CN115196007A - A coaxial inverting rotor unmanned aerial vehicle - Google Patents

Abstract

The invention discloses a coaxial inversion rotor wing unmanned aerial vehicle device, which adopts a forward rotor wing structure and a reverse rotor wing structure, is matched with a forward rotating shaft and a reverse rotating shaft which are fixedly installed through a rotor wing installation frame and are coaxially nested, and realizes the capacity of bidirectional reverse lifting.

Description

A coaxial counter-rotating unmanned aerial vehicle

technical field

The invention belongs to the field of unmanned aerial vehicles, and in particular relates to a coaxial inversion rotor unmanned aerial vehicle device.

Background technique

At present, traditional UAVs can be divided into two categories: rotary-wing UAVs and fixed-wing UAVs.

Rotor UAVs generally use multiple rotor horizontal distribution structures, such as the cross structure of the four-rotor UAV and the snowflake structure of the six-rotor.

Fixed-wing UAVs are generally powered by engines or propellers. When moving at high speed, aerodynamic forces are generated by the wings and rudder surfaces to overcome gravity and control the flight. Such aircraft take off and land through the ground roll phase and cannot achieve vertical take-off and landing. .

At present, the UAV has a complex structure. It adopts a rotor UAV structure. The rotors are horizontally distributed, occupying a large area, and are prone to external interference, poor maneuverability, poor single-wing flight structure, and low efficiency.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a coaxial inversion rotor unmanned aerial vehicle device to overcome the deficiencies of the prior art.

The invention provides a coaxial reversing rotor unmanned aerial vehicle device, which improves the flying ability of the unmanned aerial vehicle, and comprises a forward rotor, a reverse rotor and an unmanned aerial vehicle shell. The forward rotating shaft and the reverse rotating shaft are coaxially nested, the forward rotor is fixed on the forward rotating shaft, the reverse rotor is fixed on the reverse rotating shaft, a driving device is fixed in the UAV casing, and the output ends of the driving device are respectively Drivenly connected with the forward rotating shaft and the reverse rotating shaft, two side control rudder surfaces are symmetrically arranged on both sides of the unmanned aerial vehicle shell, and a tail rudder is arranged at the bottom of the unmanned aerial vehicle shell.

Preferably, two rudder surface rudders are provided in the housing of the drone, each rudder surface rudder is connected to a side control rudder surface, and the rotation axis of the rudder surface rudder is perpendicular to the axis of the positive rotation axis.

Preferably, the bottom of the drone casing is provided with two tail rudders symmetrically arranged along the axis of the drone casing.

Preferably, the two tail rudders are connected to the same tail rudder steering gear, and the rotation axes of the two tail rudders are parallel.

Preferably, the rotor mounting frame adopts a suspended support structure.

Preferably, the rotor mounting frame includes a suspension arm and a suspension sleeve fixed at a middle position, the suspension sleeve is circumferentially uniformly arrayed with a plurality of suspension arms, one end of the suspension arm is fixed to the outer wall of the suspension sleeve, and the suspension The other end of the arm is fixedly connected with the inner wall support of the UAV casing, and the suspension sleeve is of a mid-pass structure.

Preferably, the suspension sleeve is lubricated with the forward rotation shaft and the reverse rotation shaft, respectively.

Preferably, the drive device includes an upper gear bracket and a lower gear bracket, the upper gear bracket and the lower gear bracket are provided with three parallel transmission gear shafts, one of which is connected to the output shaft of the drive motor, and the drive shaft is mounted on the gear shaft. gear; the other gear shaft is fixedly connected with one end of the forward shaft, the first driven gear is installed on the gear shaft, and the second driven gear is installed on the reverse shaft; the last gear shaft is installed with a driven gear, and the drive gears are respectively It meshes with the first driven gear and the driven gear, and the driven gear meshes with the second driven gear.

Preferably, both the first side control rudder surface and the second side control rudder surface adopt a thin symmetrical airfoil structure.

Preferably, the tail rudder adopts a thin symmetrical airfoil structure, which is consistent with the side control rudder surface structure, which can realize general replacement, improve the versatility of parts and components, and thereby reduce the cost of the overall equipment.

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

The present invention is a coaxial reverse rotor unmanned aerial vehicle device, which adopts the structure of a forward rotor and a reverse rotor, and cooperates with a forward rotation shaft and a reverse rotation shaft which are coaxially nested and arranged fixedly by a rotor mounting frame, and the forward rotor is fixed. On the forward rotating shaft, the reverse rotor is fixed on the reverse rotating shaft to realize the lift force of two-way reverse lifting. A driving device is fixed in the UAV casing, and the output end of the driving device is respectively connected with the forward rotating shaft and the reverse rotating shaft. , through the reverse rotation of the two sets of blades to offset the influence of the gyroscopic effect, two side control rudder surfaces are symmetrically arranged on both sides of the drone shell, and the bottom of the drone shell is provided with a tail rudder, which adopts side control rudders. The surface and tail rudder use the downward airflow along the fuselage generated by the rotation of the coaxial reversing rotor to generate aerodynamic force and torque to balance the pitching moment generated by the synchronous deflection of the control surface, so that the UAV can fly in various It keeps the vertical state in the state, avoids the low efficiency problem of using the rotor to change the flight direction, simplifies the overall structure of the UAV, and improves the flying ability of the UAV.

Further, the two rudder surface servos are independently controlled, and the deflection angle of the overall fuselage can be adjusted to any state.

Further, two tail rudders symmetrically arranged along the axis of the drone housing are arranged at the bottom of the drone housing, which improves the maneuverability of the drone's tilt control.

Further, three transmission gear shafts installed on the upper gear bracket and the lower gear bracket are used to form a two-way transmission drive structure, which is simple in structure and can make the overall device run stably.

Description of drawings

FIG. 1 is an overall structural diagram of a coaxial counter-rotating UAV in an embodiment of the present invention.

FIG. 2 is a structural diagram of the implementation of the coaxial reverse transmission device in the embodiment of the present invention.

FIG. 3 is a schematic diagram of the installation structure of the rotor mounting frame in the embodiment of the present invention.

In the figure, 1, forward rotor; 101, forward shaft; 102, reverse shaft; 103, upper gear bracket; 104, second driven gear; 105, first driven gear; 106, driven gear; 107, drive Gear; 108, lower gear bracket; 109, rotor mounting bracket; 110, suspension arm; 111, inner wall support; 112, inner wall support; 2, reverse rotor; 3, drone housing; 301, driving device ; 302, drive motor; 303, first rudder surface steering gear; 304, second rudder surface steering gear; 305, controller; 306, power supply module; 307, tail rudder steering gear; 4, first side control rudder surface; 5, The second side controls the rudder surface.

Detailed ways

In order to make those skilled in the art better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only Embodiments are part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

As shown in Figure 1 and Figure 2, a coaxial reversing rotor unmanned aerial vehicle device of the present invention combines the rotor with the aerodynamic rudder surface, which can effectively simplify the structure of the traditional rotor unmanned aerial vehicle and reduce the size of the unmanned aerial vehicle;

Specifically, it includes a forward rotor 1, a reverse rotor 2 and a UAV casing 3. The forward rotor 1 is fixed on the forward rotation shaft 101, the reverse rotor 2 is fixed on the reverse rotation shaft 102, and the forward rotation shaft 101 and the reverse rotation shaft 101. 2 of the rotating shaft 10 are coaxially nested, that is, the forward rotor 1 and the reverse rotor 2 are respectively fixed on the coaxially sleeved forward rotating shaft 101 and the reverse rotating shaft 102, so that when the coaxial reverse rotation can be realized, two The aerodynamic force in the same direction can ensure the balance of the rotation torque of the drone itself while improving the lift;

The drone housing 3 is provided with a rotor mounting frame 109 for fixedly installing the forward rotating shaft 101 and the reverse rotating shaft 102, and a driving device is fixed at the lower end of the rotor mounting frame 109 for driving the forward rotating shaft 101 and the reverse rotating shaft 102 respectively. Rotating in different directions, the driving device drives the forward rotation shaft 101 and the reverse rotation shaft 102 to rotate in the opposite direction, thereby driving the two oppositely arranged forward rotor 1 and reverse rotor 2 to generate the same direction of aerodynamic force;

Two side control rudder surfaces are symmetrically arranged on both sides of the drone shell 3, each side control rudder surface is respectively connected with a rudder surface servo, the rudder surface servo is fixed in the drone shell 3, and the rotation of the rudder surface servo The axis is perpendicular to the axis of the forward shaft 101; under the action of the sinking airflow generated by the two rotors on the two side control surfaces, two aerodynamic forces in the same direction are generated to drive the UAV to move horizontally forward and backward; when the side control surfaces are poor During the dynamic deflection, two pairs of force couples with the same size and opposite directions are generated, thereby generating a rotating torque to control the rotation of the UAV around the vertical axis.

The bottom of the drone shell 3 is provided with two tail rudders symmetrically arranged along the axis of the drone shell 3, the two tail rudders are connected to the same tail rudder steering gear 307, and the rotation axes of the two tail rudders are parallel. When the two rudders are synchronously deflected, under the action of the sinking airflow generated by the rotor, the two rudders generate two aerodynamic forces in the same direction, so that the whole device generates a pitching moment.

Specifically, as shown in FIG. 2 and FIG. 3 , the rotor mounting frame 109 adopts a suspended support structure, and specifically includes a suspension arm 110 and a suspension sleeve 111 fixed in the middle position. The three suspension sleeves 111 are uniformly arrayed in the circumferential direction. The suspension arm 110, one end of the suspension arm 110 is fixed to the outer wall of the suspension sleeve 111, and the other end of the suspension arm 110 is fixedly connected to the inner wall support 112 of the UAV casing 3, and the suspension sleeve 111 is a middle pass structure, a stable support structure for the forward rotation shaft 101 and the reverse rotation shaft 102 is formed in the drone housing 3, and the forward rotation shaft 101 and the reverse rotation shaft 102 are respectively supported by two separate rotor mounts 109 structures, Or using the same rotor mounting frame 109, the suspension sleeve 111 of the same rotor mounting frame 109 is provided with stepped through holes, which are respectively contacted with the outer walls of the forward rotating shaft 101 and the reverse rotating shaft 102 with different diameters to form a stable support structure, Bearings can be provided between the suspension sleeve 111 and the forward rotation shaft 101 , and between the suspension sleeve 111 and the reverse rotation shaft 102 , or an oil seal structure can be used for lubrication to reduce the rotation process of the forward rotation shaft 101 and the reverse rotation shaft 102 The friction between the middle and the suspension sleeve 111 improves the work efficiency.

As shown in FIG. 3 , the inner wall support 112 is integrally formed with the inner wall of the UAV casing 3 or is formed by welding, the other end of the suspension arm 110 is provided with a through hole, and the inner wall support 112 is provided with a mounting hole. The connection is secured by bolts.

The driving device of the present application adopts a gear transmission device, which specifically includes an upper gear bracket 103 and a lower gear bracket 108. Three parallel transmission gear shafts are installed between the upper gear bracket 103 and the lower gear bracket 108, one of which is connected to the drive motor. The output shaft of 302 is connected with the drive gear 107 installed on the gear shaft; the other gear shaft is fixedly connected with one end of the forward rotating shaft 101, the first driven gear 105 is installed on the gear shaft, and the second driven gear 105 is installed on the reverse rotating shaft 102. The driven gear 104; the driven gear 106 is installed on the last gear shaft, the driving gear 107 meshes with the first driven gear 105 and the driven gear 106 respectively, and the driven gear 106 meshes with the second driven gear 104, thereby realizing the use of one drive The motor drives the forward rotating shaft 101 and the reverse rotating shaft 102 at the same time, and the transmission ratio of the driving gear 107, the first driven gear 105, the second driven gear 104 and the driven gear 106 is 1:1, so as to realize the coaxial rotation of the two sets of rotors. Rotation control, the forward rotation axis 101 and the reverse rotation axis 102 generate two pairs of force couples with the same size and opposite directions, which improves the flight stability of the drone.

As shown in FIG. 1 , the coaxially reversed forward rotor 1, reverse rotor 2, forward rotation shaft 101 and reverse rotation shaft 102 together constitute the main power device of the drone; the driving device 301 is shown in FIG. 2 . The reverse rotation shaft 102 adopts a hollow structure, and the forward rotation shaft 101 is installed in the hollow of the reverse rotation shaft 102 and is coaxial with the reverse rotation shaft 102. The transmission of 104 and the driven gear 106 drives the coaxial reversing rotor 2 to rotate in the forward direction; at the same time, through the transmission of the driving gear 107 and the first driven gear 105, the coaxial reversing rotor 1 is driven to rotate in the reverse direction to realize the rotation of the two sets of rotors. Coaxial inversion control.

As shown in FIG. 1 , the first side control rudder surface 4 and the second side control rudder surface 5 have exactly the same structure, both adopt thin symmetrical airfoil structures, and are symmetrically arranged on the left and right sides of the UAV casing 3. The first side surface The rotation axis of the control rudder surface 4 is fixedly connected with the rotation axis of the first rudder surface steering gear 303 arranged in the drone housing 3 , and the rotation axis of the second side control rudder surface 5 is connected with the first steering gear 303 arranged in the drone housing 3 . The 304 shafts of the two rudder surface servos are fixedly connected and can be controlled independently. When the first side control rudder surface 4 and the second side control rudder surface 5 are deflected synchronously, under the action of the sinking airflow, two aerodynamic forces in the same direction are generated to drive the UAV to move horizontally forward and backward; when the first side control rudder surface 4 and the second side control rudder surface 5 are differentially deflected, and two pairs of force couples with the same size and opposite directions are generated, thereby generating a rotational torque to control the rotation of the UAV around the vertical axis.

As shown in FIG. 1 , the first rudder 6 and the second rudder 7 are identical in size and shape, and adopt a thin symmetrical airfoil structure. The first rudder 6 and the second rudder 7 are symmetrically distributed on the UAV shell in pairs. The front and rear positions of the tail of the body 3, or a single one is located in the center of the tail of the body 3. When distributed in pairs, the first tail rudder 6 and the second tail rudder 7 are fixedly connected, the rotating shaft is fixedly connected with the tail rudder 307 in the fuselage 3, and the synchronous deflection of the first tail rudder 6 and the second tail rudder 7, A pitching moment is generated to balance the pitching moment generated when the first side control rudder surface 4 and the second side control rudder surface 5 are synchronously deflected; using two symmetrically arranged first tail rudders 6 and second tail rudders 7 can be more Good control of the balance of the drone body.

It adopts a separate tail rudder structure design, and relies on one tail rudder to generate pitching moment.

As shown in Figure 1, the drone housing 3 adopts a cylindrical structure, the power module 306 fixedly installed in the drone housing 3 adopts a cylindrical rechargeable lithium battery, and the drone housing 3 is also provided with a controller for installation The controller 305 is fixedly installed on the controller mounting plate. The controller 305 adopts a control board based on an ARM microprocessor chip, and integrates more than three steering gear control, more than one motor control, power management and attitude perception. The drive motor 302 uses an AIR2213 motor, and the forward rotor 1 and the reverse rotor 2 use 9.5x4.5inch T9545 propellers.

The first steering gear 303, the second steering gear 304 and the tail steering gear 307 are SG90 miniature steering gears.

Compared with the single-rotor structure, the coaxial inversion power device adopted in the present invention increases the lift efficiency by 6% to 20%, which can provide sufficient lift for the UAV, and at the same time offset the influence of the gyroscopic effect through the reverse rotation of the two sets of blades .

The side control rudder surfaces are arranged in pairs, and the downward airflow along the fuselage generated by the rotation of the coaxial counter-rotating rotor is used to generate aerodynamic force perpendicular to the fuselage. The forward and backward movement of the flying drone can be controlled during synchronous deflection, and the rotation of the drone around the vertical direction can be controlled during differential deflection.

The tail rudder also uses the downward airflow along the fuselage generated by the rotation of the coaxial reversing rotor to generate aerodynamic force and torque to balance the pitching moment generated by the synchronous deflection of the control surface, so that the UAV can be operated in various flight states. to maintain a vertical position down to take full advantage of the lift generated by the coaxial counter-rotating rotors. The invention combines the power of the rotor with the control of the aerodynamic rudder surface, which effectively simplifies the structure of the unmanned aerial vehicle, reduces the size of the unmanned aerial vehicle, and realizes the flexible control of the unmanned aerial vehicle.

Claims (10)

1. The utility model provides a coaxial reversal rotor unmanned aerial vehicle device, a serial communication port, including forward rotor (1), counter rotor (2) and unmanned aerial vehicle casing (3), there are forward pivot (101) and reverse pivot (10) of coaxial nested setting through rotor mounting bracket (109) fixed mounting in unmanned aerial vehicle casing (3), forward rotor (1) is fixed in on forward pivot (101), counter rotor (2) are fixed in on reverse pivot (102), unmanned aerial vehicle casing (3) internal fixation has drive arrangement, drive arrangement's output is connected with forward pivot (101) and reverse pivot (10) drive respectively, the bilateral symmetry of unmanned aerial vehicle casing (3) is provided with two side control rudder faces, the bottom of unmanned aerial vehicle casing (3) is provided with the tail vane.

2. The coaxial contra-rotating rotor unmanned aerial vehicle device according to claim 1, wherein two control surface steering engines are arranged in the unmanned aerial vehicle shell (3), each control surface steering engine is connected with one side control surface, and a rotating shaft of each control surface steering engine is perpendicular to an axis of the forward rotating shaft (101).

3. A coaxial counter-rotating rotor drone arrangement according to claim 1, characterized in that the bottom of the drone casing (3) is provided with two tail rudders arranged symmetrically along the axis of the drone casing (3).

4. A coaxial contra-rotating rotor drone assembly according to claim 3, characterized by two tail rudders connected to the same tail rudder steering engine (307), the rotation axes of the two tail rudders being parallel.

5. A co-axial counter-rotating rotor drone assembly according to claim 1, characterised in that the rotor mount (109) employs an aerial pylon structure.

6. The coaxial contra-rotating rotor unmanned aerial vehicle device according to claim 5, wherein the rotor mounting bracket (109) comprises a suspension arm (110) and a suspension sleeve (111) fixed at a middle position, the suspension sleeve (111) is circumferentially and uniformly arrayed with a plurality of suspension arms (110), one end of each suspension arm (110) is fixed to the outer wall of the suspension sleeve (111), the other end of each suspension arm (110) is fixedly connected with an inner wall support (111) of the unmanned aerial vehicle shell (3), and the suspension sleeve (111) is of a through structure.

7. A co-axial counter-rotating rotor drone arrangement according to claim 6, characterised in that the suspension sleeve (111) is lubricated between the forward (101) and reverse (102) shafts respectively.

8. A co-axial contra-rotating rotor robot apparatus according to claim 1, wherein the drive means comprises an upper gear carrier (103) and a lower gear carrier (108), the upper gear carrier (103) and the lower gear carrier (108) being provided with three parallel drive gear shafts, one of which is connected to the output shaft of the drive motor (302), the gear shaft being provided with the drive gear (107); the other gear shaft is fixedly connected with one end of the forward rotating shaft (101), a first driven gear (105) is installed on the gear shaft, and a second driven gear (104) is installed on the reverse rotating shaft (102); and a driven gear (106) is mounted on the last gear shaft, the driving gear (107) is respectively meshed with the first driven gear (105) and the driven gear (106), and the driven gear (106) is meshed with the second driven gear (104).

9. A coaxial contra-rotating rotor drone arrangement according to claim 1, characterised in that the first side control surface (4) and the second side control surface (5) both adopt thin symmetrical aerofoil structures.

10. A coaxial contra-rotating rotor drone assembly according to claim 1, characterized in that the tail rudder is of thin symmetrical wing profile construction.

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