CN113581449A - Coaxial propeller folding mechanism, coaxial unmanned aerial vehicle and propeller folding control method - Google Patents
Coaxial propeller folding mechanism, coaxial unmanned aerial vehicle and propeller folding control method Download PDFInfo
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- CN113581449A CN113581449A CN202110996490.5A CN202110996490A CN113581449A CN 113581449 A CN113581449 A CN 113581449A CN 202110996490 A CN202110996490 A CN 202110996490A CN 113581449 A CN113581449 A CN 113581449A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/16—Blades
- B64C11/20—Constructional features
- B64C11/28—Collapsible or foldable blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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Abstract
The application discloses coaxial book oar mechanism, coaxial unmanned aerial vehicle and screw open a book control method solves the technical problem that the coaxial unmanned aerial vehicle of prior art exists needs ground personnel manual installation or opens folding screw mechanism. The coaxial paddle folding mechanism comprises more than 2 groups of rotating units which are sequentially arranged from top to bottom, and the more than 2 groups of rotating units are coaxially arranged; each rotating unit comprises a rotating driving device, a hub, a paddle clamp and a rotor blade, the rotating center of the hub is fixedly connected with the torque output end of the rotating driving device, and the rotor blade is hinged to the free end of the hub through the paddle clamp; the propeller hub of more than 1 group of rotating units positioned below comprises at least two rod sections which are sequentially hinged, wherein an elastic part is arranged on one rod section. This rotor blade can open the oar automatically, repeatedly and receive the oar, and lie in the rotor blade of top and roll over the space that the oar was accomodate in the folding below rotor blade back can be left to this guarantees that two oars do not interfere each other.
Description
Technical Field
The application belongs to the technical field of unmanned aerial vehicles, and particularly relates to a coaxial propeller folding mechanism, a coaxial unmanned aerial vehicle and a propeller folding control method.
Background
As the unmanned aerial vehicle control technology is continuously developed, more and more unmanned aerial vehicles of various types have been used in the industrial field. Compare in traditional fixed wing unmanned aerial vehicle, rotor type unmanned aerial vehicle can realize the function of VTOL with simple mechanism, requires lowly to the operation place, receives space environment to influence for a short time, and convenient operation of deploying fast. And compared with the common four-rotor unmanned aerial vehicle, the coaxial rotor unmanned aerial vehicle has a larger-size propeller, and the aerodynamic efficiency is higher, so that the mounting and the endurance of the unmanned aerial vehicle are also more excellent. But also the problem of inconvenient carrying, storage and deployment is brought just because the diameter of coaxial rotor unmanned aerial vehicle screw is great.
Current coaxial unmanned aerial vehicle, after arriving the operation scene, need ground personnel manual installation or open folding screw mechanism, adjust unmanned aerial vehicle to suitable operating condition just can begin the operation, unmanned aerial vehicle retrieves again the flow of repeating, has seriously reduced the operating efficiency. Meanwhile, the working mode needs the participation of ground personnel, and autonomous deployment and flight of the unmanned aerial vehicle are difficult to realize.
Disclosure of Invention
In order to solve the technical problem, the application provides a coaxial book oar mechanism, coaxial unmanned aerial vehicle and screw control method that opens a book, and the screw independently opens rotatoryly when can realizing starting, and the screw independently folds to accomodate when shutting down, has simplified the flow of controlling unmanned aerial vehicle executive task, also provides the basis for unmanned aerial vehicle full autonomous working.
The technical scheme adopted for achieving the purpose of the application is that the coaxial paddle folding mechanism comprises more than 2 groups of rotating units which are sequentially arranged from top to bottom, wherein the more than 2 groups of rotating units are coaxially arranged; each rotating unit comprises a rotating driving device, a hub, a paddle clamp and a rotor blade, the rotating center of the hub is fixedly connected with the torque output end of the rotating driving device, and the rotor blade is hinged to the free end of the hub through the paddle clamp; the propeller hub of 1 group of the above rotating units positioned below comprises at least two rod sections which are sequentially hinged, wherein an elastic piece is arranged on one rod section.
Optionally, the coaxial propeller folding mechanism further comprises a rotor main shaft, and the 2 groups of rotating units are sequentially connected to the rotor main shaft in series from top to bottom; the both ends of elastic component respectively with rotor main shaft and one of them section the pole section is connected.
Optionally, the propeller hub includes an installation portion and two cantilevers hinged to two sides of the installation portion, and the installation portion and the two cantilevers form three sections of the rod section.
Optionally, in more than 1 group of the rotating units located below, two of the rotor blades, two of the paddle clamps and two of the elastic members are arranged, and the two rotor blades are respectively hinged to the free ends of the two cantilevers through the two paddle clamps;
two wherein one end of elastic component all with the rotor main shaft is connected, two the other end of elastic component respectively with two the cantilever is connected.
Optionally, the coaxial paddle folding mechanism includes 2 sets of the rotating units, and the rotating driving devices in the 2 sets of the rotating units are all located between the hubs in the 2 sets of the rotating units.
Based on the same inventive concept, the application also provides a coaxial unmanned aerial vehicle which comprises a host and the coaxial propeller folding mechanism, wherein the coaxial propeller folding mechanism is arranged on the host; the aircraft is characterized in that a flight controller and a power supply device are arranged in the engine room of the main machine, and the flight controller, the power supply device and the rotation driving device are electrically connected.
Optionally, the coaxial unmanned aerial vehicle further comprises a pitch varying mechanism, and the pitch varying mechanism is mounted on the body; the variable pitch mechanism comprises a steering engine, a connecting rod and a tilting tray, wherein a shifting rod is arranged on the steering engine, two ends of the connecting rod are respectively hinged with the shifting rod and the tilting tray, and the tilting tray is hinged with the rotating unit.
Optionally, the coaxial paddle folding mechanism is mounted at the top and/or the bottom of the main machine; the main machine comprises a shell, wherein a rotation driving device and a hub in the rotation unit are both arranged in the shell, and the rotor main shaft is positioned in the center of an inner cabin of the main machine.
Based on the same inventive concept, the application also provides a propeller unfolding control method applied to the coaxial unmanned aerial vehicle, which comprises a propeller unfolding control method and a propeller folding control method;
the paddle opening control method comprises the following steps:
the flight controller controls the rotation driving device to rotate, the rotation driving device drives the paddle clamp and the rotor blades to rotate through the paddle hub, so that the rotor blades positioned above open the whole paddle plane under the action of centrifugal force, the rotor blades positioned below overcome the elasticity of the elastic piece to open the whole paddle plane under the action of centrifugal force, and the rotor blades are opened;
the paddle folding control method comprises the following steps:
and the flight controller controls the rotary driving device to be powered off after reversely rotating so as to brake and stop the rotary driving device, the rotor blade positioned above rotates downwards along the hub under the action of gravity, the rotor blade positioned below rotates downwards along the hub under the action of gravity and moves upwards integrally under the action of the elasticity of the elastic piece, and the folding of the rotor blade is completed.
Further, the method for controlling the opening of the propeller specifically comprises the following steps:
the flight controller controls each rotary driving device in the more than 2 groups of rotary units to rotate from top to bottom in sequence, the rotary driving devices drive the paddle clamps and the rotor blades to rotate through the paddle hubs, so that the rotor blades positioned above open the whole paddle plane under the action of centrifugal force, the rotor blades positioned below overcome the elastic force of the elastic piece to open the whole paddle plane under the action of centrifugal force, and each rotor blade opens the paddles from top to bottom in sequence;
the paddle folding control method specifically comprises the following steps:
the flight controller controls each of the 2 groups of the rotating units to sequentially reversely rotate and then power off from bottom to top so that the rotating driving devices brake and stop rotating, the rotor blades located above rotate downwards along the hub under the action of gravity, the rotor blades located below rotate downwards along the hub under the action of gravity and integrally move upwards under the action of elasticity of the elastic piece, and the rotor blades sequentially fold from bottom to top.
According to the technical scheme, the coaxial propeller folding mechanism is of a coaxial up-down multi-rotor structure and comprises more than 2 groups of rotating units which are sequentially arranged from top to bottom, and the more than 2 groups of rotating units are coaxially arranged. Each rotating unit comprises a rotating driving device, a hub, a paddle clamp and a rotor blade, the rotating center of the hub is fixedly connected with the torque output end of the rotating driving device, the hub can rotate around the rotating center under the driving of the rotating driving device, the outer edge of the hub forms the free end of the hub, and the rotor blade is hinged to the free end of the hub through the paddle clamp. Due to the hinged structure, when the rotary wing blade rotates, due to centrifugal action, the propeller hub rotating at high speed can throw the rotary wing blade away from the rotating shaft, so that the tail end of the rotary wing blade is gradually lifted, the whole propeller plane is opened, lift force is generated, and the effect of automatically opening the propeller is realized; when the rotation driving device stops, the rotor blades stop rotating along with the rotation driving device, and the rotor blades can rotate downwards along the hinged position of the propeller hub and naturally droop under the action of gravity, so that the effect of automatically retracting the propeller is achieved.
In the coaxial paddle folding mechanism provided by the application, the hub of more than 1 group of rotating units positioned below adopts a structure with hinged rod sections, namely the hub comprises at least two rod sections which are sequentially hinged. And an elastic piece is arranged on one section of the rod section. When the other end of the elastic piece is fixed, the elastic piece can realize automatic oar collection. Through the multistage pole section hinge structure of elastic component cooperation propeller hub, make rotor blade folding, rotor blade and rotation center's interval is less than rotor blade and rotation center's interval in the rotation unit that is arranged in the top in 1 group above the rotation unit of below, and rotor blade and rotation center's interval reduces from last to down in proper order in each rotation unit, make the rotor blade that is arranged in the top roll over the space that can reserve below rotor blade folding storage after the oar, guarantee with this that two oars do not interfere each other, can be automatic, open the oar repeatedly and receive the oar.
Compared with the prior art, the application provides a coaxial unmanned aerial vehicle, owing to dispose foretell coaxial oar mechanism of rolling over, under the flight control ware's of host computer control, can control 2 more than the rotation drive arrangement of rotating unit and rotate or stall according to control command, thereby the screw independently opens the rotation when realizing starting, the screw independently folds to accomodate when shutting down, the flow of controlling unmanned aerial vehicle executive task has been simplified, provide the basis for unmanned aerial vehicle autonomous working entirely, be applicable to coaxial rotor class unmanned aerial vehicle's quick deployment and autonomous operation.
Drawings
Fig. 1 is a schematic view of an overall structure of a coaxial unmanned aerial vehicle in an oar-opening state in embodiment 1 of the present application.
Fig. 2 is a schematic view of an overall structure of a coaxial unmanned aerial vehicle in a folded paddle state in embodiment 1 of the present application.
Fig. 3 is a schematic structural diagram of a coaxial folding mechanism in the coaxial unmanned aerial vehicle of fig. 1 in an opening state.
Fig. 4 is a schematic structural view of a coaxial propeller folding mechanism in the coaxial unmanned aerial vehicle of fig. 1 in a propeller retracting state.
Description of reference numerals: 1000-coaxial unmanned aerial vehicle; 100-coaxial folding paddle mechanism, 110-upper rotating unit, 111-upper motor, 112-upper hub, 113-upper paddle clamp, 114-upper rotor blade, 115-upper rotating shaft, 120-lower rotating unit, 121-lower motor, 122-lower hub, 1221-mounting part, 1222-cantilever, 123-lower paddle clamp, 124-lower rotor blade, 125-lower rotating shaft, 126-elastic member; 200-a main engine, 210-a rotor main shaft, 220-a shell, 230-a top cover, 240-a power cabin, 250-a flight control cabin, 260-a battery cabin, 270-a working mechanism, 271-a three-axis stabilizing holder and 272-a camera; 300-a pitch-changing mechanism, 310-a steering engine, 311-a deflector rod, 320-a connecting rod, 330-a tilting tray and 340-a hinged rod.
Detailed Description
In order to make the present application more clearly understood by those skilled in the art to which the present application pertains, the following detailed description of the present application is made with reference to the accompanying drawings by way of specific embodiments.
Aiming at the technical problem that ground personnel are required to manually install or open a folding propeller mechanism in a coaxial unmanned aerial vehicle in the prior art, the application provides a coaxial propeller folding mechanism capable of realizing automatic propeller opening and propeller retracting, and the basic inventive concept is as follows:
the utility model provides a coaxial oar mechanism of rolling over is many rotor structures from top to bottom for the coaxial, and every rotation unit all includes rotation drive arrangement, propeller hub, oar clamp and rotor blade, and the center of rotation of propeller hub and rotation drive arrangement's torque output end fixed connection for the propeller hub can revolute the center of rotation under rotation drive arrangement's drive, then the outward flange of propeller hub constitutes its free end, and rotor blade passes through the articulated free end of installing in the propeller hub of oar clamp. Due to the hinged structure, when the rotary wing blade rotates, due to centrifugal action, the propeller hub rotating at high speed can throw the rotary wing blade away from the rotating shaft, so that the tail end of the rotary wing blade is gradually lifted, the whole propeller plane is opened, lift force is generated, and the effect of automatically opening the propeller is realized; when the rotation driving device stops, the rotor blades stop rotating along with the rotation driving device, and the rotor blades can rotate downwards along the hinged position of the propeller hub and naturally droop under the action of gravity, so that the effect of automatically retracting the propeller is achieved. And through the multistage pole section hinge structure of elastic component cooperation propeller hub for rotor blade reduces from last to down in proper order with the interval of center of rotation in each rotation unit, makes the rotor blade who is located the top roll over the space that can leave the folding storage of below rotor blade after the oar, with this guarantee that two oars do not interfere each other, can open the oar automatically, repeatedly and receive the oar.
The coaxial propeller folding mechanism can be provided with a plurality of rotating units as required, and the propellers can generate a rotating moment to the machine body when rotating, so that the number of the rotating units is preferably even, the number of the rotating units can also be odd, and only the rotating moment generated by each rotating unit is cancelled.
For the clear understanding of the content of the present application, the following takes a dual-rotor coaxial drone as an example, and the content of the present application is described in detail:
example 1:
referring to fig. 1 to 4, in the embodiment of the present application, a coaxial unmanned aerial vehicle 1000, specifically, a dual-rotor coaxial unmanned aerial vehicle 1000, that is, a coaxial folding paddle mechanism 100 includes 2 sets of rotating units, and for convenience of understanding, the 2 sets of rotating units are respectively referred to as an upper rotating unit 110 and a lower rotating unit 120, and each component in the rotating units is correspondingly distinguished by "upper" and "lower".
Specifically, please refer to fig. 1 and fig. 2, the coaxial unmanned aerial vehicle 1000 in this embodiment includes a host 200 and a coaxial paddle folding mechanism 100, the coaxial paddle folding mechanism 100 is installed on the host 200, the coaxial paddle folding mechanism 100 may be installed at the top or the bottom of the host 200 according to the details of the host 200, of course, each rotating unit of the coaxial paddle folding mechanism 100 may be installed at different positions of the host 200 according to the requirement, and the distribution structure of the coaxial paddle folding mechanism 100 on the host 200 is not limited in this application. Preferably, the main body 200 is a cylindrical body, and the diameter of the body may be different from place to place, but the whole body is cylindrical.
The flight controller (not shown) and the power supply device (not shown) are provided inside the nacelle of the main unit 200, and the flight controller, the power supply device, and the rotation driving device are electrically connected. The flight controller and the power supply device are indispensable elements in each unmanned aerial vehicle, wherein the flight controller is used for sending a control command to each execution element (a motor, a steering engine, a camera, a searchlight and the like) of the unmanned aerial vehicle, acquiring a feedback signal of each sensor (such as a GPS signal, a pressure sensor, a temperature sensor and the like) and realizing the flight trajectory control and the flight attitude control of the unmanned aerial vehicle, and each execution element and each sensor can be selectively installed on the shell 220 of the host 200 or in the cabin of the host 200; the power supply device is used for supplying power to each electric element in the unmanned aerial vehicle, and the power supply device generally adopts a rechargeable battery. The structure of the flight controller and the power supply device is not improved, and specific contents can be referred to relevant disclosures in the prior art, and are not explained herein.
In summary, referring to fig. 1, a typical host 200 is, from top to bottom: the system comprises a top cover 230, a power cabin 240, a flight control cabin 250, a battery cabin 260 and a working mechanism 270 (such as a three-axis stabilizing pan-tilt head 271 and a camera 272 carried by the three-axis stabilizing pan-tilt head), wherein the coaxial propeller folding mechanism 100 is arranged in the power cabin 240, a flight controller is arranged in the flight control cabin 250, a power supply device is arranged in the battery cabin 260, and the working mechanism 270 for executing tasks is generally located at the bottom end of the unmanned aerial vehicle. In this embodiment, the housing 220 of this coaxial drone is generally cylindrical. The power and control system is mainly arranged on the upper half part of the cylindrical machine body, and the shooting holder and the battery are mainly arranged on the lower half part of the cylindrical machine body.
In this embodiment, the coaxial unmanned aerial vehicle 1000 further includes a pitch varying mechanism 300, and the pitch varying mechanism 300 is mounted on the body and used for adjusting the posture of the paddle disk of the coaxial paddle folding mechanism 100. Referring to fig. 3 to 4, the pitch varying mechanism 300 includes a steering engine 310, a connecting rod 320 and a tilting tray 330, the steering engine 310 is provided with a shift rod 311, two ends of the connecting rod 320 are respectively hinged to the shift rod 311 and the tilting tray 330, and the tilting tray 330 is hinged to the rotating unit. The tilting disk 330 may be hinged to only one of the rotating units of the coaxial folding paddle mechanism 100, or the tilting disk 330 may be hinged to each of the rotating units of the coaxial folding paddle mechanism 100. The present application is not limited in its specific form.
In this embodiment, the pitch varying mechanism 300 is disposed below the coaxial paddle folding mechanism 100, the tilting tray 330 is hinged to a rotating unit located at the lowest position, and more specifically, a hinge rod 340 is disposed at an edge of the tilting tray 330, one end of the hinge rod 340 is hinged to an edge of the tilting tray 330, and the other end is hinged to a hub of the rotating unit located at the lowest position.
In the coaxial unmanned aerial vehicle 1000 of this application, made automatic oar design of rolling over at coaxial book oar mechanism 100, realized that coaxial double rotor is automatic to open the oar, receive oar safe and reliable not to open the oar, the specific structure of coaxial book oar mechanism 100 is introduced in detail below:
referring to fig. 1 to 4, the coaxial folding paddle mechanism 100 of the present embodiment is a coaxial double-paddle structure, and includes two sets of rotating units, namely an upper rotating unit 110 and a lower rotating unit 120, the upper rotating unit 110 and the lower rotating unit 120 are coaxially disposed, and the upper rotating unit 110 is located above the lower rotating unit 120. In some embodiments, in order to facilitate the installation and fixation of the coaxial folding paddle mechanism 100, a rotor main shaft 210 is disposed at the center of the inner chamber of the main machine 200, and the rotating units are connected in series to the rotor main shaft 210 from top to bottom, so that the rotating units and the main machine 200 are all disposed coaxially.
Referring to fig. 3 and 4, each of the rotation units 110/120 in the coaxial paddle folding mechanism 100 includes a rotation driving device 111/121, a hub 112/122, a paddle clip, and a rotor blade 114/124, wherein a rotation center of the hub 112/122 is fixedly connected to a torque output end of the rotation driving device 111/121, so that the hub 112/122 can rotate around the rotation center under the driving of the rotation driving device 111/121, an outer edge of the hub 112/122 forms a free end thereof, and the rotor blade 114/124 is hinged to the free end of the hub 112/122 through the paddle clip 113/123. The rotor blades 114/124 are hinged with the paddle clamp 113/123 through a rotating shaft to form a swing hinge rotating around the Y axis; paddle clip 113/123 is hinged to hub 112/122 by another pivot shaft 115/125, forming a flapping hinge that rotates about the X-axis. Paddle clip 113/123 acts to provide room for rotor blades 114/124 to swing up and down and side to side, which eliminates the additional stress created by the rotation.
In this embodiment, the rotation driving device adopts a motor to provide high rotation speed, in order to facilitate the installation of the rotor main shaft 210, the motor adopts a brushless motor, an electric tuning ESC (electronic governor, for short, electric tuning) is arranged on the flight controller, and the brushless motor is programmed and controlled by the electronic governor. The rotor blade can set up a slice, two or the multi-disc, considers the cost problem, all sets up 2 rotor blades in every rotation unit in this embodiment. The motor and hub are both mounted in a housing 220 of the main unit 200, the housing 220 protecting the battery and hub.
That is, in the present embodiment, the upper rotating unit 110 includes an upper motor 111, an upper hub 112, two upper blades 113, and two upper rotor blades 114, where the upper hub 112 is elongated and the center of gravity thereof is used as the rotation center. The center of the upper hub 112 is fixedly connected with the output shaft of the upper motor 111, two free ends are formed at two ends of the upper hub 112, and two upper rotor blades 114 are respectively hinged and installed on the two free ends through two upper rotor clamps 113. The lower rotating unit 120 includes a lower motor 121, a lower hub 122, two lower blade holders 123, and two lower rotor blades 124, where the lower hub 122 has an elongated shape and a center of gravity thereof is used as a rotation center. The center of the lower hub 122 is fixedly connected with the output shaft of the lower motor 121, two free ends are formed at two ends of the lower hub 122, and two lower rotor blades 124 are respectively hinged and installed on the two free ends through two lower blade clamps 123.
Further, in the present embodiment, the upper motor 111 and the lower motor 121 are both located between the upper hub 112 and the lower hub 122, that is, the upper motor 111 and the lower motor 121 are disposed close to each other, so that the distance between the upper hub 112 and the lower hub 122 can be increased, and interference between the upper rotor blade 114 and the lower rotor blade 124 when the blades are folded is further avoided. Through the structure, the whole coaxial paddle folding mechanism 100 forms a coaxial paddle folding mechanism module, and the application range of the coaxial paddle folding mechanism 100 can be widened through the modularized structure.
The shape of the upper hub 111 of the upper rotating unit 110 is not limited, and an elongated structure or a plate-like structure may be adopted, and the center of the upper hub 111 has a cavity for the rotor shaft 210 to pass through. In order to reduce the weight of the coaxial paddle folding mechanism 100, the paddle hub adopts a carbon fiber framework, and is hollowed out to reduce weight and save materials.
Unlike the upper rotor unit 110, the lower hub 122 of the lower rotor unit 120 includes at least two segments hinged in sequence, wherein one segment is provided with an elastic member 126, one end of the elastic member 126 is connected to the segment at the principle rotation center, and the other end is used for fixing, and the other end of the elastic member 126 can be fixed to the rotor shaft 210 or the lower motor 121. The elastic member 126 may be a spring, a spring plate, a rubber band, or other elastic members, and the specific structure is not limited in this application.
Referring to fig. 3 and 4, in the present embodiment, the lower hub 122 adopts a three-segment rod segment hinged structure, and specifically includes a mounting portion 1221 and a suspension arm 1222 hinged to two sides of the mounting portion 1221, where the mounting portion 1221 and the two suspension arms 1222 are three-segment rod segments, and a cavity is formed in the middle of the mounting portion 1221 for the main shaft 210 to pass through. The two cantilevers 1222 are each connected to a spring 126, and the free ends of the two cantilevers 1222 form the two free ends of the lower hub 122.
Based on the above structure of the lower hub 122, the elastic member 126 is set to be in a natural state in the folded state and to be in a stretched state in the unfolded state. When the rotor blades are folded, the upper hub 112 is kept unchanged, the mounting portion 1221 of the lower hub 122 is kept unchanged, the cantilevers 1222 on the two sides are pulled by the elastic piece 126 to tilt upwards, so that the distances from the upper rotor blade 114/124 to the rotor main shaft 210 are different, and a space for folding and storing the lower rotor blade 124 can be reserved after the upper rotor blade 114 is folded, so that the lower rotor blade 124 is prevented from interfering with the upper rotor blade 114 when being folded downwards, and the rotor blades can be automatically and repeatedly opened and retracted.
Example 2:
based on the same inventive concept, the present embodiment provides a propeller unfolding control method applied to the coaxial unmanned aerial vehicle 1000, which may be applied to a dual-rotor coaxial unmanned aerial vehicle or a multi-rotor coaxial unmanned aerial vehicle, and the following takes the coaxial unmanned aerial vehicle 1000 applied to embodiment 1 as an example to describe in detail the propeller unfolding control method of the present embodiment:
the propeller unfolding control method comprises a propeller unfolding control method and a propeller folding control method, wherein the propeller unfolding control method and the propeller folding control method are controlled by a flight controller of the coaxial unmanned aerial vehicle 1000 and are automatically carried out without participation or assistance of ground personnel.
The paddle opening control method comprises the following steps:
the flight controller control rotates drive arrangement and rotates, rotates drive arrangement and passes through the propeller hub and drive the oar and press from both sides and rotor blade high-speed rotation, because centrifugal action, the high-speed rotatory propeller hub can throw away rotor blade to keeping away from the pivot direction for rotor blade tail end promotes gradually, opens whole oar plane, and produces lift. That is, the rotor blade opens the whole oar plane under the centrifugal force effect, realizes that the rotor blade is driven the oar.
Specifically, since the lower hub 122 of the lower rotating unit 120 is a multi-section hinge rod structure, and the elastic member 126 is disposed on the lower hub 122, when the lower rotating unit 120 is in the oar-opening state, the lower rotor blade 124 overcomes the elastic force of the elastic member 126 to open the entire oar plane under the centrifugal force.
Because the coaxial unmanned aerial vehicle 1000 of embodiment 1 has a plurality of rotation units, in order to further avoid interference between the blades, in this embodiment, the flight controller controls each rotation driving device in the rotation unit 110 above the 2 sets to rotate from top to bottom in sequence when the blades are opened, and the rotation driving device drives the rotor blades to rotate through the hub, so that the rotor blades open the whole blade plane under the action of centrifugal force, and the rotor blades open the blades from top to bottom in sequence.
Taking the dual-rotor coaxial unmanned aerial vehicle 1000 as an example, when the propellers need to be opened, the coaxial unmanned aerial vehicle 1000 is started, the flight controller controls the upper motor 111 to be powered on and rotated first, after the upper rotor blades 114 are opened, the flight controller controls the lower motor 121 to be powered on and rotated, the lower rotor blades 124 are opened by overcoming the elasticity of the elastic pieces 126, and the structural diagram of the dual-rotor coaxial unmanned aerial vehicle 1000 after the upper and lower propellers are both opened is shown in fig. 1 and fig. 3.
By arranging the opening sequence, it is thereby possible to avoid a situation in which, when the rotor blades are oversized (the blade size is larger than the pitch of upper and lower hubs 122), lower rotor blades 124 open earlier than upper rotor blades 114, resulting in interference of upper rotor blades 114 with lower rotor blades 124.
The paddle folding control method comprises the following steps:
the flight controller controls the rotation driving device to be powered off after the rotation driving device rotates reversely, so that the rotation driving device is braked and stopped, the rotor blades stop along with the rotation driving device and naturally droop under the action of gravity, and the rotor blades can rotate downwards along the rotating shaft of the propeller hub to realize propeller folding. Compare and still can continue to rotate and slow down gradually because of inertia after traditional unmanned aerial vehicle motor outage, the brushless motor is passed through electronic governor ESC programming control to this application, and when master control signal gave the motor outage instruction, the outage produced the rotatory magnetic field of negative sequence in the twinkling of an eye and made the motor stop the commentaries on classics in the twinkling of an eye (within 0.1 second, millisecond level). After the motor brakes, the propeller clamp and the rotor blade stall, centrifugal force disappears, and the stopped propeller clamp and the rotor blade rotate downwards along the rotating shaft of the propeller hub and naturally droop under the action of gravity so as to realize the effect of automatically retracting the propeller of the rotor.
Specifically, since the lower hub 122 of the lower rotating unit 120 is a multi-segment hinged rod structure, and the elastic member 126 is disposed on the lower hub 122, when the lower rotating unit 120 is folded, the lower rotor blade 124 rotates downward along the lower hub 122 under the action of gravity and naturally sags downward, and the cantilever 1222 of the lower hub 122 rotates upward under the action of the elastic force of the elastic member 126, so that the lower blade grip 123 at the free end of the hinged and cantilever 1222 moves upward obliquely toward the main rotor shaft 210 integrally with the lower rotor blade 124.
Because coaxial unmanned aerial vehicle 1000 of embodiment 1 has a plurality of rotation units, in order to further avoid interfering between the paddle, in this embodiment, when book oar, each rotation drive arrangement in rotation unit 110 above flight controller control 2 groups from supreme reverse rotation back outage in proper order down to make rotation drive arrangement braking stall, rotor blade is rotatory, the nature is flagging down along the hub under the action of gravity, rotor blade is from supreme book oar down in proper order.
Taking the dual-rotor coaxial unmanned aerial vehicle 1000 as an example, when the propellers need to be folded, the flight controller controls the lower motor 121 to be powered off and braked first, after the lower rotor blade 124 is folded and integrally moves upwards in an inclined manner towards the rotor main shaft 210, the flight controller controls the upper motor 111 to be powered off and braked, the upper rotor blade 114 is folded, and the structural diagram of the folded upper and lower propellers of the dual-rotor coaxial unmanned aerial vehicle 1000 is shown in fig. 2 and 4.
By providing the folding sequence, it is possible to avoid the situation where the upper rotor blades 114 are folded earlier than the lower rotor blades 124 when the rotor blades are oversized (the blade size is larger than the distance between the upper and lower hubs 122), resulting in interference between the upper rotor blades 114 and the lower rotor blades 124.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A coaxial oar mechanism of rolling over which characterized in that: the device comprises more than 2 groups of rotating units which are sequentially arranged from top to bottom, wherein the more than 2 groups of rotating units are coaxially arranged; each rotating unit comprises a rotating driving device, a hub, a paddle clamp and a rotor blade, the rotating center of the hub is fixedly connected with the torque output end of the rotating driving device, and the rotor blade is hinged to the free end of the hub through the paddle clamp; the propeller hub of 1 group of the above rotating units positioned below comprises at least two rod sections which are sequentially hinged, wherein an elastic piece is arranged on one rod section.
2. The coaxial paddle folding mechanism of claim 1, wherein: the coaxial propeller folding mechanism further comprises a rotor main shaft, and the more than 2 groups of rotating units are sequentially connected to the rotor main shaft in series from top to bottom; the both ends of elastic component respectively with rotor main shaft and one of them section the pole section is connected.
3. The coaxial paddle folding mechanism of claim 2, wherein: the propeller hub comprises an installation part and cantilevers which are installed on two sides of the installation part in a hinged mode, and the installation part and the two cantilevers form three sections of the rod section.
4. The coaxial paddle folding mechanism of claim 3, wherein: in more than 1 group of the rotating units positioned below, two rotor blades, two paddle clamps and two elastic pieces are arranged, and the two rotor blades are respectively hinged and installed on the free ends of the two cantilevers through the two paddle clamps;
two wherein one end of elastic component all with the rotor main shaft is connected, two the other end of elastic component respectively with two the cantilever is connected.
5. The coaxial paddle folding mechanism of any of claims 1-4, wherein: the coaxial paddle folding mechanism comprises 2 groups of rotating units, and the rotating driving devices in the 2 groups of rotating units are all positioned between the hubs in the 2 groups of rotating units.
6. A coaxial unmanned aerial vehicle which characterized in that: the coaxial paddle folding mechanism comprises a main machine and the coaxial paddle folding mechanism of any one of claims 1-5, wherein the coaxial paddle folding mechanism is mounted on the main machine; the aircraft is characterized in that a flight controller and a power supply device are arranged in the engine room of the main machine, and the flight controller, the power supply device and the rotation driving device are electrically connected.
7. The coaxial drone of claim 6, wherein: the coaxial unmanned aerial vehicle further comprises a pitch-changing mechanism, and the pitch-changing mechanism is arranged on the machine body; the variable pitch mechanism comprises a steering engine, a connecting rod and a tilting tray, wherein a shifting rod is arranged on the steering engine, two ends of the connecting rod are respectively hinged with the shifting rod and the tilting tray, and the tilting tray is hinged with the rotating unit.
8. Coaxial drone according to claim 6 or 7, characterized in that: the coaxial paddle folding mechanism is arranged at the top and/or the bottom of the main machine; the main machine comprises a shell, wherein a rotation driving device and a hub in the rotation unit are both arranged in the shell, and the rotor main shaft is positioned in the center of an inner cabin of the main machine.
9. A propeller unfolding control method applied to the coaxial unmanned aerial vehicle of any one of claims 5-8, characterized in that: the method comprises a paddle opening control method and a paddle folding control method;
the paddle opening control method comprises the following steps:
the flight controller controls the rotation driving device to rotate, the rotation driving device drives the paddle clamp and the rotor blades to rotate through the paddle hub, so that the rotor blades positioned above open the whole paddle plane under the action of centrifugal force, the rotor blades positioned below overcome the elasticity of the elastic piece to open the whole paddle plane under the action of centrifugal force, and the rotor blades are opened;
the paddle folding control method comprises the following steps:
and the flight controller controls the rotary driving device to be powered off after reversely rotating so as to brake and stop the rotary driving device, the rotor blade positioned above rotates downwards along the hub under the action of gravity, the rotor blade positioned below rotates downwards along the hub under the action of gravity and moves upwards integrally under the action of the elasticity of the elastic piece, and the folding of the rotor blade is completed.
10. The propeller opening and closing control method according to claim 9, characterized in that:
the paddle opening control method specifically comprises the following steps:
the flight controller controls each rotary driving device in the more than 2 groups of rotary units to rotate from top to bottom in sequence, the rotary driving devices drive the paddle clamps and the rotor blades to rotate through the paddle hubs, so that the rotor blades positioned above open the whole paddle plane under the action of centrifugal force, the rotor blades positioned below overcome the elastic force of the elastic piece to open the whole paddle plane under the action of centrifugal force, and each rotor blade opens the paddles from top to bottom in sequence;
the paddle folding control method specifically comprises the following steps:
the flight controller controls each of the 2 groups of the rotating units to sequentially reversely rotate and then power off from bottom to top so that the rotating driving devices brake and stop rotating, the rotor blades located above rotate downwards along the hub under the action of gravity, the rotor blades located below rotate downwards along the hub under the action of gravity and integrally move upwards under the action of elasticity of the elastic piece, and the rotor blades sequentially fold from bottom to top.
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| CN202110996490.5A CN113581449A (en) | 2021-08-27 | 2021-08-27 | Coaxial propeller folding mechanism, coaxial unmanned aerial vehicle and propeller folding control method |
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