CN106428543A - Rotor control mechanism and dual-rotor unmanned plane - Google Patents
Rotor control mechanism and dual-rotor unmanned plane Download PDFInfo
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- CN106428543A CN106428543A CN201611020529.5A CN201611020529A CN106428543A CN 106428543 A CN106428543 A CN 106428543A CN 201611020529 A CN201611020529 A CN 201611020529A CN 106428543 A CN106428543 A CN 106428543A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 121
- 230000008520 organization Effects 0.000 claims description 61
- 230000005540 biological transmission Effects 0.000 claims description 23
- 230000001681 protective effect Effects 0.000 claims description 11
- 238000013016 damping Methods 0.000 claims description 7
- 230000009467 reduction Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 description 13
- 230000008901 benefit Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
- B64U30/296—Rotors with variable spatial positions relative to the UAV body
- B64U30/297—Tilting rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a rotor control mechanism and a dual-rotor unmanned plane; the rotor control mechanism includes a rotor cross beam, a rotor outer beam, a motor and an X-axis drive reducing device; the unmanned plane applying the mechanism is provided with a bearing assembled with the rotor control mechanism, a motor and Y-axis drive reducing device; the unmanned plane is configured with multiple sets of rotor control mechanisms; the rotor can be controlled to rotate around two axles through the motor in the rotor control mechanism and corresponding drive reducing device. According to the invention, the rotor can be fixedly installed on the rotor; meanwhile, the rotor control purpose can be realized through controlling the rotor to rotate around two axles and adjusting the rotate speed of the rotors, and the whole control mechanism is simple. The dual-rotor unmanned plane applying the rotor control mechanism comprises a set of rotor control mechanism, a plane body, and a rotor; the plane body includes the plane body includes the plane main body and two arms; two arms and the plane main body are formed to be an U-shaped structure; thus the unmanned plane is good in convenience and high in stability.
Description
Technical field
The present invention relates to unmanned plane field, more particularly to a kind of small volume, is easy to carry, safe rotor control machine
Structure and DCB Specimen unmanned plane.
Background technology
Single-rotor helicopter has a big rotor and a little tail-rotor, and big rotor provides the lift of helicopter and does various dynamic
The thrust of work, tail-rotor is used for Heading control.Coaxial double-rotor helicopter has two secondary identical rotors, is arranged on one on the other
In same rotor shaft, therefore the direction of rotation of two secondary rotors does not need tail-rotor, phase conversely, their reaction torque cancels each other
Than single-rotor helicopter, compact conformation, size only has 60% of single-rotor helicopter or so；Further, since not needing tail-rotor to support
The moment of torsion of the racemization wing, its energy efficiency is also higher by more than 10% than single-rotor helicopter.But, due to there is two secondary rotors, coaxial
The pitch of twin-rotor helicopter manipulation rotor is very complicated.
Coaxial double-rotor helicopter is an important class of consumer level unmanned plane, but its market position is not far at present
As many gyroplanes, main cause has：1. the inclination disc mechanism of manipulation rotor is too complicated；2. the structure of whole helicopter to
Under have two secondary rotors and the fuselage immediately below rotor, structure very irregular, consumer level unmanned plane is set to simplify pitch
Meter, generally also leaves a little tail-rotor, is not easy to carry with；3., for non-professional ordinary consumer, controllability is poor,
When unexpected disequilibrium, easily knock barrier or drop, stability is low.4. the rotor of high-speed rotation does not have fence, easily
Get to barrier, in addition consumer level unmanned plane generally fly low, rotor easily hurts people, not safe enough.
Content of the invention
For weak point present in above-mentioned technology, the present invention propose a kind of rotor controlling organization and DCB Specimen nobody
Machine, small volume, it is convenient for carrying, and in running, stability is strong, safe.
For the problem that helicopter pitch is excessively complicated, the present invention proposes a kind of new rotor controlling organization design
Method, its basic thought is：Cancel pitch, rotor is fixedly installed in the rotor shaft of motor, and the blade angle of rotor is fixed, if
One mechanism with two rotary shafts of meter, the subsystem of rotor and motor is installed in this mechanism, and the mechanism can control
Rotor is verted around two rotary shafts, reaches the purpose of manipulation rotor.
Based on above-mentioned design philosophy, a kind of new rotor controlling organization can be designed, its basic structure is:Whole rotor control
The core institution rotor controlling organization of mechanism processed is rotated along X-axis and Y-axis；A rotor crossbeam is provided with X-axis axis,
Rotor crossbeam is provided with one or two motor cabinet, installs motor in motor cabinet, if there is two motor cabinets, the positive and negative peace of two motors
Dress, i.e. one, the axle of two motors upward one down, rotor is installed on the axle of motor；The two ends of rotor crossbeam are provided with X-axis
Liang Ge spindle nose mechanism, referred to as XZhou Tou mechanism；Have on the outer beam of rotor two with rotor crossbeam on the axle that matches of XZhou Tou mechanism
Hold, referred to as X-axis is held, one of X-axis place of holding is provided with a motor, referred to as X-axis motor, and corresponding gear reduction dress
Put, referred to as X-axis transmission decelerating device, by the X-axis of the XZhou Tou mechanism of rotor crossbeam and the outer beam of rotor hold can by rotor crossbeam and
Assembling subsystem thereon is fitted in the outer beam of rotor, and the X-axis motor is by X-axis transmission decelerating device and rotor crossbeam
One GeXZhou Tou mechanism connects；Liang Ge spindle nose mechanism, referred to as YZhou Tou mechanism is provided with along on Y-axis axis on the outer beam of rotor.Should
With two axles for matching with the Liang GeYZhou Tou mechanism of the outer beam of rotor of setting on the unmanned aerial vehicle body of the rotor controlling organization
Holding, referred to as Y-axis is held, a motor, referred to as y-axis motor, and corresponding transmission decelerating device is set at one of bearing, is claimed
For Y-axis transmission decelerating device, held by the outer YZhou Tou mechanism of beam of rotor and the Y-axis of fuselage and by outer for rotor beam and rotation can be assemblied in
Subsystem on the outer beam of the wing is fitted into fuselage, and the y-axis motor is by a Y on Y-axis transmission decelerating device and rotor crossbeam
Spindle nose mechanism connects.
Unmanned plane can control rotor by X-axis motor and y-axis motor and rotate around X-axis and Y-axis, and unmanned plane can be configured
Many set rotor controlling organizations, only need to simply control the X-axis motor of each set rotor controlling organization and y-axis motor to make each pair rotor
Appropriate verts, while the rotating speed of each rotor of adjustment, you can promptly manipulation unmanned plane makes various flare maneuvers.The present invention's
Rotor controlling organization eliminates the pitch of conventional helicopters complexity, and whole controlling organization is simple.In addition, the rotor controlling organization
May be designed as in principle supporting that rotor is made 360 around X-axis and Y-axis and rotated, therefore when unmanned plane is surprisingly overturn by external force, all may be used
To allow rapidly thrust that rotor wing rotation to horizontal level makes rotor vertically upward, it is to avoid fall.
For big payload helicopter, rotor diameter is up to more than several meters, and the rotor controlling organization of the present invention may be too big too heavy,
Less it is suitable for.But, for consumer level unmanned plane, within generally only two, 30 centimetres of rotor diameter, the rotor control of the present invention
Mechanism has no problem completely.In order to mitigate the weight of whole rotor controlling organization, can also simplify by three kinds of methods：
The outer beam of rotor only sets an X-axis and holds, and rotor crossbeam only sets a GeXZhou Tou mechanism, its advantage be reduction of the outer beam of rotor and
The mechanism complexity of rotor crossbeam；
The outer beam of rotor only sets a GeYZhou Tou mechanism, and its advantage is reduction of the mechanism complexity of the outer beam of rotor, unmanned aerial vehicle body
Only a Y-axis need to be arranged to hold, fuselage design can be simplified；
The outer beam of rotor only sets an X-axis and holds and a GeYZhou Tou mechanism, and rotor crossbeam only sets a GeXZhou Tou mechanism.Its advantage reduces
The outer beam of rotor and the mechanism complexity of rotor crossbeam, unmanned aerial vehicle body also need to only arrange a Y-axis and hold, and can simplify fuselage design
And size.
It is very low that consumer level unmanned plane generally flies, and peripheral obstacle is many, is that to provide a preventing mechanism be preferable to rotor
Design.Rotor controlling organization proposed by the present invention can add rotor preventing mechanism further.Rotor with rotor preventing mechanism
Its basic structure of controlling organization is：Increase a rotor protective frame, rotor protective frame on the rotor crossbeam of rotor controlling organization
Upper and lower surface all cover a netted cover plate, rotor protective frame and two netted cover plates constitute protective fences, by rotor
Parcel is wherein.Increase the working mechanism that rotor preventing mechanism does not change rotor controlling organization.As netted cover plate has one to air-flow
Fixed negative effect, and increase weight, application that need not be so high for requirement of shelter, netted cover plate can not be assembled.
The design lime light of the rotor controlling organization of the present invention：
X-axis in principle during the rotation of rotor controlling organization is not the parallel purpose that just can reach control rotor with Y-axis, but X
The vertical and intersectant centerline of axle and Y-axis is decision design；The center of gravity of whole rotor controlling organization is tried one's best and X-Y shaft centre line intersection point
Coincidence is decision design；Rotating shaft center's line of rotor passes through X-Y shaft centre line intersection point, or the unmanned plane for DCB Specimen,
It is decision design that the axisymmetry of two secondary rotors is distributed in the both sides of X-Y shaft centre line intersection point.These decision design can reduce X
Spindle motor and the load of y-axis motor.
The rotor that is sized so as to allow of the outer beam of rotor and fuselage is decision design around X-axis and Y-axis 360 degree of rotations of work.So when
Unmanned plane can manipulate rotor in any obliquity and make its thrust vertically upward, it is to avoid fall.
Based on new rotor controlling organization proposed by the present invention, the present invention proposes a kind of band rotor protection, portable, stable
Consumer level DCB Specimen unmanned plane, its population structure is made up of a set of rotor controlling organization, two secondary rotors and three components of fuselage.
The rotor controlling organization of new unmanned plane has rotor preventing mechanism, and its basic structure is：The core of whole mechanism
It is that rotor controlling organization can be rotated along X-axis and Y-axis, the vertical and intersectant centerline of X-axis and Y-axis；Arrange along on X-axis axis
There is a rotor crossbeam, a rotor bearer bar is installed on rotor crossbeam, the upper and lower surface of rotor bearer bar all covers one
Netted cover plate, bearer bar and two netted cover plates constitute a protective fence, and rotor is wrapped up wherein；Set on rotor crossbeam
There are two motor cabinets, each motor cabinet is mounted with a motor, the positive and negative installation of two motors, i.e. motor shaft one court upward
Under, rotor is installed on the axle of motor, the steering of two secondary rotors is contrary；The two ends of rotor crossbeam are provided with the Liang Ge spindle nose mechanism of X-axis；
The outermost of rotor controlling organization is beam outside the rotor of a frame-shaped；The outer beam of rotor is provided with two axles with two point of intersection of X-axis
Hold, referred to as X-axis is held, they are matched with Liang GeXZhou Tou mechanism on rotor crossbeam, and one of X-axis place of holding is provided with a step
Stepper motor, referred to as X-axis motor, and corresponding transmission decelerating device, referred to as X-axis transmission decelerating device, by the X-axis head of rotor crossbeam
The X-axis of mechanism and the outer beam of rotor is held subsystem that can be by rotor crossbeam and assembling thereon and is fitted in the outer beam of rotor, and X-axis motor leads to
GuoXZhou gear reduction mechanism is connected with a GeXZhou Tou mechanism of rotor crossbeam, and the outer beam size of rotor is sufficiently large, and X-axis motor is controlled
Rotor crossbeam processed and the subsystem being assemblied on rotor crossbeam make 360 degree of rotations around X-axis；The outer beam of rotor is in Y-axis axis direction
Liang Ge spindle nose mechanism is provided with, becomes YZhou Tou mechanism.The fuselage of unmanned plane adopts " U " type structure, by two horns and fuselage master
Body two parts constitute.Horn is provided with two bearings, and referred to as Y-axis is held, their Liang GeYZhou Tou mechanism phases with the outer beam of rotor
Join, one of Y-axis place of holding sets a motor, referred to as y-axis motor, the Y-axis place of holding is additionally provided with corresponding gear reduction
Device, referred to as Y-axis transmission decelerating device, being held by the outer Liang GeYZhou Tou mechanism of beam of rotor and two Y-axis of horn can be by rotor
Outer beam and assembling subsystem thereon is fitted into fuselage；Y-axis motor is by a Y of the outer beam of Y-axis transmission decelerating device and rotor
Spindle nose mechanism connects, horn long enough, and y-axis motor can control the outer beam of rotor and assembling subsystem thereon and make 360 degree around Y-axis
Rotation.Application component of the fuselage main body comprising unmanned plane, such as battery, photographic head, various sensors, master control borad, GPS etc., machine
The part of needs can also be installed on arm and two netted cover plates, be such as used for the ultrasonic sensor of comprehensive avoidance.On earth
The application demand which application component is directed to depending on unmanned plane to be installed on unmanned plane, the present invention is not construed as limiting.
The manipulating principle of DCB Specimen unmanned plane of the present invention：
Hovering：In no-wind environment, two secondary rotor holding levels are made by the X-axis motor and y-axis motor of rotor controlling organization, i.e.,
Rotor wing rotation axle is vertical, and now Rotor thrust is forward；While the rotating speed of the secondary rotors of adjustment two so that the lift of two secondary rotors with
The gravity of unmanned plane is equal and so that the rotation moment of torsion that two secondary rotors are produced is cancelled out each other；
Lifting/lowering：Keep two secondary Rotor thrust forward and rotation moment of torsion is same, rotor rotating speed is adjusted, produce two secondary rotors
Lift is more than/is less than the gravity of unmanned plane；
Driftage：Keep two secondary Rotor thrust forward, the rotating speed of the secondary rotors of adjustment two, make they from torque, manipulate
Unmanned plane is turned to；
Fly in front and back：If X-direction is to control rotor certain angle to be deflected around Y-axis fore-and-aft direction, by y-axis motor, improve rotation
Wing rotating speed, the vertical component for keeping Rotor thrust is that lift is equal with gravity, before the horizontal component of Rotor thrust promotes unmanned plane
After fly；
Left and right flight：If Y direction is certain angle to be deflected left and right directions, by X-axis motor control rotor along X-axis, improve rotation
Wing rotating speed, keeps vertical component, the i.e. lift of Rotor thrust equal with gravity, and the horizontal component of Rotor thrust promotes a unmanned plane left side
Right flight；
The DCB Specimen unmanned plane of the present invention has individual technical characteristic：Rotor thrust is only used as UAV Flight Control, it is impossible to for controlling
The attitude of fuselage processed, the attitude of fuselage is determined by the gravity and wind-force of unmanned plane completely；As two secondary rotors can be around X-axis and Y
Axle is made 360 degree and is verted, no matter the attitude of fuselage, rotor controlling organization can carry out normal flight manipulation to unmanned plane.If
During meter unmanned plane, center of gravity is arranged according to the application demand of unmanned plane, and the geometric center that usual center of gravity is arranged on fuselage main body is attached
Closely.
In order to reduce the weight of unmanned plane, rotor controlling organization can be simplified by three kinds of methods：The outer beam of rotor only sets one
Individual X-axis is held, and rotor crossbeam only sets a GeXZhou Tou mechanism；Or the outer beam of rotor only sets a GeYZhou Tou mechanism, fuselage only sets a Y
Bearing, has a horn.Or the outer beam of rotor only sets an X-axis and holds and a GeYZhou Tou mechanism, rotor crossbeam only sets one
XZhou Tou mechanism, fuselage only sets a Y-axis and holds, and has a horn.
The DCB Specimen unmanned plane of above-mentioned three kinds of simplification is only a simplified X-axis and the Y-axis mechanism complexity of rotor controlling organization,
Manipulation mechanism is unaffected.
As netted cover plate has certain negative effect to air-flow, and increase weight, not need that for requirement of shelter
High application, can not assemble netted cover plate.
One important application of consumer level unmanned plane is to shoot, and can configure photographic head, in order to improve image in fuselage main body
Stability, damping can be increased on unmanned aerial vehicle body, damping can eliminate vibrations during rotor wing rotation, lifting figure
As effect.
Beneficial effects of the present invention are：
1. the inclinator of traditional coaxial double-rotor helicopter complexity, simple structure are eliminated；
2. work as unmanned plane wide-angle tilt, or even during upset, promptly can keep Rotor thrust vertically upward by rotary wing, keep away
Exempt to fall；
3. rotor system can be folded in the U-type groove of fuselage when unmanned plane is reclaimed, be easy to carry；
4. the rotor of high-speed rotation is wrapped in a protective fence, will not accidentally injure people, directly can be taken off in palm and be dropped
Fall；
5., when unmanned plane does various flare maneuvers, verted is rotor, and fuselage attitude is unaffected, actually unmanned plane fortune
The windage for producing when dynamic has certain impact to fuselage attitude, but due to unmanned plane motion is very slow when shooting, impact is very little, because
This shooting image is very steady.
Description of the drawings
Fig. 1 is rotor controlling organization axonometric chart of the present invention；
Fig. 2 is rotor controlling organization exploded view of the present invention；
Fig. 3 is the application example perspective view of rotor controlling organization of the present invention；
Fig. 4 is the application example decomposition figure of rotor controlling organization of the present invention；
The outer beam that Fig. 5 simplifies for X-axis of the present invention；
Fig. 6 simplifies the rotor controlling organization of outer beam for the present invention using X-axis；
The outer beam that Fig. 7 simplifies for Y-axis of the present invention；
Fig. 8 simplifies the rotor controlling organization of outer beam for the present invention using Y-axis；
The outer beam that Fig. 9 simplifies for X-axis of the present invention and Y-axis；
Figure 10 simplifies the rotor controlling organization of outer beam for the present invention using X-axis and Y-axis；
The rotor controlling organization axonometric chart that Figure 11 is protected with rotor for the present invention；
The rotor controlling organization exploded view that Figure 12 is protected with rotor for the present invention；
Figure 13 is the rotor controlling organization of the present invention no netted cover plate；
Figure 14 is the axonometric chart of DCB Specimen unmanned plane of the present invention；
Figure 15 is the exploded view of DCB Specimen unmanned plane of the present invention；
Figure 16 is the hovering attitude schematic diagram of DCB Specimen unmanned plane of the present invention；
Figure 17 is flight schematic diagram before and after DCB Specimen unmanned plane of the present invention；
Figure 18 is the left and right flight schematic diagram of DCB Specimen unmanned plane of the present invention；
Figure 19 is the recovery form schematic diagram of DCB Specimen unmanned plane of the present invention；
Figure 20 simplifies the DCB Specimen unmanned plane of outer beam for the present invention using X-axis；
Figure 21 simplifies the DCB Specimen unmanned plane of outer beam for the present invention using Y-axis；
Figure 22 simplifies the DCB Specimen unmanned plane of outer beam for the present invention using X-axis and Y-axis；
Figure 23 is the DCB Specimen unmanned plane of the present invention no netted cover plate；
Unmanned aerial vehicle body structural representation of the Figure 24 for the present invention with shock absorbing mechanism.
In figure marks explanation：
1st, rotor controlling organization 2, unmanned aerial vehicle body
2A, two-shipper arm unmanned aerial vehicle body 2B, unit arm unmanned aerial vehicle body
2C, the unmanned aerial vehicle body 3A with damping, the rotor crossbeam for simplifying
4th, motor cabinet 5, motor
6th, rotor 7, XZhou Tou mechanism
8th, beam outside the rotor that the outer beam 8A of rotor, X-axis simplify
Beam outside the rotor that outside the rotor that 8B, Y-axis simplify, beam 8C, X-axis and Y-axis all simplify
9th, X-axis holds 10, X-axis motor
11st, X-axis transmission decelerating device 12, YZhou Tou mechanism
13rd, Y-axis holds 14, y-axis motor
15th, Y-axis transmission decelerating device 16, bearer bar
17th, netted cover plate 18, fuselage main body
19th, horn 20, damping.
Specific embodiment
In order to more clearly state the rotor controlling organization of the present invention, below in conjunction with the accompanying drawings the present invention is further retouched
State.
One rotor controlling organization embodiment：
The present embodiment can assemble two secondary rotors, refer to Fig. 1-Fig. 2, and the core mechanism of the rotor controlling organization is rotor control
Mechanism processed is rotated around X-axis and Y-axis, is provided with a rotor crossbeam 3, sets up and down in 3 center of rotor crossbeam along X-axis axis
Two motor cabinets 4, install motor 5 in motor cabinet, the positive and negative installation of two motors, install rotor 6 on the axle of motor；Rotor crossbeam 3
Two ends be provided with Liang GeXZhou Tou mechanism 7；The outer beam 8 of the rotor of one frame-shaped, is provided with two X-axis and holds 9, and one of X-axis is held at 9
An X-axis motor 10 and X-axis transmission decelerating device 11 is provided with, by the XZhou Tou mechanism 7 of rotor crossbeam 3 and the X of the outer beam 8 of rotor
Subsystem of the bearing 9 by rotor crossbeam 3 and assembling thereon is fitted in the outer beam 8 of rotor, X-axis transmission decelerating device in the present embodiment
11 are made up of a pair of size gear, and little gear is assemblied on the axle of X-axis motor 10, and gear wheel is assemblied in an X of rotor crossbeam 3
In spindle nose mechanism 7, it is connected X-axis motor 10 and the XZhou Tou mechanism 7 of the rotor crossbeam；On the outer beam 8 of rotor along Y-axis line also
It is provided with Liang GeYZhou Tou mechanism 12.
Using this rotor controlling organization embodiment as shown in Figure 3 and Figure 4, two Y-axis are set on unmanned aerial vehicle body 13 is held, its
In a Y-axis hold at 13 and set a y-axis motor 14 and Y-axis transmission decelerating device 15, by the YZhou Tou mechanism 12 of the outer beam 8 of rotor
13 subsystems by outer for rotor beam and assembling thereon are held with the Y-axis of fuselage and fuselage is fitted into, Y-axis gear reduction dress in the present embodiment
Put 15 to be made up of a pair of size gear, little gear is assemblied on the axle of y-axis motor 14, gear wheel is assemblied in the one of the outer beam 8 of rotor
In GeYZhou Tou mechanism 12, it is connected y-axis motor 14 and the YZhou Tou mechanism 12 of the outer beam of the rotor.In the present embodiment, nobody
Machine can control rotor by X-axis motor 10 and y-axis motor 14 and vert around X-axis and Y-axis, as long as outer 8 He of beam of the rotor of frame-shaped
The size of unmanned plane horn 19 is sufficiently large, and unmanned plane can control rotor and make 360 degree of rotations around X-axis and Y-axis.
In order to mitigate the weight of the rotor controlling organization of the present embodiment, can simplify by three kinds of methods：
1. replace the outer beam 8 of rotor in Fig. 1 with the outer beam 8A of the rotor of Fig. 5, the rotor controlling organization of simplification as shown in fig. 6, its with
The mechanism of Fig. 1 is distinguished：The outer beam 8A of rotor only sets an X-axis and holds 9, and rotor crossbeam 3A also only sets a GeXZhou Tou mechanism 7.Which is excellent
Point is that the size of the outer beam 8A and rotor crossbeam 3A of rotor only has original half, has the disadvantage that only one of which X-axis holds 9 load-bearing；
2. replace the outer beam 8 of rotor in Fig. 1 with the outer beam 8B of the rotor of Fig. 7, the rotor controlling organization of simplification as shown in figure 8, its with
The mechanism of Fig. 1 is distinguished：The outer beam 8B of rotor only sets a GeYZhou Tou mechanism 12.Its advantage is that the outer beam 8B of rotor only has a half-size scale,
Unmanned aerial vehicle body 2 also need to only arrange a Y-axis and hold 13, can simplify fuselage design.Have the disadvantage that only one of which Y-axis holds 13 load-bearing；
3. beam 8 outside the rotor in Fig. 1 is replaced with the outer beam 8C of the rotor of Fig. 9, and the rotor controlling organization of simplification is as shown in Figure 10, its
Distinguishing with the mechanism of Fig. 1 is：The outer beam 8C of rotor only sets an X-axis and holds 9 and a GeYZhou Tou mechanism 12, and rotor crossbeam 3A only sets one
GeXZhou Tou mechanism 7.Its advantage is that the outer beam 8C of rotor only has 1/4 size, and rotor crossbeam 3A only has a half-size scale, unmanned aerial vehicle body 2
One Y-axis also need to be only set 13 are held, fuselage design and size can be simplified.Which has the disadvantage that X-axis and Y-axis all only one of which bearings hold
Weight.
The rotor controlling organization of the present embodiment can add rotor safeguard function, such as Figure 11 and Figure 12, it is only necessary in this enforcement
Increase a rotor bearer bar 16 and the upper and lower surface one netted cover plate of increase in rotor bearer bar 16 on the rotor crossbeam 3 of example
17 can achieve, when the application not high for requirement of shelter, it is also possible to remove netted cover plate 17, as shown in figure 13.
In order to more clearly state the DCB Specimen unmanned plane of the present invention, below in conjunction with the accompanying drawings the present invention is further retouched
State.
DCB Specimen unmanned aerial vehicle example 1：
Figure 14-Figure 15 is referred to, its population structure is by the secondary rotor 6 of a set of rotor controlling organization 1, two and tri- component groups of fuselage 2A
Become.Rotor controlling organization 1 is with rotor preventing mechanism, and its basic structure is：The core of whole mechanism is rotor crossbeam around X-axis
Rotate with Y-axis, the vertical and intersectant centerline of X-axis and Y-axis（Intersection point is designated as O）；There is a rotor crossbeam 3 along X-axis, in rotor horizontal stroke
One rotor bearer bar 16 is installed on beam 3, the upper and lower surface of rotor bearer bar 16 all covers a netted cover plate 17, bearer bar 16
A protective fence is constituted with two netted cover plates 17, rotor 6 is wrapped up wherein；The position of O point is corresponded in rotor crossbeam 3
Upper and lower two motor cabinets 4 are provided with, each motor cabinet 4 is mounted with a motor 5, the positive and negative installation of two motors 5, on the axle of motor 5
Rotor 6 is installed, the steering of two secondary rotors 6 is contrary；The two ends of rotor crossbeam 3 are provided with Liang GeXZhou Tou mechanism 7；The outermost of mechanism
It is beam 8 outside the rotor of a frame-shaped；The outer beam 8 of rotor is provided with two X-axis with two point of intersection of X-axis and holds 9, they and rotor crossbeam
Liang GeXZhou Tou mechanism 7 on 3 matches, one of X-axis hold at 9 be provided with an X-axis motor 10 and corresponding X-axis transmission subtract
Speed variator 11, holds 9 by the XZhou Tou mechanism 7 of rotor crossbeam 3 and the X-axis of the outer beam 8 of rotor and by rotor crossbeam 3 and can assemble thereon
Subsystem be fitted in the outer beam 8 of rotor, in the present embodiment, X-axis transmission decelerating device 11 is made up of a pair of size gear, little tooth
Wheel is assemblied on the axle of X-axis motor 10, and gear wheel is assemblied in a GeXZhou Tou mechanism 7 of rotor crossbeam 3, make X-axis motor 10 with
One GeXZhou Tou mechanism 7 of rotor crossbeam connects, the size of the outer beam 8 of rotor is sufficiently large so that rotor crossbeam 3 and assembling are thereon
Subsystem can make 360 degree of rotations around X-axis；Two point of intersection of the outer beam 8 of rotor and Y-axis are provided with the Liang GeYZhou Tou mechanism of Y-axis
12.
The fuselage of unmanned plane adopts " U " type structure, is made up of two long horns 19 and 18 two parts of fuselage main body.Horn 19
It is provided with two Y-axis and 13 is held, they is matched with the Liang GeYZhou Tou mechanism 12 of the outer beam 8 of rotor, and one of Y-axis is held at 13 and sets Y
Spindle motor 14 and Y-axis transmission decelerating device 15, are held by the outer Liang GeYZhou Tou mechanism 12 of beam 8 of rotor and two Y-axis of horn 19
Outer for rotor beam and the subsystem for assembling thereon can be fitted into fuselage by 13, and in the present embodiment, Y-axis transmission decelerating device 15 is by a pair
Size gear constitutes, and little gear is assemblied on the axle of y-axis motor 14, and gear wheel is assemblied in a GeYZhou Tou mechanism of the outer beam 8 of rotor
On 12, it is connected y-axis motor 14 and the YZhou Tou mechanism 12 of the outer beam of the rotor.Horn long enough, can make the outer beam 8 of rotor and dress
The subsystem that joins thereon makees 360 degree of rotations around Y-axis.Application component of the fuselage main body comprising unmanned plane, the present invention is not construed as limiting,
Determined by application demand, during design, center of gravity is placed at its geometric center.
The manipulating principle of the present embodiment DCB Specimen unmanned plane：
Hovering：As shown in figure 16, in no-wind environment, two secondary rotors are made by the X-axis motor and y-axis motor of rotor controlling organization
Holding level, i.e. rotor wing rotation axle are vertical, and now Rotor thrust is forward；While the rotating speed of the secondary rotor of adjustment two so that two is secondary
The lift of rotor is equal with the gravity of unmanned plane and so that the rotation moment of torsion that two secondary rotors are produced is cancelled out each other；
Lifting/lowering：Keep two secondary Rotor thrust forward and rotation moment of torsion is same, rotor rotating speed is adjusted, produce two secondary rotors
Lift is more than/is less than the gravity of unmanned plane；
Driftage：Keep two secondary Rotor thrust forward, the rotating speed of the secondary rotors of adjustment two, make they from torque, manipulate
Unmanned plane is turned to；
Fly in front and back：If X-direction is fore-and-aft direction, as shown in figure 17, control rotor certain around Y-axis deflection by y-axis motor
Angle, improves rotor rotating speed, and the vertical component for keeping Rotor thrust is that lift is equal with gravity, and the horizontal component of Rotor thrust is pushed away
Fly before and after dynamic unmanned plane；
Left and right flight：If Y direction is left and right directions, as shown in figure 18, certain along X-axis deflection by X-axis motor control rotor
Angle, improves rotor rotating speed, keeps vertical component, the i.e. lift of Rotor thrust equal with gravity, the horizontal component of Rotor thrust
Promote unmanned plane or so flight；
The unmanned plane is easy to carry, and rotor can be folded in " U " type groove of fuselage, be the recovery shape of unmanned plane as shown in figure 19
State.
DCB Specimen unmanned aerial vehicle example 2：
In order to reduce the weight of unmanned plane, DCB Specimen unmanned aerial vehicle example 1 can be simplified by three kinds of methods to rotor controlling organization：
1. beam 8 outside the rotor in Figure 14, unmanned plane such as Figure 20 of simplification are replaced with the outer beam 8A of the rotor of Fig. 5, and mechanism characteristicses are：
The outer beam 8A of rotor only sets an X-axis and holds 9, and rotor crossbeam only sets a GeXZhou Tou mechanism 7；
2. beam 8 outside the rotor in Figure 14, unmanned plane such as Figure 21 of simplification are replaced with the outer beam 8B of the rotor of Fig. 7, and mechanism characteristicses are：
The outer beam 8B of rotor only sets a GeYZhou Tou mechanism 12, and unmanned aerial vehicle body 2B only sets a Y-axis and holds 13, has a horn 19；
3. beam 8 outside the rotor in Figure 14, unmanned plane such as Figure 22 of simplification are replaced with the outer beam 8C of the rotor of Fig. 9, and mechanism characteristicses are：
The outer beam 8C of rotor only sets an X-axis and holds 9 and a GeYZhou Tou mechanism 12, and rotor crossbeam only sets a GeXZhou Tou mechanism 7, unmanned plane machine
Body 2B only sets a Y-axis and holds 13, has a horn 19.
DCB Specimen unmanned aerial vehicle example 3：
For the not high occasion of rotor requirement of shelter, DCB Specimen unmanned aerial vehicle example 1 can not assemble netted cover plate, shown in Figure 23
Be that unmanned plane shown in Figure 14 eliminates netted cover plate.
DCB Specimen unmanned aerial vehicle example 4：
The unmanned plane of DCB Specimen unmanned aerial vehicle example 1 can increase damping 20 to eliminate shake during rotor wing rotation on fuselage
Dynamic, there is the unmanned aerial vehicle body 2C of damping as shown in figure 24.
The several specific embodiments for being only the present invention disclosed above, but the present invention is not limited to this, any ability
What the technical staff in domain can think change should all fall into protection scope of the present invention.
Claims (6)
1. a kind of rotor controlling organization, it is characterised in that rotor controlling organization is spatially around an X-axis and a Y-axis rotation
Turning, a rotor crossbeam is provided with the axis of the X-axis, is provided with one or two motor cabinet, motor cabinet on rotor crossbeam
Interior installation motor, when there is two motor cabinets, one, the axle of two motors is installed for one upward down, installs rotation on the axle of motor
The wing；The end of rotor crossbeam is provided with Liang GeXZhou Tou mechanism；The outer beam of rotor be provided with two with rotor crossbeam on XZhou Tou mechanism
The X-axis for matching is held, and one of X-axis place of holding is provided with an X-axis motor and X-axis transmission decelerating device, and the X-axis motor is step
Stepper motor, holds the subsystem bulk cargo by rotor crossbeam and assembling thereon by the XZhou Tou mechanism of rotor crossbeam and the X-axis of the outer beam of rotor
Allocate in the outer beam of rotor, the X-axis transmission decelerating device is by the one of XZhou Tou mechanism on X-axis motor and rotor crossbeam even
Connect, the X-axis motor control rotor crossbeam and the subsystem on rotor crossbeam are revolved around the X-axis that rotor crossbeam is located
Turn；
Liang GeYZhou Tou mechanism is additionally provided with the outer beam of the rotor, the YZhou Tou mechanism is located on Y-axis axis, the Y-axis head machine
Structure is held with the Y-axis on unmanned aerial vehicle body and is connected, and the YZhou Tou mechanism is by the Y-axis gear reduction that is arranged on unmanned aerial vehicle body
Device is connected with a y-axis motor on unmanned aerial vehicle body, and the y-axis motor is that motor, described y-axis motor control is described
The outer beam of rotor and the subsystem being assemblied on the outer beam of rotor are rotated around the Y-axis that YZhou Tou mechanism is located.
2. a kind of rotor controlling organization according to claim 1, it is characterised in that the outer beam of the rotor has and multiple simplifies knot
Structure, including：The outer beam of the rotor of the rotor controlling organization only sets an X-axis and holds, and rotor crossbeam only sets a GeXZhou Tou mechanism；
Or the outer beam of the rotor of the rotor controlling organization is provided only with a GeYZhou Tou mechanism；
Or the outer beam of the rotor of the rotor controlling organization only sets an X-axis and holds and a GeYZhou Tou mechanism, rotor crossbeam only sets one
GeXZhou Tou mechanism.
3. a kind of rotor controlling organization according to claim 1 or 2 any one, it is characterised in that the rotor crossbeam
A rotor protective frame is provided with, the upper and lower surface of the rotor protective frame all covers a netted cover plate, the rotor protection
Frame and two netted cover plates enclose a protective fence, and rotor is wrapped up wherein.
4. a kind of DCB Specimen unmanned plane, it is characterised in that including a set of rotor controlling organization, two secondary rotors and fuselage, the rotation
Wing controlling organization is spatially around an X-axis and a Y-axis rotation；A rotor crossbeam is provided with along on the axis of X-axis,
A rotor bearer bar is provided with rotor crossbeam, and the upper and lower surface of rotor bearer bar all covers a netted cover plate, bearer bar
A protective fence is constituted with two netted cover plates, rotor is wrapped up wherein；Two motor cabinets are provided with rotor crossbeam, per
A motor is assembled with individual motor cabinet, and one, the axle of two motors is installed for one upward down, on the axle of each motor
Rotor is installed, the steering of two secondary rotors is contrary；The two ends of rotor crossbeam are equipped with a GeXZhou Tou mechanism；The rotor control
The outermost of mechanism is beam outside the rotor of a frame-shaped；The outer beam of rotor is provided with two X-axis at the two ends of X-axis line and holds, and the X-axis is held
Match with the Liang GeXZhou Tou mechanism on rotor crossbeam and be connected, one of X-axis place of holding is provided with X-axis motor and corresponding X-axis is passed
Dynamic deceleration device, the X-axis motor is to hold and will revolve motor, by the XZhou Tou mechanism of rotor crossbeam and the X-axis of the outer beam of rotor
Wing crossbeam and the subsystem being assemblied on rotor crossbeam are fitted in the outer beam of rotor, and the X-axis transmission decelerating device is by X-axis motor
With the GeXZhou Tou mechanism connection of rotor crossbeam, the X-axis motor control rotor crossbeam and the subsystem being assemblied on rotor crossbeam
System is rotated around X-axis；The outer beam of rotor is provided with YZhou Tou mechanism along at two end points of Y-axis axis；
Unmanned aerial vehicle body adopts " U " type structure, including two horns and a fuselage；It is respectively provided with a Y-axis on the horn to hold,
The Y-axis is held and is matched with the YZhou Tou mechanism of the outer beam of rotor, and one of Y-axis place of holding sets a y-axis motor and Y-axis transmission subtracts
Speed variator, the y-axis motor is to hold and will revolve motor, by the outer Liang GeYZhou Tou mechanism of beam of rotor and two Y-axis of horn
The outer beam of the wing and the subsystem being assemblied on the outer beam of rotor are fitted in unmanned aerial vehicle body, and the Y-axis transmission decelerating device is electric by Y-axis
The one GeYZhou Tou mechanism connection of the outer beam of machine and rotor, the outer beam of the y-axis motor control rotor and assembling subsystem thereon around
Y-axis rotates.
5. the DCB Specimen unmanned plane according to rights protection 4, it is characterised in that the outer beam of the rotor has multiple simplified ways,
An X-axis is only set including the outer beam of the rotor to hold, rotor crossbeam only sets a GeXZhou Tou mechanism；
Or the outer beam of the rotor only sets a GeYZhou Tou mechanism, is provided only with a Y-axis and holds on unmanned aerial vehicle body；
Or the outer beam of the rotor only sets an X-axis and holds and a GeYZhou Tou mechanism, rotor crossbeam only sets a GeXZhou Tou mechanism, no
It is provided only with a Y-axis on man-machine fuselage to hold.
6. the DCB Specimen unmanned plane according to claim 4 or 5 any one, is characterised by：It is additionally provided with the fuselage
Increase the damping of flight stability.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/107374 WO2018090790A1 (en) | 2016-11-11 | 2017-10-23 | Rotor control mechanism and dual-rotor blade unmanned aerial vehicle |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611016100 | 2016-11-11 | ||
| CN2016110161009 | 2016-11-11 |
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| CN106428543A true CN106428543A (en) | 2017-02-22 |
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| CN201611020529.5A Active CN106428543B (en) | 2016-11-11 | 2016-11-21 | A kind of rotor control mechanism and DCB Specimen unmanned plane |
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| WO (1) | WO2018090790A1 (en) |
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| WO2018090790A1 (en) | 2018-05-24 |
| CN106428543B (en) | 2018-11-13 |
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