CN106542087B - Multi-rotor unmanned aerial vehicle's frame - Google Patents
Multi-rotor unmanned aerial vehicle's frame Download PDFInfo
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- CN106542087B CN106542087B CN201610936336.8A CN201610936336A CN106542087B CN 106542087 B CN106542087 B CN 106542087B CN 201610936336 A CN201610936336 A CN 201610936336A CN 106542087 B CN106542087 B CN 106542087B
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- 229920002430 Fibre-reinforced plastic Polymers 0.000 claims description 4
- 239000011151 fibre-reinforced plastic Substances 0.000 claims description 4
- 238000010923 batch production Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 239000013585 weight reducing agent Substances 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 239000004593 Epoxy Substances 0.000 description 2
- 238000001746 injection moulding Methods 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 238000012544 monitoring 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
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000004804 winding Methods 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/068—Fuselage sections
- B64C1/069—Joining arrangements therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/08—Geodetic or other open-frame structures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Details Of Aerials (AREA)
Abstract
The application discloses a rack of a multi-rotor unmanned aerial vehicle, which comprises: the frame comprises: the polygonal horn group comprises a plurality of short horns connected end to end; the device comprises a plurality of branch horn groups, a plurality of first control arms and a plurality of control arms, wherein each branch horn group comprises at least two first horn groups and a second horn connected with one ends of the at least two first horn groups, and the other ends of the at least two first horn groups are respectively connected with two ends of the short horn; and the motor bases are respectively fixed at two ends of the second horn, and are used for respectively fixing motors of the multi-rotor unmanned aerial vehicle, wherein the short horn, the first horn and the second horn are all arranged into tubular structures. The frame adopts a layout form of combining a plurality of horn groups, and the structural size of the horn is reasonably set, so that the frame has obvious weight reduction effect while meeting the vibration mode of the whole machine, is easy to assemble, disassemble and maintain, has high reliability, and is suitable for batch production.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a rack of a multi-rotor unmanned aerial vehicle.
Background
The multi-rotor unmanned aerial vehicle mainly comprises a plurality of motors, a plurality of propellers, a flight control device and a load cabin, and are connected through a frame. The multi-rotor unmanned aerial vehicle can be widely applied to the fields of air fixed-point monitoring, shooting, environment-friendly monitoring, field scientific investigation, case investigation, urban management, courtyard security, vehicle theft prevention, express delivery and the like.
At present, a frame of a multi-rotor unmanned aerial vehicle has several structural modes: firstly, an injection molding integral structure is adopted, so that the unmanned aerial vehicle is suitable for mass production and is small in size and light in load; secondly, the composite material integrated structure is generally manufactured by hand, the production efficiency is low, the product quality is difficult to reproduce, and the product reliability is difficult to control; thirdly, the plate and rod combined structure has the advantages of more parts, complex assembly, difficult maintenance and low structural reliability. If the advantages of the frame structure modes can be combined to design the frame of the unmanned aerial vehicle, the mechanical performance of the whole structure of the unmanned aerial vehicle can be greatly improved, and even the flight quality of the unmanned aerial vehicle can be improved.
Disclosure of Invention
In view of the foregoing drawbacks or shortcomings of the prior art, the present application provides a multi-rotor unmanned aerial vehicle frame that is capable of at least improving the reliability of the multi-rotor unmanned aerial vehicle frame.
According to an aspect of the present application, there is provided a frame of a multi-rotor unmanned aerial vehicle, the frame comprising: the polygonal horn group comprises a plurality of short horns connected end to end; the device comprises a plurality of branch horn groups, a plurality of first control arms and a plurality of control arms, wherein each branch horn group comprises at least two first horn groups and a second horn connected with one ends of the at least two first horn groups, and the other ends of the at least two first horn groups are respectively connected with two ends of the short horn; and the motor bases are respectively fixed at two ends of the second horn, and are used for respectively fixing motors of the multi-rotor unmanned aerial vehicle, wherein the short horn, the first horn and the second horn are all arranged into tubular structures.
Preferably, the branching horn groups are alternately arranged corresponding to a plurality of sides of the polygonal horn group.
Preferably, one end of the first horn is connected with the second horn through a T-shaped connector, and the T-shaped connector comprises: the first connecting pieces are symmetrically arranged, wherein the first connecting pieces are formed by intersecting a first circular arc thin wall and a second circular arc thin wall, the central axes of the first connecting pieces are in the same plane and form a certain angle, one end of each first connecting piece is provided with a shrinkage opening along the axial direction of the second circular arc thin wall, the shrinkage opening can be inserted into the first horn, and the second horn can be inserted into an inner space formed by the pair of first circular arc thin walls; and the second connecting pieces are arranged as circular arc thin walls and are symmetrically fixed outside one end of the first connecting pieces, which is provided with the necking.
Optionally, two adjacent short horn and the first horn may be connected by a three-way connector and/or a four-way connector.
Preferably, the frame further comprises a nacelle connected by a plurality of four-way connectors, the nacelle being adapted to receive and secure the control system hardware of the multi-rotor drone.
Preferably, the length dimension of the first horn is set to be 0.1 to 0.5 times of the wheelbase.
Preferably, the length dimension of the second horn is set to be 0.2-0.8 times of the wheelbase.
Preferably, the length dimension of the short horn is set to be 0.1-0.4 times of the wheelbase.
Preferably, the polygonal horn group and the branching horn group are made of continuous fiber reinforced plastic.
Preferably, the cross sections of the short horn, the first horn and the second horn are round or polygonal.
The frame of the multi-rotor unmanned aerial vehicle adopts a layout form of combining various horn groups, and the structural size of the horn is reasonably set, so that the frame has obvious weight reduction effect while meeting the vibration mode of the whole unmanned aerial vehicle, is easy to assemble, disassemble and maintain, has high reliability, and is suitable for batch production.
Drawings
Other features, objects and advantages of the present application will become more apparent from the detailed description of non-limiting embodiments, which proceeds with reference to the accompanying drawings. Wherein the following are displayed:
fig. 1 is a schematic structural view of a frame of a multi-rotor unmanned aerial vehicle according to an embodiment of the present application;
FIG. 2 is a schematic view of a T-shaped connector of the frame shown in FIG. 1;
FIG. 3A is a schematic view of a three-way connection of the frame of FIG. 1;
fig. 3B is a schematic structural view of a four-way connector of the rack shown in fig. 1.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings.
Fig. 1 is a schematic structural view of a frame of a multi-rotor unmanned aerial vehicle according to an embodiment of the present application. As shown, the frame 100 includes a polygonal horn group 10, a plurality of branch horn groups 20, and a plurality of pairs of motor bases 30.
The polygon horn stack 10 includes a plurality of short horn arms 11 connected end to end. The polygon horn group 10 may be configured as a regular polygon structure composed of a plurality of short horn arms 11 having equal dimensions, or may be configured as a non-regular polygon structure composed of a plurality of short horn arms 11 having unequal dimensions, and the former, i.e., the regular polygon structure is preferable.
The branch horn group 20 is alternately arranged corresponding to the plurality of sides of the polygon horn group 10. The branching horn set 20 includes at least two first horns 21 and a second horn 22 connected to one end of the at least two first horns 21. The other end of the first horn 21 is connected to the short horn 11. The number of first arms 21 is preferably two, and at this time, the other ends of the two first arms 21 are connected to two ends of the short arm 11, respectively. The present embodiment is described taking the example in which the branching horn set 20 includes two first horns 21 and a second horn 22 connected to one end of the two first horns 21, as shown in fig. 1.
The short horn 11, the first horn 21 and the second horn 22 are all provided in a tubular structure, and the cross section may be circular or polygonal. This embodiment takes a circular cross section as an example. At least two first horn 21 may be arranged in parallel or at an angle to each other. One end of each of which is connected with the second horn 22 through a T-shaped connector 23. If the number of the first horn 21 is more than two, both ends of the first horn 21 are connected to other horns through T-shaped connectors 23. Adjacent two short horn 11 and first horn 21 may be connected by a three-way connection 12 and/or a four-way connection 13.
The number of sets of branch horn sets 20 is set such that, for example, the polygonal horn set 10 is hexagonal, then there are three sets of branch horn sets 20, each branch horn set 20 connecting at least two first and second horn 21, 22.
Each pair of motor bases 30 is respectively fixed at two ends of the second horn 22 and is used for fixing the motors of the multi-rotor unmanned aerial vehicle.
In addition, the frame 100 further comprises a nacelle (not shown) connected by a plurality of four-way connectors 13, said nacelle being adapted to house and hold the control system hardware devices of the multi-rotor unmanned aerial vehicle, and commercial loads may also be placed in the nacelle. The structures of the T-shaped connector 23, the three-way connector 12 and the four-way connector 13 will be described in detail later.
The cables between the hardware devices of the control system of the multi-rotor unmanned aerial vehicle and the motors penetrate through the inside of each group of the horn to be connected, so that the unmanned aerial vehicle is attractive in appearance and does not influence the flight of the unmanned aerial vehicle.
For the purpose of higher stability and better balance of the frame 100, the polygon arm set 10 in the present embodiment is configured as a regular hexagon for easier manufacture, but is not limited to the regular polygon, and may be a regular quadrilateral, a regular octagon, a regular dodecagon, etc., or may be a non-regular polygon, depending on the specific application.
The structure of the T-shaped connector 23 is described in detail below with reference to the accompanying drawings.
The present embodiment is described taking the example in which the branching horn set 20 includes two first horns 21 and a second horn 22 connected to one end of the two first horns 21. One end of the first horn 21 is connected to the second horn 22 by a T-shaped connector 23.
Fig. 2 is a schematic structural view of a T-shaped connector of the rack shown in fig. 1. As shown, the T-shaped connector 23 includes: a pair of first connecting members 1 symmetrically arranged, wherein the first connecting members 1 are formed by intersecting a first circular thin wall 1a and a second circular thin wall 1b with a central axis in the same plane and a certain angle, one end of each of the first connecting members is provided with a shrinkage opening 1c along the axial direction of the second circular thin wall 1b, the shrinkage opening 1c can be inserted into the interior of a first horn 21, and a second horn 22 can be inserted into an interior space formed by the pair of first circular thin walls 1 a; and a pair of second connecting members 2, the second connecting members 2 are arranged as circular thin walls, and the pair of second connecting members 2 are symmetrically fixed outside one end of the pair of first connecting members 1 provided with the necking 1 c. The radii of the first circular thin wall 1a and the second circular thin wall 1b of the first connecting member 1 may be the same or different. In addition, the angle between the first circular thin wall 1a and the second circular thin wall 1b of the first connector 1 may be set to 10 ° to 170 °, so the T-shaped connector 23 may connect the first horn 21 and the second horn 22 having the same diameter or different diameters with an included angle ranging from 10 ° to 170 °.
As shown in the figure, one end of the first circular arc thin wall 1a of the first connecting piece 1 extends outwards to form a first flange type connecting lug, two ends of the second connecting piece 2 extend outwards to form a second flange type connecting lug, and the first flange type connecting lug and the second flange type connecting lug are respectively provided with a plurality of through holes. At least 3 through holes are formed in the first connecting piece 1, wherein at least one through hole is used for being connected with the second horn 22, and at least one through hole is formed in the necking 1 c; at least 2 through holes are arranged on the second connecting piece 2, wherein at least one through hole is used for being connected with the first connecting piece 1, and at least one other through hole is used for being connected with a through hole at the necking 1c of the first connecting piece 1 and the first horn 21. Through holes are respectively arranged at corresponding positions of the first horn 21 and the second horn 22, and the first connecting piece 1, the second connecting piece 2 and the two horns are connected with each other by passing through the through holes and the through holes through fasteners. The T-shaped connecting piece 23 can meet the requirements of strength and rigidity of connection of two horn arms, is easy to install and disassemble, meets long-time and multi-frame flight of an airplane, and improves the reliability of the unmanned aerial vehicle horn.
The structure of the three-way connection 12 and the four-way connection 13 will be described in detail with reference to the accompanying drawings.
Fig. 3A is a schematic structural view of a three-way connector of the rack shown in fig. 1. As shown in the figure, the three-way connection member 12 includes a three-way pipe 12a and three pairs of connection members 12b, wherein each branch pipe of the three-way pipe 12a is provided with a constriction 12c along the axial direction thereof, and can be inserted into the inside of two adjacent short horn arms 11 or first horn arms 21, and each pair of connection members 12b is fixed on the outer circumferential surfaces of the two short horn arms 11 or first horn arms 21. Two through holes are formed in each pair of connecting pieces 12b, two through holes are correspondingly formed in each branch pipeline of the three-way pipe 12a, the through holes located at the necking 12c correspond to the through holes of the two short horn 11 or the first horn 21, and a fastener penetrates through the through holes and the through holes to connect the two short horn 11 with the first horn 21.
Fig. 3B is a schematic structural view of a four-way connector of the rack shown in fig. 1. As shown in the figure, the four-way connecting piece 13 includes a four-way pipe 13a and four pairs of connecting pieces 13b, the four-way connecting piece 13 is similar to the three-way connecting piece 12 in structure, and each of the branched pipes is provided with a necking 13c along the axial direction thereof, except that one branched pipe is added, and the four-way connecting piece 13 is used for connecting the nacelle in addition to the two adjacent short arms 11 or the first arm 21. Adjacent two short horn 11 and first horn 21 may be connected by a plurality of three-way connections 12 and/or a plurality of four-way connections 13. In the drawing of this embodiment, the polygon horn stack 10 is arranged in a regular hexagon, and 4 four-way connectors 13 and 2 three-way connectors 12 may be used.
The frame 100 of the multi-rotor unmanned aerial vehicle in the embodiment of the application adopts a combined structure of various horn groups, is easy to assemble, disassemble and maintain, and has higher reliability.
The structural dimensions of each horn are described in detail below.
Each horn bears at least bending moment and torsion moment formed by the lifting force of the propeller and the gravity of the motor in the flight process of the unmanned aerial vehicle, and the rigidity and strength of each horn have important influence on the flight quality. The motor base 30 is connected with the both ends of second horn 22, and the interface of motor base 30 is used for fixed motor, and screw and the output shaft of motor are connected. In the flight process of the unmanned aerial vehicle, two opposite propellers do not interfere with each other. Therefore, the length dimension of the propeller is smaller than or equal to the wheelbase h, which is the diameter of a circle formed by the output shafts of the motors connected by the motor bases 30 around the central axis of the polygon horn group 10.
In this embodiment, it is verified through experiments that when the cross section of each arm is circular, the length dimension of the first arm 21 is preferably set to 0.1 to 0.5 times the wheelbase h, the length dimension of the second arm 22 is set to 0.2 to 0.8 times the wheelbase h, and the length of the short arm 11 is set to 0.1 to 0.4 times the wheelbase h. When the first horn 21 is provided in two, the length of the short horn 11, that is, the pitch of the two first horns 21. The wall thickness of each arm pipe wall ranges from 0.5mm to 8mm, and the outer diameter ranges from 10mm to 100mm, so that the vibration mode requirement of the whole machine can be met.
In addition, the polygon arm-set 10 and the branch arm-set 20 may be preferably made of a continuous fiber reinforced plastic such as glass fiber reinforced epoxy, carbon fiber reinforced epoxy, or the like. When the connecting fiber reinforced plastic is adopted, the various mechanical arms can be manufactured by adopting processes such as pultrusion, winding, pipe twisting and the like, so that the production efficiency can be improved, and the product has the advantages of high fiber content, excellent mechanical property, easy reproducibility in manufacturing, high quality stability and obvious weight reduction effect. The polygon arm set 10 and the branch arm set 20 may also be made of metal materials, according to specific application occasions.
Compared with the injection molding part, the frame 100 of the multi-rotor unmanned aerial vehicle is more suitable for the unmanned aerial vehicle with large load, the single-set die production efficiency is improved from about 1.5 hours to several minutes, the product quality repeatability is good, the product reliability is easy to control, and the multi-rotor unmanned aerial vehicle is suitable for batch production.
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the application referred to in the present application is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.
Claims (9)
1. A frame for a multi-rotor unmanned aerial vehicle, the frame comprising:
the polygonal horn group comprises a plurality of short horns connected end to end;
the plurality of branch horn groups, each branch horn group comprises a pair of first horn and a second horn connected with one end of the pair of first horn, and the other end of the pair of first horn is respectively connected with two ends of the short horn; and
a plurality of pairs of motor bases, each pair of motor bases is respectively fixed at two ends of the second horn and used for respectively fixing motors of the multi-rotor unmanned aerial vehicle,
the short horn, the first horn and the second horn are all arranged in a tubular structure;
one end of a pair of first horn is connected with the second horn through T type connecting piece respectively, T type connecting piece includes:
the first connecting pieces are symmetrically arranged, wherein the first connecting pieces are formed by intersecting a first circular arc thin wall and a second circular arc thin wall, the central axes of the first connecting pieces are in the same plane and form a certain angle, one end of each first connecting piece is provided with a shrinkage opening along the axial direction of the second circular arc thin wall, the shrinkage opening can be inserted into the first horn, and the second horn can be inserted into an inner space formed by the pair of first circular arc thin walls; and
the pair of second connecting pieces are arranged as circular arc thin walls and symmetrically fixed on the outer sides of one ends of the pair of first connecting pieces, which are provided with the necking.
2. The frame of claim 1, wherein the set of branch arms alternate with respect to a plurality of sides of the set of polygonal arms.
3. The frame according to claim 1, wherein two adjacent short horn are connected with the first horn by a three-way connection and/or a four-way connection.
4. A airframe as recited in claim 3, further comprising a nacelle connected by a plurality of four-way connectors, said nacelle for housing and securing the control system hardware devices and commercial loads of said multi-rotor drone.
5. The frame according to claim 1, wherein the length dimension of the first horn is set to be 0.1 to 0.5 times the diameter of a circle formed by output shafts of a plurality of motors connected by a plurality of the motor mounts around the central axis of the polygon horn group.
6. The frame according to claim 1, wherein the length dimension of the second horn is set to be 0.2 to 0.8 times the diameter of a circle formed by output shafts of a plurality of motors connected by a plurality of the motor mounts around the central axis of the polygon horn group.
7. The frame according to claim 1, wherein the length dimension of the short horn is set to be 0.1 to 0.4 times the diameter of a circle formed by the output shafts of a plurality of motors connected by a plurality of the motor bases around the central axis of the polygon horn group.
8. The frame of any one of claims 1 to 7, wherein the polygon set and the branching set are each made of continuous fiber reinforced plastic.
9. The frame of claim 8, wherein the cross-sections of the short horn, the first horn, and the second horn are circular or polygonal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610936336.8A CN106542087B (en) | 2016-11-01 | 2016-11-01 | Multi-rotor unmanned aerial vehicle's frame |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610936336.8A CN106542087B (en) | 2016-11-01 | 2016-11-01 | Multi-rotor unmanned aerial vehicle's frame |
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| Publication Number | Publication Date |
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| CN106542087A CN106542087A (en) | 2017-03-29 |
| CN106542087B true CN106542087B (en) | 2023-11-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107380418A (en) * | 2017-08-10 | 2017-11-24 | 河南谷翼自动化科技有限公司 | A kind of axle plant protection unmanned plane of modular assembly four |
| CN108146635A (en) * | 2017-12-21 | 2018-06-12 | 孔金河 | There is the unmanned plane and express delivery put-on method of express delivery dispensing |
| CN108860562A (en) * | 2018-07-25 | 2018-11-23 | 深圳高科新农技术有限公司 | A kind of truss-like unmanned aerial vehicle rack and unmanned plane |
| CN109484639B (en) * | 2018-12-24 | 2024-01-16 | 西安达纳森物联科技有限公司 | Y-shaped separated unmanned aerial vehicle horn folding piece |
| DE102019128202B4 (en) | 2019-10-18 | 2023-12-07 | Emqopter GmbH | System and method for ad-hoc configuration of a modular multicopter |
| CN112867671A (en) * | 2020-04-28 | 2021-05-28 | 深圳市大疆创新科技有限公司 | Vibration mode optimization method, vibration mode optimization device and unmanned aerial vehicle |
| CN112644683B (en) * | 2021-01-18 | 2023-09-26 | 国网新疆电力有限公司塔城供电公司 | Unmanned aerial vehicle frame structure that can freely assemble |
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| CN106542087A (en) | 2017-03-29 |
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