CN112046745B - A Portable Modular UAV Platform - Google Patents

Abstract

The invention discloses a portable modularized unmanned aerial vehicle platform, which comprises a coaxial double-rotor control part and a fixed wing module part; the coaxial double-rotor control part is fixed at the front end of the fixed wing module part; the coaxial dual-rotor control part comprises a packaging shell, an upper blade periodic variable pitch control mechanism, a control steering engine mechanism, a lower blade periodic variable pitch control mechanism and a packaging shell, wherein the upper blade periodic variable pitch control mechanism, the control steering engine mechanism, the lower blade periodic variable pitch control mechanism and the packaging shell are arranged in the packaging shell; the steering engine control mechanism comprises a pitching control steering engine, a rolling control steering engine and a steering engine seat; the rudder base is fixedly connected with the central supporting tube, and the pitching control steering engine and the rolling control steering engine are fixedly connected with the steering engine base; output shafts of the pitching control steering engine and the rolling control steering engine are connected with rocker arms, and the rocker arms are connected with steering engine pull rods; the rocker arm on the pitching control steering engine is connected with the pitching control rod of the cross plate through the steering engine pull rod, and the rocker arm on the rolling control steering engine is connected with the rolling control rod of the cross plate through the steering engine pull rod. The invention can realize the conversion of two control modes of the portable modularized unmanned aerial vehicle platform.

Description

A Portable Modular UAV Platform

technical field

The invention belongs to the field of unmanned aerial vehicle platform design, in particular to a portable modular unmanned aerial vehicle platform.

Background technique

With the continuous development of microelectronics technology and traditional information, control and other fields in recent years, the field of traditional UAVs has developed rapidly. UAVs are developing from the traditional high-altitude, large, and fast to low-altitude, small, and low-speed directions . And because of its unique working height, it effectively fills the gap of traditional low-altitude airspace work units.

However, as far as the current portable UAV is concerned, the portable UAV with the rotor configuration is small in size, low in load and weak in wind resistance. Portable small cylindrical coaxial anti-propeller three-blade rotor UAV (patent number CN111332462A), but its control mechanism is single-rotor periodic variable pitch control, because only one set of rotors provides pitch and Roll control torque, its flight performance is limited. And the center of gravity of the main body of the UAV is deviated, the control torque generated by the periodically variable control rotor will be further weakened, and its wind resistance performance and maximum horizontal flight speed will be partially restricted. At the same time, the configuration of the current individual UAV is relatively simple, only a pure rotor configuration or a fixed wing configuration, and the overall versatility is poor.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a portable modular unmanned aerial vehicle platform, so as to realize the transformation of the portable modular unmanned aerial vehicle between the coaxial anti-propeller rotorcraft and the tailstock type vertical take-off and landing fixed-wing aircraft.

The technical solution that realizes the object of the present invention is:

A portable modular UAV platform, comprising a coaxial dual rotor control part and a fixed wing module part; the coaxial dual rotor control part is fixed on the front end of the fixed wing module part;

The coaxial dual-rotor control part includes an upper blade cyclic pitch control mechanism, a control steering gear mechanism, a lower blade cyclic pitch control mechanism, and an encapsulation shell; the upper blade cyclic pitch control mechanism, a control steering gear The mechanism and the lower blade periodic pitch control mechanism are all arranged in the package shell;

The upper blade cyclic pitch control mechanism and the lower blade cyclic pitch control mechanism have the same structure, are arranged in a 90-degree staggered arrangement, and are symmetrically arranged at the upper and lower ends of the control steering gear mechanism;

The blade cyclic pitch control mechanism and the lower blade cyclic pitch control mechanism both include a hollow shaft motor, a motor base, a propeller hub, a blade shaft, a swash plate, a pitch-change lever, and a blade swing stopper; the The motor base is fixed on the central support tube, the stator of the hollow shaft motor is fixed on the motor base, the central support tube passes through the blade shaft through the bearing, the blade shaft is fixedly connected with the rotor of the hollow shaft motor, and the rotation of the hollow shaft motor rotor will drive the blade The shaft rotates; the propeller hub is located at the lower end of the hollow shaft motor; the propeller hub is sleeved on the propeller shaft, and is connected with the propeller shaft through two screws, the screw axis is perpendicular to the blade shaft axis; the screw and the propeller hub Through the bearing connection, the propeller hub can rotate around the axis of the screw, which is used to perform the periodic pitch change action of the propeller blade; the propeller blade swing stopper is connected with the propeller hub through the rotating shaft, and can swing down along the rotating shaft, but cannot swing upward; The paddle is fixedly connected with the paddle swing stopper;

The swash plate is connected with the central support pipe through a fisheye bearing; the swash plate and the propeller hub are connected by a pair of pitch-changing tie rods, and the pitch-changing tie rods are used to transmit the swash plate to the propeller hub periodical variable pitch control;

The control steering gear mechanism includes a pitch control steering gear, a roll control steering gear and a steering gear base; the steering gear base is fixedly connected with the central support pipe; the pitch control steering gear and the roll control steering gear are all connected to the steering gear. The base is fixedly connected; the output shafts of the pitch control steering gear and the roll control steering gear are all connected with rocker arms, and the rocker arms are connected with steering gear rods; the rocker arms on the pitch control steering gear are connected to the swashplate pitch control through the steering gear rods The rocker arm on the roll control servo is connected to the roll control rod of the swashplate through the pull rod of the servo.

Compared with the prior art, the present invention has the following significant advantages:

(1) By using the upper and lower dual-rotor variable-pitch structure, and using the 90-degree dislocation linkage design of the upper and lower swashplates, and the linkage design of the upper and lower swashplates, the number of steering gears is reduced to 2. Compared with the traditional dual-rotor single-rotor cycle With the control characteristics of variable pitch, its flight control efficiency will be greatly improved.

(2) Through the unique fixed-wing module design, the aircraft can be installed with a fixed-wing module under specific needs, so that the UAV platform will be transformed from a coaxial two-screw rotorcraft to a tail-mounted vertical take-off and landing fixed-wing aircraft. Greatly improve the performance of the UAV platform in the cruising state, such as the staying time, flight speed, load weight and so on.

(3) The fixed-wing module does not have a control surface, and the control will still use the rotor speed and periodic pitch change to achieve the control requirements. And the absence of electrical equipment will improve the reliability of the module and reduce the weight of the module.

Description of drawings

Figure 1 is a schematic diagram of the tailstock fixed-wing mode of the portable modular UAV platform.

Figure 2 is a schematic diagram of the mechanical structure of the control part of the rotor module.

3 is a schematic cross-sectional view of the connection between the upper hub and the upper blade shaft.

FIG. 4 is a partial schematic diagram of the swing stopper of the upper blade.

FIG. 5 is a schematic diagram of the storage of blades in a rotor mode.

FIG. 6 is a schematic diagram of a rotor mode blade deployment.

FIG. 7 is an overall schematic diagram of the dust cover of the rotor control module.

FIG. 8 is a schematic diagram of a fixed wing module.

1- Upper blade shaft 2- Upper pitch control rod 3- Pitch control steering gear 4- Lower swash plate 5- Lower propeller hub 6- Lower blade swing stopper 7- Lower hollow shaft motor 8- Lower motor seat 9- Central support tube 10 - Lower blade shaft 11 - Lower pitch change rod 12 - Steering gear rod 13 - Roll control steering gear 14 - Steering gear seat 15 - Upper swashplate 16 - Upper blade swing stopper 17 - Upper paddle Hub 18 - Upper hollow shaft motor 19 - Upper motor base 20 - Blade dust cover 21 - Steering gear dust cover 22 - Lower motor dust cover 23 - Lower blade 24 - Upper blade 25 - Upper motor dust cover 26-Top dust cover 27-Main wing of fixed wing module 28-Fixed wing module connecting piece 29-Wing tip winglet 30-Inverted V tail 31- tail connecting piece 32-bearing 33-bolt

Detailed ways

The present invention will be further introduced below with reference to the accompanying drawings and specific embodiments.

1-6, a portable modular UAV platform of the present invention includes a coaxial dual-rotor control part I and a fixed-wing module part II;

Described coaxial double rotor control part 1 comprises upper blade cyclical pitch control mechanism, control steering gear mechanism, lower blade cyclical pitch control mechanism, packaging shell

The upper blade cyclic pitch control mechanism and the lower blade cyclic pitch control mechanism have the same structure, are arranged in a 90-degree staggered arrangement, and are symmetrically arranged at the upper and lower ends of the control steering gear mechanism;

The upper blade period variable pitch control mechanism includes an upper hollow shaft motor 18, an upper motor base 19, an upper blade hub 17, an upper blade shaft 1, an upper swash plate 15, an upper pitch change rod 2, and an upper blade swing limiter. piece 16;

The central support tube 9 passes through the upper blade shaft 1, the upper blade shaft 1 is a hollow shaft, the upper and lower ends of the upper blade shaft 1 are respectively provided with bearings, and the central support tube 9 is supported on the upper blade shaft through the bearings. 1; the upper motor base 19 is fixedly connected to the central support tube 9, the stator of the upper hollow shaft motor 18 is fixedly connected to the upper motor base 19, and the rotor of the upper hollow shaft motor 18 is fixedly connected to the upper end of the upper blade shaft 1; the motor rotor The rotation will drive the upper blade shaft 1 to rotate, and transmit rotational power to the upper blade 24 . The upper propeller hub 17 is located at the lower end of the upper hollow shaft motor 18; with reference to FIG. 3, the upper propeller hub 17 is sleeved on the upper propeller shaft 1, and is connected with the upper propeller shaft 1 by bolts 33, and the bolt axis is vertical On the axis of the upper blade shaft 1; the bolt 33 is connected with the upper hub 17 through the bearing 32, so that the upper hub 17 can rotate around the axis of the bolt for performing the periodic pitch change action of the blade. The upper blade waving stopper 16 is connected with the upper propeller hub 17 through a rotating shaft, and can swing downward along the rotating shaft; with reference to FIG. 4 , the upper end of the upper blade waving stopper 16 is provided with a limiting boss 16-1 , so that the upper blade swing stopper 16 cannot swing upward relative to the upper hub 17 . The upper blade 24 is fixedly connected with the upper blade waving stopper 16. Referring to FIG. 5, the upper blade 24 can be rotated and folded downward by the upper blade waving stopper 16, which is convenient for the actual storage operation. Referring to Figure 6, when the blade rotates, due to the centrifugal effect, the blade will be automatically thrown away to the horizontal position in the normal working state.

The upper swash plate 15 is connected to the central support tube 9 through fisheye GE series bearings; the upper swash plate 15 is located at the lower end of the upper blade shaft 1; the inner ring of the bearing at the inner and lower ends of the upper blade shaft 1 is supported on the fisheye GE series. On the bearing; the upper swash plate 15 and the upper propeller hub 17 are connected by a pair of upper pitch change rods 2, and the upper pitch change rod 2 is used to transmit the periodic pitch control of the upper swash plate 15 to the upper propeller hub 17.

The lower blade periodic pitch control mechanism includes a lower hollow shaft motor 7, a lower motor base 8, a lower hub 5, a lower blade shaft 10, a lower swash plate 4, a lower pitch change rod 2, and a lower blade swing limit. Piece 6. The lower blade cyclic pitch control mechanism and the upper blade cyclic pitch control mechanism have the same structure and working method.

The control steering gear mechanism includes a pitch control steering gear 3, a roll control steering gear 13 and a steering gear base 14; the steering gear base 14 is fixedly connected with the central support pipe 9 through bolts; the pitch control steering gear 3, the roll steering gear The turning control steering gear 13 is fixedly connected with the steering gear base 14; the output shafts of the pitch control steering gear 3 and the roll control steering gear 13 are all connected with rocker arms, and the rocker arms are connected with steering gear rods 12; The rocker arm on the engine 3 is connected to the pitch control rods of the upper swashplate 15 and the lower swashplate 4 through the steering gear lever 12 respectively, and the rocker arm on the roll control steering gear 13 is connected to the upper swashplate 15 and the lower swashplate 15 through the steering gear lever 12 respectively. Roll control lever for swashplate 4.

When the pitch control steering gear 3 is working, the steering gear rocker arm will drive the upper swashplate 15 and the lower swashplate 4 to tilt in a designated direction through the steering gear lever 12 . And the inclination of the upper swash plate 15 is transmitted to the upper hub 17 through the upper pitch change rod 2, so that when the upper hub 17 rotates to the corresponding position, the upper blade 24 completes the periodic pitch change work. The same is true for the 23-period variable pitch work of the roll control steering gear and the lower blade. Through the periodic pitch control of the upper and lower swashplates by the relevant steering gear, the operation control of the pitch and roll attitude of the aircraft in the overall rotor mode is achieved. The yaw control will be realized by the differential speed of the upper and lower hollow shaft motors in the overall rotor mode of the aircraft. The altitude of the aircraft will be controlled by the overall speed control of the upper and lower hollow shaft motors.

The encapsulation housing includes a blade dust cover 20, a steering gear dust cover 21, a lower motor dust cover 22, an upper motor dust cover 25, and a top dust cover 26;

7, the blade dust cover 20 is respectively fixed on the upper blade shaft 1 and the lower blade shaft 10, the blade dust cover 20 will rotate together with the blade shaft, the steering gear dust cover 21 and the rudder The base 14 is fixedly connected, the upper motor dust cover 25 is fixedly connected to the upper motor base 19, and the lower motor dust cover 22 is the same; the top dust cover 22 is fixedly connected to the upper motor base 19 and the upper motor dust cover 25. The setting of the dust cover ensures that the aircraft body can fly in bad weather.

The fixed wing module part II includes a fixed wing module main wing 27, a fixed wing module connecting piece 28, a wingtip winglet 29, an inverted V tail 30, and a tail connecting piece 31;

8 , the fixed wing module connector 28 is fixed on the lower end of the front part of the tail wing connector 31 for the fixed connection between the fixed wing module part II and the coaxial dual rotor control part I, which can be adjusted according to the center of gravity. The main wing 27 of the fixed-wing module is fixed on the upper end of the front part of the tail connecting piece 31 to provide the whole aircraft with lift and stabilization in the vertical direction during horizontal flight in the fixed-wing mode. Wingtips 29 are fixed on both sides of the main wing 27 of the fixed-wing module, and an inverted V-tail 30 is fixed on the lower side of the rear end of the tail connector 31; Stability of flying in fixed wing mode of high aircraft.

When the fixed-wing module part II is installed, the aircraft will change from a coaxial dual-rotor aircraft to a tail-mounted vertical take-off and landing fixed-wing aircraft. When it is in the tailstock vertical take-off and landing mode, its control method is the same as that in the coaxial twin-rotor mode. When changing to fixed-wing flight mode, its roll direction control will be realized by the differential speed of the upper and lower hollow shaft motors. The pitch direction control is still performed by the pitch control steering gear 3, which drives the blades to complete the relevant periodic pitch change. The yaw direction control will be performed by the roll control steering gear 13, which drives the blades to complete the relevant periodic pitch change. The flight speed throttle will be realized by the change of the overall speed of the upper and lower hollow shaft motors.

In the narrow and complex airspace environment, the coaxial dual-rotor mode is used for flight operations to achieve the mission requirements of hovering, low altitude, low speed and compact shape. In the open airspace, install the fixed-wing module to change the flight mode to tail-mounted fixed-wing flight mode, that is, when taking off and landing, the aircraft hovers vertically as a whole to land, and when in cruise mode, the entire aircraft is in fixed-wing flight mode horizontally. To achieve high-speed, high-altitude, high-load, long-duration mission requirements. The specific flight mode can be adjusted according to the user's actual task requirements.

Claims (3)

1. A portable modular unmanned aerial vehicle platform is characterized by comprising a coaxial double-rotor control part and a fixed-wing module part; the coaxial double-rotor control part is fixed at the front end of the fixed wing module part;

the coaxial dual-rotor control part comprises an upper blade periodic variable pitch control mechanism, a control steering engine mechanism, a lower blade periodic variable pitch control mechanism and a packaging shell; the upper paddle periodic variable pitch control mechanism, the control steering engine mechanism and the lower paddle periodic variable pitch control mechanism are all arranged in the packaging shell;

the upper paddle periodic variable pitch control mechanism and the lower paddle periodic variable pitch control mechanism are identical in structure, are arranged in a 90-degree staggered mode, and are symmetrically arranged at the upper end and the lower end of the control steering engine mechanism;

the blade periodic variable pitch control mechanism and the lower blade periodic variable pitch control mechanism respectively comprise a hollow shaft motor, a motor base, a hub, a blade shaft, a cross plate, a variable pitch pull rod and a blade flapping stopper; the motor base is fixed on the central supporting tube, the hollow shaft motor stator is fixed on the motor base, the central supporting tube penetrates through the paddle shaft through the bearing, the paddle shaft is fixedly connected with the hollow shaft motor rotor, and the paddle shaft is driven to rotate by the rotation of the hollow shaft motor rotor; the propeller hub is positioned at the lower end of the hollow shaft motor; the propeller hub is sleeved on the propeller blade shaft and is connected with the propeller blade shaft through two screws, and the axes of the screws are vertical to the axes of the propeller blade shaft; the screw rod is connected with the propeller hub through a bearing, so that the propeller hub can rotate around the axis of the screw rod and is used for executing the periodic pitch-changing action of the blades; the blade flapping limiting piece is connected with the propeller hub through a rotating shaft, can swing downwards along the rotating shaft and cannot swing upwards; the blade is fixedly connected with the blade flapping stopper;

the cross plate is connected with the central supporting tube through a fish eye bearing; the cross disc is connected with the propeller hub through a pair of variable-pitch pull rods, and the variable-pitch pull rods are used for transmitting periodic variable-pitch control of the cross disc to the propeller hub;

the control steering engine mechanism comprises a pitching control steering engine, a rolling control steering engine and a steering engine seat; the rudder engine base is fixedly connected with the central supporting pipe; the pitching control steering engine and the rolling control steering engine are fixedly connected with the steering engine seat; output shafts of the pitching control steering engine and the rolling control steering engine are connected with rocker arms, and the rocker arms are connected with steering engine pull rods; the rocker arm on the pitching control steering engine is connected with the pitching control rod of the cross plate through a steering engine pull rod, and the rocker arm on the rolling control steering engine is connected with the rolling control rod of the cross plate through the steering engine pull rod;

the fixed wing module part comprises a fixed wing module main wing, a fixed wing module connecting piece, a wingtip winglet, an inverted V-shaped empennage and an empennage connecting piece; the main wing of the fixed wing module is fixed at the upper end of the front part of the empennage connecting piece; wingtip winglets are fixed on two sides of a main wing of the fixed wing module, and an inverted V-shaped tail wing is fixed on the lower side of the rear end of the tail wing connecting piece.

2. The portable modular unmanned aerial vehicle platform of claim 1, wherein the enclosure housing comprises a paddle dust cap, a steering engine dust cap, a motor dust cap, a top dust cap; the paddle dustproof cover is fixedly connected with the paddle shaft, the steering engine dustproof cover is fixedly connected with the steering engine base, the motor dustproof cover is fixedly connected with the motor base, and the top dustproof cover is fixedly connected with the upper motor base and the upper motor dustproof cover.

3. The portable modular drone platform of claim 1, wherein its control modes include rotor control mode, tailstock-type fixed wing control mode:

the rotor control mode execution mode is as follows: the height of the aircraft is controlled by the integral rotating speed control of the upper hollow shaft motor and the lower hollow shaft motor; the yaw control realizes the yaw control of the aircraft in the integral rotor mode through the differential speed of the upper hollow shaft motor and the lower hollow shaft motor; the rolling and pitching are respectively controlled by a rolling control steering engine and a pitching control steering engine to control the periodic pitch change of the upper and lower blades;

the tail seat type fixed wing control mode execution mode is as follows: the throttle is controlled by controlling the integral rotating speed of the upper hollow shaft motor and the lower hollow shaft motor; the pitch control is realized by controlling the periodic pitch change of the blades by a pitch control steering engine; the yaw control is realized by controlling the periodic pitch change of the blades by a rolling control steering engine; the rolling control is realized by the differential speed of the upper hollow shaft motor and the lower hollow shaft motor.

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