CN106347651A - Columnar and coaxial double-propeller miniature unmanned aerial vehicle - Google Patents
Columnar and coaxial double-propeller miniature unmanned aerial vehicle Download PDFInfo
- Publication number
- CN106347651A CN106347651A CN201611021801.1A CN201611021801A CN106347651A CN 106347651 A CN106347651 A CN 106347651A CN 201611021801 A CN201611021801 A CN 201611021801A CN 106347651 A CN106347651 A CN 106347651A
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- 238000010276 construction Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 3
- 239000003814 drug Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 239000000725 suspension Substances 0.000 abstract 2
- 230000006872 improvement Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/02—Gyroplanes
- B64C27/021—Rotor or rotor head construction
- B64C27/022—Devices for folding or adjusting the blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a columnar and coaxial double-propeller miniature unmanned aerial vehicle, comprising a load-carrying structure, wherein the load-carrying structure comprises a columnar vehicle body, a flight controller and a battery are arranged in the columnar vehicle body, a mission payload is arranged at one end of the columnar vehicle body, a coaxial reversing motor is mounted at the other end of the columnar vehicle body through an omni-directional suspension bracket, a double-propeller rotor wing head is mounted on the coaxial reversing motor, a rotor wing of the double-propeller rotor wing head can be folded to cling to the columnar vehicle body, and the double-propeller rotor wing head, the coaxial reversing motor and the columnar vehicle body are arranged coaxially. According to the columnar and coaxial double-propeller miniature unmanned aerial vehicle, as a rotor wing surface of the double-propeller rotor wing head can be inclined through the omni-directional suspension bracket, so that the attitude of the unmanned aerial vehicle is controlled; as the double-propeller rotor wing head can be folded to cling to the vehicle body, the unmanned aerial vehicle has a higher portability and usability; and the double-propeller rotor wing head can be stored in a launching tube after being folded, and therefore is easy to deploy and release.
Description
Technical field
The present invention relates to unmanned air vehicle technique field is and in particular to a kind of MAV of column coaxial double-oar layout.
Background technology
Rotor wing unmanned aerial vehicle is a class multipurpose vertically taking off and landing flyer.Compared with fixed-wing unmanned plane, rotor wing unmanned aerial vehicle can
With VTOL, less demanding to landing site, easy to use efficient.Rotor wing unmanned aerial vehicle is widely used, and can execute aviation and take the photograph
The tasks such as shadow, medical aid, meteorological detection, aerial inspection.
Conventional helicopters layout is configured with a secondary main rotor and a secondary tail-rotor.The tail-rotor of lateral arrangement is anti-twisted for offsetting
Square, and for controlling driftage.Conventional helicopters layout employs a set of extremely complex pitch and linkage controls rotor
Face tilts, and using freely twisting or semi-free twist the rolling moment flying middle generation before rotor waves elimination in front flying.Tradition is straight
Rise machine layout because complicated mechanical mechanism, longer maintenance time and high use cost, be only suitable for big-and-middle-sized rotor
Unmanned plane.
In recent years, the many rotors class rotor wing unmanned aerial vehicle with four rotors as representative gradually comes into vogue.Compare conventional helicopters
Layout, the rotor that many rotors are rotated using paired opposite direction, to offset reaction torque, does not produce lift without extra driving
Tail-rotor, improves the effective utilization of energy.Many rotors are abandoned the mechanical mechanism of complexity and are freely twisted rotor, are revolved using adjusting rigidity
The method of wing rotating speed controls the inclination in rotor face, thus controlling the attitude of aircraft.In front flying, the rotation of paired opposite direction rotation
The wing also counteracts rolling moment.Because structure is simple, easy to maintenance, cost of use is cheap, many rotor-hub configuration be more suitable for small-sized just
Take formula unmanned plane to use.
However, in long-term use, many rotor wing unmanned aerial vehicles also expose its intrinsic problem.Driven using multiple motors
Dynamic rotor makes the efficiency that electric energy is converted into mechanical energy reduce, and have impact on the endurance of many rotor wing unmanned aerial vehicles.Meanwhile, by turning
The strategy of fast control break attitude needs rotor ceaselessly to do acceleration and deceleration motion to be needed to pay substantial amounts of energy so that adjusting attitude
Amount, particularly especially pronounced when rotor diameter and rotary inertia are larger.Excessive rotor quantity also leverages many rotors
The portability of unmanned plane.
Content of the invention
For weak point present in the problems referred to above, the present invention provides a kind of the micro-unmanned of column coaxial double-oar layout
Machine.
The invention discloses a kind of MAV of column coaxial double-oar layout, comprising: load-carrying construction, described load knot
Structure includes column fuselage, is provided with flight controller and battery in described column fuselage；
One end of described column fuselage is disposed with mission payload, and the other end is provided with coaxial reverse electricity by cardan mounting
Machine, described coaxial reverse motor is provided with the foldable double oar rotor heads being close to column fuselage, the described pair of oar rotor head, coaxial
Reverse motor and the coaxial setting of column fuselage.
As a further improvement on the present invention, described load-carrying construction also includes center girder, and described center girder is arranged on
In described column fuselage.
As a further improvement on the present invention, described flight controller, battery and mission payload are attached to described column machine
On body and/or center girder.
As a further improvement on the present invention, described coaxial reverse motor has coaxially arranged two rotor, carries respectively
For positive and negative two reverse driving revolving forces；Described coaxial reverse motor is connected with described pair of oar rotor head by rotating shaft.
As a further improvement on the present invention, described pair of oar rotor head includes propeller hub and rotor, described rotor and described oar
Hub is connected by limit hinge；
When rotor folds, described rotor is locked in the position being close to column fuselage；
When rotor launches and when rotating around propeller hub, described rotor is locked in the position perpendicular to column fuselage, and with described
Propeller hub is rigidly connected.
As a further improvement on the present invention, described mission payload includes photoelectric nacelle, first-aid medicine bag and emergency communication
One of equipment.
Compared with prior art, the invention has the benefit that
The invention discloses a kind of MAV of column coaxial double-oar layout, by cardan mounting tiltable double oar rotation
The rotor face of wing head, controls UAV Attitude；Double oar rotor heads can be close to fuselage and fold, and have higher portability and easy-to-use
Property；Double oar rotor heads can be stored in transmitting tube it is easy to disposing and discharging after folding；
The present invention passes through coaxial reverse motor and drives the rigid hingeless rotor reversely turning (to rotate when rotor expansion and around propeller hub
When, rotor and propeller hub are rigidly connected) offset reaction torque, improve flight efficiency, improve the endurance of unmanned plane.
Brief description
Fig. 1 is the structure chart of the MAV of column coaxial double-oar layout disclosed in an embodiment of the present invention；
Fig. 2 is the sectional view of a-a in Fig. 1；
Fig. 3 is the structure connection figure disclosed in an embodiment of the present invention between coaxial reverse motor and column fuselage；
Fig. 4 is the unfolding state figure of the MAV of column coaxial double-oar layout disclosed in an embodiment of the present invention；
Fig. 5 is the folded state diagram of the MAV of column coaxial double-oar layout disclosed in an embodiment of the present invention.
In figure:
1st, coaxial reverse motor；2nd, double oar rotor heads；21st, rotor；22nd, propeller hub；23rd, limit hinge；3rd, cardan mounting；4、
Load-carrying construction；41st, column fuselage；42nd, center girder；5th, flight controller；6th, battery；7th, mission payload.
Specific embodiment
Purpose, technical scheme and advantage for making the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained on the premise of not making creative work, broadly falls into the scope of protection of the invention.
Below in conjunction with the accompanying drawings the present invention is described in further detail:
As shown in Figure 1-2, the present invention provides a kind of MAV of column coaxial double-oar layout, comprising: coaxial reverse
Motor 1, double oar rotor head 2, cardan mounting 3, load-carrying construction 4, flight controller 5, battery 6 and mission payload 7；Wherein:
Load-carrying construction 4 makes the MAV of column coaxial double-oar layout become one to have the structure undertaking load, hold
Power structure 4 includes column fuselage 41 and is arranged on center girder 42 in column fuselage 41, center girder 42 preferably with column machine
The axis of body 41 coincides setting.
It is provided with flight controller 5 and battery 6 in column fuselage 41, flight controller 5 and battery 6 are attached to load-carrying construction
On 4 (column fuselage 41 and/or center girders 42)；Wherein, flight controller 5 is the MAV of column coaxial double-oar layout
There is provided gesture stability and flight course planning so as to have autonomous flight ability；Battery 6 is the micro-unmanned of column coaxial double-oar layout
Machine provides electric energy.
There is mission payload 7 in one end of column fuselage 41 arrangement (carry), mission payload 7 is attached to load-carrying construction 4 (column
Fuselage 41 and/or center girder 42) on；According to the needs of task, mission payload 7 can change the outfit as photoelectric nacelle, first-aid medicine
The load such as bag, emergency communication equipment.
In the other end of column fuselage 41, coaxial reverse motor 1 is provided with by cardan mounting 3, as shown in Figure 3；Coaxial anti-
The foldable double oar rotor heads 2 being close to column fuselage, double oar rotor heads 2, coaxial reverse motor 1 and post are provided with motor 1
The coaxial setting of shape fuselage 41.Wherein, coaxial reverse motor 1 provides the power driving double oar rotor head 2 rotations for the present invention；Coaxial
Reverse motor 1 has coaxially arranged two rotor, provides the rotary driving force of positive and negative both direction respectively；Coaxial reverse motor
1 is connected with double oar rotor heads 2 by rotating shaft, drives the rotor opposite direction rotation of double oar rotor heads.
Cardan mounting 3 is the bindiny mechanism between coaxial reverse motor 1 and load-carrying construction 4, and cardan mounting 3 is in flight control
The lower rotor face that can make double oar rotor heads 2 that controls of device 5 tilts, angled with fuselage axis；The present invention is straight with tradition
Rise machine layout to compare, there is the frame for movement of simplification and cheap cost of use, compared with many rotor-hub configuration, do not use motor to adjust
Speed, improves capacity usage ratio, and cardan mounting 3 has the premium properties such as structure is simple, maintenance is simple, consumed energy is few.
Double oar rotor heads 2 include setting up and down two propeller hub 22 and multiple rotor 21, and the number of rotor setting can basis
Actual demand is configured；Rotor 21 is connected by limit hinge 23 with propeller hub 22；When rotor 21 folds, rotor 21 is locked in
It is close to the position of column fuselage 41, as shown in Figure 5；When launching when rotor 21 and rotating around propeller hub 22, rotor 21 is locked in vertically
In the position of column fuselage 41, and it is rigidly connected with propeller hub 22, there is the high-effect characteristic that rigidity no twists rotor；As shown in Figure 4.
The technical performance of the MAV of column coaxial double-oar layout disclosed by the invention is:
Bare weight: 800g；
Maximum take-off weight: 2000g；
Payload capacity: 500g；
Rotor diameter: 432mm；
Fuselage diameter: 92mm；
Cruising time: 45 minutes (load-carrying 500g is equipped with 1 group of 4s lithium battery), 1 hour 10 points of (load-carrying 500g 2 groups of 4s of outfit
Lithium battery)；
Max level speed: 20m/s: maximum ceiling: 1000m；
Remote control distance: 1.5km (does not increase journey), 5km (increasing journey)；
Power: brshless DC motor (peak power output 1.5kw)；
Feature: autonomous landing, autonomous flight, it is equipped with modularity multitask gondola, long endurance, overall life cycle cost
Low.Rotor is close to fuselage after folding, and has stronger portability；Can be stored in transmitting tube it is easy to disposing and discharging.
Present invention has an advantage that the MAV of column coaxial double-oar layout passes through cardan mounting tiltable double oar rotation
The rotor face of wing head, controls UAV Attitude；Double oar rotor heads can be close to fuselage and fold, and have higher portability and easy-to-use
Property；Double oar rotor heads can be stored in transmitting tube it is easy to disposing and discharging after folding；Driven reversely by coaxial reverse motor
The rigid hingeless rotor (when rotor launches and rotates around propeller hub, rotor and propeller hub are rigidly connected) turning offsets reaction torque, improves
Flight efficiency, improves the endurance of unmanned plane.
These are only the preferred embodiments of the present invention, be not limited to the present invention, for those skilled in the art
For member, the present invention can have various modifications and variations.All any modifications within the spirit and principles in the present invention, made,
Equivalent, improvement etc., should be included within the scope of the present invention.
Claims (6)
1. a kind of MAV of column coaxial double-oar layout is it is characterised in that include: load-carrying construction (4), described load knot
Structure (4) includes column fuselage (41), is provided with flight controller (5) and battery (6) in described column fuselage (41)；
One end of described column fuselage (41) is disposed with mission payload (7), and the other end is provided with coaxial anti-by cardan mounting (3)
To motor (1), described coaxial reverse motor (1) is provided with the foldable double oar rotor heads (2) being close to column fuselage of rotor, institute
State double oar rotor heads (2), coaxial reverse motor (1) and the coaxial setting of column fuselage (41).
2. the MAV of column coaxial double-oar layout as claimed in claim 1 is it is characterised in that described load-carrying construction
(4) also include center girder (42), described center girder (42) is arranged in described column fuselage (41).
3. the MAV of column coaxial double-oar layout as claimed in claim 2 is it is characterised in that described flight controller
(5), battery (6) and mission payload (7) are attached on described column fuselage (41) and/or center girder (42).
4. the MAV of column coaxial double-oar layout as claimed in claim 1 is it is characterised in that described coaxial reverse electricity
Machine (1) has coaxially arranged two rotor, provides positive and negative two reverse driving revolving forces respectively；Described coaxial reverse motor
(1) it is connected with described pair of oar rotor head (2) by rotating shaft.
5. the MAV of column coaxial double-oar layout as claimed in claim 1 is it is characterised in that described pair of oar rotor head
(2) propeller hub (22) and rotor (21) are included, described rotor (21) is connected by limit hinge (23) with described propeller hub (22)；
When rotor (21) folds, described rotor (21) is locked in the position being close to column fuselage (41)；
When rotor (21) launches and rotates around propeller hub (22), described rotor (21) is locked in the position perpendicular to column fuselage (41)
Put, and be rigidly connected with described propeller hub (22).
6. the MAV of column coaxial double-oar layout as claimed in claim 1 is it is characterised in that described mission payload
(7) one of photoelectric nacelle, first-aid medicine bag and emergency communication equipment are included.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611021801.1A CN106347651B (en) | 2016-11-21 | 2016-11-21 | A kind of miniature drone of column coaxial double-oar layout |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611021801.1A CN106347651B (en) | 2016-11-21 | 2016-11-21 | A kind of miniature drone of column coaxial double-oar layout |
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| Publication Number | Publication Date |
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| CN106347651A true CN106347651A (en) | 2017-01-25 |
| CN106347651B CN106347651B (en) | 2018-07-13 |
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| CN201611021801.1A Active CN106347651B (en) | 2016-11-21 | 2016-11-21 | A kind of miniature drone of column coaxial double-oar layout |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108146632A (en) * | 2017-11-23 | 2018-06-12 | 北京航空航天大学 | A kind of combination rotor for VTOL Fixed Wing AirVehicle |
| CN108163204A (en) * | 2018-01-13 | 2018-06-15 | 南昌航空大学 | A kind of rotor wing unmanned aerial vehicle umbrella |
| CN108275264A (en) * | 2018-03-05 | 2018-07-13 | 南京韬讯航空科技有限公司 | A kind of foldable coaxial dual-rotor helicopter and its control method |
| CN108423153A (en) * | 2018-05-17 | 2018-08-21 | 王瀚晨 | Modularized micro unmanned plane |
| CN108438260A (en) * | 2018-02-07 | 2018-08-24 | 长安大学 | A kind of vectored thrust aircraft and its test method for microgravity test |
| CN108791859A (en) * | 2018-07-12 | 2018-11-13 | 西安君晖航空科技有限公司 | A kind of rotor wing unmanned aerial vehicle quickly approached |
| CN108891589A (en) * | 2018-08-13 | 2018-11-27 | 吴立群 | A kind of power and vector control mechanism of coaxial double-oar aircraft |
| CN109405649A (en) * | 2018-11-12 | 2019-03-01 | 彩虹无人机科技有限公司 | The foldable coaxial anti-paddle unmanned plane of one kind and striking method |
| CN109533310A (en) * | 2018-10-18 | 2019-03-29 | 沈阳理工大学 | A kind of miniature coaxial double-rotary wing levitation device of Mobile launch folding |
| WO2019183757A1 (en) * | 2018-03-26 | 2019-10-03 | XDynamics Limited | A propeller driving unit |
| CN112224411A (en) * | 2020-10-30 | 2021-01-15 | 北京特种机械研究所 | Microminiature unmanned aerial vehicle |
| CN113120232A (en) * | 2021-04-26 | 2021-07-16 | 苏州喜全软件科技有限公司 | Unmanned aerial vehicle capable of realizing attitude adjustment by folding rotating propellers |
| WO2023242198A1 (en) * | 2022-06-13 | 2023-12-21 | Desch Andreas | Drone |
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| CN105882955A (en) * | 2014-11-20 | 2016-08-24 | 北京万户空天科技有限公司 | Coaxial and equidirectional multi-rotor-wing helicopter |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108146632A (en) * | 2017-11-23 | 2018-06-12 | 北京航空航天大学 | A kind of combination rotor for VTOL Fixed Wing AirVehicle |
| CN108146632B (en) * | 2017-11-23 | 2020-05-19 | 北京航空航天大学 | Combined rotor wing for vertical take-off and landing fixed wing aircraft |
| CN108163204A (en) * | 2018-01-13 | 2018-06-15 | 南昌航空大学 | A kind of rotor wing unmanned aerial vehicle umbrella |
| CN108438260A (en) * | 2018-02-07 | 2018-08-24 | 长安大学 | A kind of vectored thrust aircraft and its test method for microgravity test |
| CN108275264A (en) * | 2018-03-05 | 2018-07-13 | 南京韬讯航空科技有限公司 | A kind of foldable coaxial dual-rotor helicopter and its control method |
| US11479341B2 (en) * | 2018-03-26 | 2022-10-25 | XDynamics Limited | Propeller driving unit |
| WO2019183757A1 (en) * | 2018-03-26 | 2019-10-03 | XDynamics Limited | A propeller driving unit |
| CN108423153A (en) * | 2018-05-17 | 2018-08-21 | 王瀚晨 | Modularized micro unmanned plane |
| CN108791859A (en) * | 2018-07-12 | 2018-11-13 | 西安君晖航空科技有限公司 | A kind of rotor wing unmanned aerial vehicle quickly approached |
| CN108791859B (en) * | 2018-07-12 | 2024-02-06 | 西安君晖航空科技有限公司 | Rotor unmanned aerial vehicle who supports closely fast |
| CN108891589A (en) * | 2018-08-13 | 2018-11-27 | 吴立群 | A kind of power and vector control mechanism of coaxial double-oar aircraft |
| CN109533310A (en) * | 2018-10-18 | 2019-03-29 | 沈阳理工大学 | A kind of miniature coaxial double-rotary wing levitation device of Mobile launch folding |
| CN109533310B (en) * | 2018-10-18 | 2022-05-06 | 沈阳理工大学 | Miniature coaxial double-rotor suspension device of maneuvering launching foldable type |
| CN109405649A (en) * | 2018-11-12 | 2019-03-01 | 彩虹无人机科技有限公司 | The foldable coaxial anti-paddle unmanned plane of one kind and striking method |
| CN112224411B (en) * | 2020-10-30 | 2021-10-22 | 北京特种机械研究所 | Microminiature unmanned aerial vehicle |
| CN112224411A (en) * | 2020-10-30 | 2021-01-15 | 北京特种机械研究所 | Microminiature unmanned aerial vehicle |
| CN113120232A (en) * | 2021-04-26 | 2021-07-16 | 苏州喜全软件科技有限公司 | Unmanned aerial vehicle capable of realizing attitude adjustment by folding rotating propellers |
| WO2023242198A1 (en) * | 2022-06-13 | 2023-12-21 | Desch Andreas | Drone |
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| Publication number | Publication date |
|---|---|
| CN106347651B (en) | 2018-07-13 |
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