steering engine rocker arm 152, and for installing ball-head tension rod, steering engine 151 can be by bolt etc. even
Fitting is mounted on the erecting bed of steering engine storehouse, and ball-head tension rod is set in or is buckled on the second metal ball-head 153, and connects up inclination
Disk module 140 controls inclination disk module 140 by the swing of steering engine rocker arm 151.
In one embodiment, upper rotor blade 122 and lower rotor blade 132 can be rigid blades.Further, upper rotation
Wing blade 122 and lower rotor blade 132 can be the rigid blades with high lift-drag ratio.When unmanned plane during flying lift and resistance it
Than abbreviation lift resistance ratio.
In one embodiment, unmanned plane 100 may also include navigation module 160, be set to 100 top of unmanned plane, and position
Above upper rotor module 120, and it is releasably connecting to hollow spindle 112, as shown in figs. 1 and 4.Navigation module 160
It may be, for example, GPS navigation module.Navigation module 160 can be connected to the winged control flown in control module 170 by hollow spindle 112.
As shown in figure 4, in one embodiment, unmanned plane 100, which may also include, flies control module 170, it is set to steering engine module
150 lower sections, and it is releasably connecting to steering engine module 150, and include: to fly control storehouse, it is detachably connected to steering engine
Storehouse；And flying control, removably, which is placed in, to fly in control storehouse.
In one embodiment, unmanned plane 100 may also include the electronic speed regulation for upper motor 124 and lower motor 135
Device is installed on and flies in control storehouse and be located to fly control two sides.
In one embodiment, winged control can be flown in control storehouse by means of viscous be installed on of damping Double-face adhesive, and electron speed regulator is mountable
The cooling fin for heat dissipation can be equipped in winged control two sides, and on electron speed regulator.Flange and steering engine storehouse can for example be passed through by flying control storehouse
It is connected.
As shown in figure 4, in one embodiment, unmanned plane 100 may also include for being set to the power supply flown below control module
Module 180 comprising: battery compartment is detachably connected to fly control storehouse；The battery being placed in battery compartment.For example, battery
Storehouse can pass through flanged joint to winged control storehouse.
In one embodiment, unmanned plane 100 may also include the undercarriage for being removably set to 100 bottom of unmanned plane
190, it is foldable relative to unmanned plane 100, as shown in Fig. 4 and 12.It (d), (e) in Figure 12 and (f) schematically shows respectively
Full extension figure, holding state figure and the folded state diagram of the undercarriage 190 of the coaxial double-rotary wing formula unmanned plane of Fig. 1.
As shown in Fig. 4 and 12, unmanned plane 100 can be equipped with undercarriage 190 in bottom, install in various different loads modules
When, 100 bottom of unmanned plane can be equipped with the mounting rack for undercarriage 190.Mounting rack can by the connectors such as bolt with
The connection of 100 bottom of unmanned plane.For example, undercarriage 190 can be set, there are four support legs, to ensure support when 100 landing of unmanned plane.
The support leg of undercarriage 190 can be installed to mounting rack by connectors such as bolts, and can be around axial folding, in order to take
Undercarriage 190 is collapsible on body 110 when band.
In one embodiment, shell 111 can be installed to body 110 by connectors such as bolts, in above-mentioned each storehouse
Between provide and block, dustproof and waterproof.
As described above, coaxial double-rotary wing formula unmanned plane 100 of the invention can be Modularized unmanned machine.
Comparatively, existing helicopter is mostly single rotor tail-rotor helicopter, tail-rotor consumes 30%.Then occur
Using cassette series as the coaxal helicopter of representative.But due to complicated in mechanical structure, poor reliability and its high maneuver
When up and down blade be easy that the problem of beating paddle is not widely available always, the then automatically controlled coaxial complicated machinery connecting rod that solves of the second generation
Maintenance problem, simplifies control structure.But since blade rigidity and steering engine integrity problem failure rate are still very high.
By the present invention in that having used the design of electric-machine directly-driven, drive mechanism is reduced, promotes reliability, and use rigid blades
The risk that two layers of blade beats paddle is avoided, aircraft control is controlled by two steering engines, automatically controlled compared to the second generation coaxial to have lacked 4 controls
Steering engine greatly improves reliability.
Unmanned plane blade of the invention uses high lift-drag ratio constant pitch blade, and aircraft does not have to always change lift away from control,
And aircraft lifting and landing is controlled by motor speed, inclination disk module can control unmanned plane feathering by two steering engines to control nothing
The steering of man-machine pitching and roll, motor is realized by the unbalanced moments that the differential of upper motor and lower motor generates.
Next, providing a kind of a kind of coaxial double-rotary wing formula unmanned plane 100 according to an embodiment of the invention referring to Figure 13
Assemble method, wherein the assemble method using modular method assemble unmanned plane 100, wherein the assemble method packet
It includes:
By inclination disk module 140, lower rotor module 130 and upper rotor module 120 along axial direction according to sequence from top to bottom
It is in turn mounted to the hollow spindle 112 of unmanned plane 100, wherein formed and passed between inclination disk module 140 and lower rotor module 130
Dynamic connection is to drive lower 130 bending moment of rotor module, and upper rotor module 120 and inclination disk module 140 keep connection open circuit.
Further, it is above-mentioned will inclination disk module 140, lower rotor module 130 and upper rotor module 120 along axial direction according to
Sequence from top to bottom is in turn mounted to the hollow spindle 112 of unmanned plane 100 can include: will can removably tilt respectively
Disk module 140, lower rotor module 130 and upper rotor module 120 are installed to hollow spindle 112.
Further, it is above-mentioned inclination disk module 140 is installed to hollow spindle 112 and may also include that will tilt disk module
140 are installed to hollow spindle 112 by bearing connection type, and inclination disk module 140 is inclined relative to hollow spindle 112
Tiltedly.
Further, disk module 140 is tilted can include: pitch pull rod 141；Pitch bearing groove 142；Rolling bearing group
Part comprising rolling bearing 143；And the flake bearing assembly 144 with rolling bearing assembly immovable fitting, wherein flake axis
Bearing assembly 144 includes flake bearing 145, flake bearing block 146 and the first metal ball-head for being connected to flake bearing block 146
147；
As shown in figure 14, wherein the above-mentioned hollow spindle 112 that inclination disk module 140 is installed to unmanned plane 100 can wrap
It includes:
Flake bearing 145 is mounted in flake bearing block 146, and the first metal ball-head 147 is removably connected
It is connected to flake bearing block 146；
Rolling bearing 143 and flake bearing block 146 are interference fitted together；
Rolling bearing assembly is installed in pitch bearing groove 142；
The pitch bearing groove 142 for being equipped with rolling bearing assembly and flake bearing assembly 144 is securely covered and is attached to sky
Heart main shaft 112；And
Pitch pull rod 141 is installed to pitch bearing groove 142.
Further, lower rotor module 130 can include: the lower rotor assemblies 131 and lower motor 135 being connected to each other,
In, lower rotor assemblies 131 may include lower rotor blade 132, lower rotor hub 133, lower propeller hub mounting base 134 and for changing
The single layer pitch-changing mechanism of spacing between upper rotor module 120 and lower rotor module 130, wherein lower motor 135 may include mating
The lower rotor and lower part stator used, wherein lower rotor is able to rotate relative to lower part stator；
As shown in figure 15, wherein the above-mentioned hollow spindle 112 that lower rotor module 130 is installed to unmanned plane 100 can wrap
It includes:
Lower part stator is removably affixed to hollow spindle 112；
Lower propeller hub mounting base 134 is fastened to lower rotor；
Lower rotor hub 133 is installed to lower propeller hub mounting base 134；
Single layer pitch-changing mechanism one end is connected to lower rotor hub 133, the other end is connected to lower propeller hub in a rotatable manner
Mounting base 134；And
Lower rotor blade 132 is installed to lower rotor hub 133.
Further, single layer pitch-changing mechanism may include connecting along the direction for being parallel to lower 132 extending direction of rotor blade
Limit shaft 136 between lower rotor hub 133 and lower propeller hub mounting base 134, be set to lower rotor hub 133 in face of lower paddle
The through-hole 137 of the lateral position of hub mounting base 134 and be set to lower propeller hub mounting base 134 the lateral position in face of through-hole 137 pair
Set limit hole 138.When installation, one end of limit shaft 136 can be fastened to through-hole 137, the other end is installed in a rotatable manner
In limit hole 138, so that lower rotor hub 133 can realize displacement by axial rotation of the limit shaft 136 in limit hole 138
Movement.
Further, upper rotor module 120 can include: the upper rotor assemblies 121 and upper motor 124 being connected to each other,
In, upper rotor assemblies 121 may include upper rotor blade 122 and upper rotor hub 123, wherein upper motor 124 may include mating
The upper rotor and upper stator used, wherein upper rotor is able to rotate relative to upper stator；
As shown in figure 16, wherein the above-mentioned hollow spindle 112 that upper rotor module 120 is installed to unmanned plane 100 can wrap
It includes:
Upper stator is removably affixed to hollow spindle 112；
Upper rotor hub 123 is fastened to upper rotor；And
Upper rotor blade 122 is installed to upper rotor hub 123.
In one embodiment, referring to Figure 17, transmission is formed between above-mentioned inclination disk module 140 and lower rotor module 130
Connection is to drive lower 130 bending moment of rotor module can include:
Tilt one end shaft hole matching structure of disk module 140 setting and 141 end adapter of pitch pull rod；
The other end shaft hole matching structure of lower rotor module 130 setting and 141 end adapter of pitch pull rod；
Pitch pull rod 141 is formed described by one end shaft hole matching structure and the other end shaft hole matching structure
Transmission connection.
Further, one end shaft hole matching structure of inclination disk module 140 setting and 141 end adapter of pitch pull rod,
It can include: is from outwardly projecting first protrusion 148 of pitch bearing groove 142 comprising penetrate the first protrusion 148 first connects
Connect hole；First connecting shaft, one end are inserted into the first connecting hole, and the other end covers in a rotatable manner is attached to pitch pull rod 141
Respective end；
The other end shaft hole matching structure of lower rotor module 130 setting and 141 end adapter of pitch pull rod, can wrap
It includes: from outwardly projecting second protrusion 139 of lower propeller hub mounting base 134 comprising penetrate the second connecting hole of the second protrusion 139；
Second connecting shaft, one end are inserted into the second connecting hole, and the other end is rotatably inserted in the respective end of pitch pull rod 141
Portion.
Further, the assemble method may also include that the hollow spindle that inclination disk module 140 is installed to unmanned plane
Before 112, steering engine module 150 is removably installed to hollow spindle, and is set to 140 lower section of inclination disk module；
Wherein, steering engine module 150 can include: two steering engines 151；Two steering engine rocker arms 152；Two steering engine connecting rods 154；Rudder
Cabin is used to accommodate steering engine 151, steering engine rocker arm 152 and steering engine connecting rod 154；And steering engine storehouse erecting bed；
It is wherein, above-mentioned that steering engine module 150 is removably installed to hollow spindle 112 can include:
Steering engine 151 and steering engine storehouse are installed on the erecting bed of steering engine storehouse, and steering engine storehouse erecting bed is removably solid
Surely hollow spindle 112 is arrived；
Described one end of each steering engine rocker arm 152 is connected to corresponding steering engine 151 in a manner of swingable, other end installation the
Two metal ball-heads 153；
One end set of each steering engine connecting rod 154 is attached to the first metal ball-head 147 of pitch module 140, other end suit
To the second metal ball-head 153 of corresponding steering engine rocker arm.
Further, the assemble method, which may also include that, is removably being installed to hollow master for steering engine module 150
Before axis 112, power module 180 and winged control module 170 are successively removably installed to hollow spindle 112, wherein will
The setting of power module 180 is flying below control module 170, and winged control module 170 is arranged below steering engine module 150.
Further, the assemble method may also include that in power module 180 and fly control module 170 successively with detachable
After mode is installed to hollow spindle 112, navigation module 160 can be removably installed on to 100 top of unmanned plane, and connect
To hollow spindle 112, and the harness of navigation module 160 is passed through hollow spindle 112 and is connected to and flies control module 170；And it can incite somebody to action
Undercarriage 190 is removably installed to 100 bottom of unmanned plane, also, undercarriage 190 is mounted to can be relative to hollow master
Axis 112 folds.
Finally, for unmanned plane 100 except lower rotor module 130 lower rotor assemblies 131 and upper rotor module 120 it is upper
Part except rotor assemblies 121 can be covered with shell 111.
The assemble method of the coaxial double-rotary wing formula unmanned plane provided according to embodiments of the present invention can be set by providing modularization
Meter, so that can eliminate, existing helicopter integrated degree is high, and external carry is difficult, the inconvenient defect of load selection, so that assembling
It is simpler.
The assemble method of the coaxial double-rotary wing formula unmanned plane provided according to embodiments of the present invention can be used for assembling such as miniature
The unmanned plane of the sizes such as unmanned plane, light-duty unmanned plane, small drone and large-scale unmanned plane is small especially suitable for assembling
Type or miniature coaxial double-rotary wing formula unmanned plane.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In addition, "front", "rear", "left", "right", "upper", "lower" are ginseng with the placement status indicated in attached drawing herein
According to.
Finally, it should be noted that the above examples are only used to illustrate the technical scheme of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of assemble method of coaxial double-rotary wing formula unmanned plane, which is characterized in that unmanned plane is assembled using modular method,
In, the assemble method includes:
Inclination disk module, lower rotor module and upper rotor module are in turn mounted to nobody according to sequence from top to bottom along axial direction
The hollow spindle of machine, wherein it is formed and is sequentially connected to drive lower rotor module bending moment between inclination disk module and lower rotor module,
And upper rotor module and inclination disk module keep connection open circuit.
2. the assemble method of coaxial double-rotary wing formula unmanned plane as described in claim 1, which is characterized in that described by pitch
Module, lower rotor module and upper rotor module are in turn mounted to the hollow spindle of unmanned plane along axial direction according to sequence from top to bottom
Include:
Inclination disk module, lower rotor module and upper rotor module are removably installed to hollow spindle respectively.
3. the assemble method of coaxial double-rotary wing formula unmanned plane as claimed in claim 2, which is characterized in that the inclination disk module
It include: pitch pull rod；Pitch bearing groove；Rolling bearing assembly comprising rolling bearing；And it is tight with rolling bearing assembly
Admittedly the flake bearing assembly cooperated, wherein flake bearing assembly includes flake bearing, flake bearing block and is connected to flake axis
Hold the first metal ball-head of seat；
Wherein, include: by the hollow spindle that inclination disk module is installed to unmanned plane
Flake bearing is mounted in flake bearing block, and the first metal ball-head is releasably connecting to flake bearing
Seat；
Rolling bearing and flake bearing block are interference fitted together；
Rolling bearing assembly is installed in pitch bearing groove；
The pitch bearing groove for being equipped with rolling bearing assembly and flake bearing assembly is securely covered and is attached to hollow spindle；And
Pitch pull rod is installed to pitch bearing groove.
4. the assemble method of coaxial double-rotary wing formula unmanned plane as claimed in claim 2, which is characterized in that the lower rotor module
Include: the lower rotor assemblies and lower motor being connected to each other, wherein lower rotor assemblies include lower rotor blade, lower rotor hub,
Lower propeller hub mounting base and single layer pitch-changing mechanism for changing spacing between upper rotor module and lower rotor module, wherein lower part
Motor includes matching used lower rotor and lower part stator, wherein lower rotor is able to rotate relative to lower part stator；
Wherein, include: by the hollow spindle that lower rotor module is installed to unmanned plane
Lower part stator is removably affixed to hollow spindle；
Lower propeller hub mounting base is fastened to lower rotor；
Lower rotor hub is installed to lower propeller hub mounting base；
Single layer pitch-changing mechanism one end is connected to lower rotor hub, the other end is connected to lower propeller hub mounting base in a rotatable manner；
And
Lower rotor blade is installed to lower rotor hub.
5. the assemble method of coaxial double-rotary wing formula unmanned plane as claimed in claim 2, which is characterized in that the upper rotor module
It include: the upper rotor assemblies and upper motor being connected to each other, wherein upper rotor assemblies include upper rotor blade and upper rotor
Hub, wherein upper motor includes matching used upper rotor and upper stator, wherein upper rotor is relative to upper stator
It is able to rotate；
Wherein, include: by the hollow spindle that upper rotor module is installed to unmanned plane
Upper stator is removably affixed to hollow spindle；
Upper rotor hub is fastened to upper rotor；And
Upper rotor blade is installed to upper rotor hub.
6. the assemble method of coaxial double-rotary wing formula unmanned plane as claimed in claim 3, which is characterized in that the inclination disk module
Transmission connection is formed between the lower rotor module to drive the lower rotor module bending moment to include:
One end shaft hole matching structure being adapted to pitch tie rod end is arranged in the inclination disk module；
The other end shaft hole matching structure being adapted to pitch tie rod end is arranged in the lower rotor module；
The pitch pull rod forms the biography by one end shaft hole matching structure and the other end shaft hole matching structure
Dynamic connection.
7. the assemble method of coaxial double-rotary wing formula unmanned plane as claimed in claim 6, which is characterized in that
One end shaft hole matching structure being adapted to pitch tie rod end is arranged in the inclination disk module comprising: from pitch
Outwardly projecting first protrusion of bearing groove comprising penetrate the first connecting hole of the first protrusion；First connecting shaft, one end insertion
In first connecting hole, the other end covers the respective end for being attached to pitch pull rod in a rotatable manner；
The other end shaft hole matching structure being adapted to pitch tie rod end is arranged in the lower rotor module comprising: from lower paddle
Outwardly projecting second protrusion of hub mounting base comprising penetrate the second connecting hole of the second protrusion；Second connecting shaft, one end are inserted
Enter in the second connecting hole, the other end is rotatably inserted in the respective end of pitch pull rod.
8. the assemble method of coaxial double-rotary wing formula unmanned plane as claimed in claim 3, which is characterized in that further include: it will tilt
Disk module is installed to before the hollow spindle of unmanned plane, steering engine module is removably installed to hollow spindle, and be arranged
Below inclination disk module；
Wherein, steering engine module includes: two steering engines；Two steering engine rocker arms；Two steering engine connecting rods；Steering engine storehouse is used to accommodate rudder
Machine, steering engine rocker arm and steering engine connecting rod；And steering engine storehouse erecting bed；
Wherein, steering engine module is removably installed to hollow spindle includes:
Steering engine and steering engine storehouse are installed on the erecting bed of steering engine storehouse, and steering engine storehouse erecting bed is removably affixed to hollow
Main shaft；
Described one end of each steering engine rocker arm is connected to corresponding steering engine in a manner of swingable, the other end installs the second metal ball
Head；
Each steering engine connecting rod one end set is attached to the first metal ball-head of pitch module, other end set is attached to corresponding steering engine rocker arm
The second metal ball-head.
9. the assemble method of coaxial double-rotary wing formula unmanned plane as claimed in claim 8, which is characterized in that further include:
Before steering engine module is removably installed to hollow spindle, by power module and fly control module successively with removable
The mode of unloading is installed to hollow spindle, wherein is flying below control module power module setting, and winged control module is arranged in steering engine
Below module.
10. the assemble method of coaxial double-rotary wing formula unmanned plane as claimed in claim 9, which is characterized in that further include: in power supply
After module and winged control module are successively removably installed to hollow spindle,
Navigation module is removably installed at the top of unmanned plane, and is connected to hollow spindle, and by the line of navigation module
Beam, which passes through hollow spindle and is connected to, flies control module；And
Undercarriage is removably installed to uav bottom, also, undercarriage is mounted to can be relative to hollow spindle
It folds.
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| CN201910813787.6A CN110422339B (en) | 2019-08-30 | 2019-08-30 | Method for assembling coaxial double-rotor unmanned aerial vehicle |
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| CN201910813787.6A CN110422339B (en) | 2019-08-30 | 2019-08-30 | Method for assembling coaxial double-rotor unmanned aerial vehicle |
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| WO2024093476A1 (en) * | 2022-11-01 | 2024-05-10 | 苏州览众科技有限公司 | Coaxial dual-rotor unmanned aerial vehicle |
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| CN110422339B (en) | 2021-05-18 |
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Effective date of registration: 20200610 Address after: Unit J, room 613, floor 6, No. 10, Keji 1st Road, Gangwan Avenue, Tangjiawan Town, hi tech Zone, Zhuhai City, Guangdong Province Applicant after: Zhuhai AVIC Smart Technology Co.,Ltd. Address before: 100176 Building 1, yard 20, Tongji South Road, Daxing Economic and Technological Development Zone, Beijing Applicant before: Zu Yajun |
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| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 519080 Room 401, 4th floor, building 10, science and Technology Innovation Park, 1 Jintang Road, Tangjiawan Town, high tech Zone, Zhuhai City, Guangdong Province Applicant after: Zhuhai Xuanji Technology Co.,Ltd. Address before: 519000 unit J, room 613, 6th floor, main building, No.10, Keji 1st Road, Gangwan Avenue, Tangjiawan Town, high tech Zone, Zhuhai City, Guangdong Province Applicant before: Zhuhai AVIC Smart Technology Co.,Ltd. |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |