CN107097938A - A kind of inclining rotary mechanism for the quadrotor that verts - Google Patents
A kind of inclining rotary mechanism for the quadrotor that verts Download PDFInfo
- Publication number
- CN107097938A CN107097938A CN201710164969.6A CN201710164969A CN107097938A CN 107097938 A CN107097938 A CN 107097938A CN 201710164969 A CN201710164969 A CN 201710164969A CN 107097938 A CN107097938 A CN 107097938A
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- Prior art keywords
- carbon pipe
- steering wheel
- connecting rod
- rotary mechanism
- rotor carbon
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- Pending
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- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims abstract description 77
- 229910052799 carbon Inorganic materials 0.000 claims abstract description 77
- 238000000034 method Methods 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 238000004870 electrical engineering Methods 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
A kind of inclining rotary mechanism for the quadrotor that verts, it is related to inclining rotary mechanism technical field, solve the quality of existing inclining rotary mechanism greatly and structure is not compact enough, there are problems that using simultaneously, including tail supporting rod, it is fixed on the vertical fin of tail supporting rod rear upper, it is fixed on the carbon pipe threeway at tail supporting rod rear portion, the first oil-free bushing and the second oil-free bushing being fixed in carbon pipe threeway, rotor carbon pipe passes through the first oil-free bushing and the second oil-free bushing afterwards, the retainer ring being fixed on rear rotor carbon pipe, the motor mount that is fixed at rear rotor carbon pipe two ends and the electric system for being fixed on the two ends motor mount；Rotor carbon pipe inclining rotary mechanism after rotor carbon pipe front end is installed afterwards, rotor carbon pipe is rotated after rear rotor carbon pipe inclining rotary mechanism drives.The inclining rotary mechanism of four rotor wing unmanned aerial vehicles that vert of the present invention is compared with existing worm gear, and double leval jib transmission mechanism does not need bearing, bearing block and the steering wheel light weight verted for rotor carbon pipe after driving, small volume.
Description
Technical field
The present invention relates to inclining rotary mechanism technical field, and in particular to a kind of inclining rotary mechanism for the quadrotor that verts.Can
Used using the rotor inclining rotary mechanism as unmanned tiltrotor aircraft.
Background technology
At present, VUAV due to exist do not limited by place, can be hovered, low cost and other advantages, therefore, by
Increasing concern.The VTOL of unmanned plane is realized using four rotor technologies of verting, the design of rotor inclining rotary mechanism will expire
The requirement such as sufficient light weight, compact conformation, highly reliable, simple to operate.
Chinese patent 201010510200.3 proposes a kind of inclining rotary mechanism and its working method, and the inclining rotary mechanism is good
The problem of inclining rotary mechanism manipulates not high precision and poor stability has been handled, but has been driven as a result of turbine and worm, vert machine
The mass of system of structure is big, complicated；Chinese patent 201610096737.7 proposes a kind of three rotor crafts inclining rotary mechanism,
The inclining rotary mechanism uses toothed belt transmission, although transmission it is simple and easy to apply, but be due to space limit inclining rotary mechanism can only be in fuselage
Internal applications.
The content of the invention
Quality of the invention to solve existing inclining rotary mechanism is big and structure is not compact enough, and limited etc. ask is used while existing
There is provided a kind of inclining rotary mechanism for four rotor wing unmanned aerial vehicles that vert for topic.
A kind of inclining rotary mechanism for the quadrotor that verts, including tail supporting rod, are fixed on the vertical fin of tail supporting rod rear upper；
Also include the threeway of carbon pipe, rear rotor carbon pipe, the first oil-free bushing, the second oil-free bushing and retainer ring；The rear rotor carbon pipe leads to
The end that the threeway of carbon pipe is arranged on tail supporting rod is crossed, the first oil-free bushing and the second oil-free bushing are fixed in carbon pipe threeway, fixed
Ring is fixed on rear rotor carbon pipe, and motor mount is fixedly mounted at the rear rotor carbon pipe two ends and is fixed in mounting seat
Electric system；
Rotor carbon pipe inclining rotary mechanism after being installed on the rear rotor carbon pipe, the rear rotor carbon pipe inclining rotary mechanism includes fixing
In vertical fin covering cover for driving after rotor carbon the pipe steering wheel, steering wheel rocking arm and the linkage that vert；The steering wheel rocking arm
One end be connected in the rotating shaft of steering wheel and positioned at the side of vertical fin, one end of the other end and linkage is connected, the connecting rod
The other end of mechanism is connected with rotor carbon pipe, and rotor carbon pipe turns after the rear rotor carbon pipe inclining rotary mechanism is driven by linkage
It is dynamic.
The present invention has the advantages that：
First, the inclining rotary mechanism of four rotor wing unmanned aerial vehicles of the present invention that vert is compared with existing worm gear,
Bearing, bearing block and the steering wheel light weight verted for rotor carbon pipe after driving, small volume are not needed；Compared with belt wheel transmission,
Quadric chain compact conformation, required moment of torsion are small.
2nd, the present invention uses the threeway of carbon pipe and oil-free bushing as actuated element, simple and reliable for structure.
3rd, the present invention answering suitable for the motor inclining rotary mechanism of VUAV and on VUAV
With.Vert four rotor wing unmanned aerial vehicles from the VTOL stage be switched to flat winged stage i.e. inclining rotary mechanism incline turn 90 degrees when, double leval jib machine
Dead point is configured to, realizes that quadric chain is locked.
4th, the present invention is installed using inclining rotary mechanism modularization, simple to operate.
Brief description of the drawings
Fig. 1 is that a kind of inclining rotary mechanism for the quadrotor that verts rotor after the stage of taking off vertically of the present invention inclines
The axonometric schematic diagram of rotation mechanism；
Fig. 2 is that a kind of inclining rotary mechanism for the quadrotor that verts of the present invention rotor after the flat winged stage verts machine
The axonometric drawing of structure；
Fig. 3 is rear rotor Tan Guan driving sections branch office in a kind of inclining rotary mechanism for the quadrotor that verts of the present invention
Portion's enlarged drawing.
In figure：1st, tail supporting rod；2nd, right motor clip；3rd, right motor mount；4th, right electric system；5th, vertical fin；6th, vertical fin
Covering lid；7th, steering wheel rocking arm；8th, connecting rod；9th, carbon pipe threeway；10th, collar connecting rod；11st, rear rotor carbon pipe；12nd, left electric system；
13rd, left motor mount；14th, left motor clip；15th, steering wheel；16th, oil-free bushing；17th, oil-free bushing；18th, retainer ring.
Embodiment
Embodiment one, illustrate present embodiment with reference to Fig. 1 to Fig. 3, one kind of the present invention is verted four rotors
The inclining rotary mechanism of aircraft, including tail supporting rod 1, the vertical fin 5 for being fixed on tail supporting rod rear upper, are fixed on the carbon at tail supporting rod rear portion
Pipe threeway 9, the first oil-free bushing 16 and the second oil-free bushing 17 being fixed in carbon pipe threeway, after being fixed in oil-free bushing
Rotor carbon pipe 11, the retainer ring 18 being fixed on rear rotor carbon pipe, the left motor clip 14 being fixed at rear rotor carbon pipe two ends
With right motor clip 2, left motor mount 13 is fixedly mounted in the left motor clip 14, the fixed peace on right motor clip 2
Right motor mount 3 is filled, the left electric system 12 of left motor mount 13 is fixed on and is fixed on the right electricity of right motor mount
Machine system 4, is fixed on vertical fin covering lid 6 steering wheel 15 that rotor carbon pipe verts after being used to drive, in the rear before rotor carbon pipe
End is provided with steering wheel rocking arm 7, connecting rod 8 and collar connecting rod 10, and wherein steering wheel 15 is fixed on empennage steering wheel and installed on covering lid 6, rudder
Machine rocking arm 7 is connected in the left side of steering wheel 15, and collar connecting rod 10, which is fixed on rear rotor carbon pipe 11 and contacted with carbon pipe threeway 9, to align,
Steering wheel rocking arm 7 is parallel with collar connecting rod 10 and is connected by connecting rod 8, the steering wheel 15, steering wheel rocking arm 7, connecting rod 8 and collar connecting rod
10 together constitute the rear inclining rotary mechanism of rotor carbon pipe 11.Wherein steering wheel 15 is made by steering wheel rocking arm 7, connecting rod 8 and collar connecting rod 10
Rotor carbon pipe 11 and the synchronous axial system of steering wheel 15 afterwards, rotor system is rotated after being driven with this.When rear rotor carbon pipe 11 rotates 90 degree,
Now connecting rod 8 and collar connecting rod 10, which collinearly form dead point, realizes the locked of push and pull system.
Embodiment two, present embodiment are that the motor of the VUAV described in embodiment one inclines
The assembling process of rotation mechanism：Realized by following steps：
Step 1: carbon pipe threeway 9 is affixed to by bolt on the rear portion positioning hole of rear rotor carbon pipe 11；
Step 2: the first oil-free bushing 16 and the second oil-free bushing 17 are pressed into carbon pipe threeway 9；
Step 3: rear rotor carbon pipe 11 is inserted into the first oil-free bushing 16 and the second oil-free bushing 17, by retainer ring
18 and collar connecting rod 10 be connected in by positioning hole and alignment pin on rear rotor carbon pipe 11；
Step 4: right motor clip 2 and left motor clip 14 are connected in the two ends of rear rotor carbon pipe 11 by bolt, will
Right motor mount 3 and left motor mount 13 are connected on right motor clip 2 and left motor clip 14 by bolt, by right electricity
Machine system 4 and left electric system 13 are connected in right motor mount 3 and left motor mount 13 by bolt.
Step 5: steering wheel 15 is connected on the vertical fin covering lid 6 on vertical fin 5 by bolt, steering wheel rocking arm 7 is passed through into spiral shell
Tether and be connected on the axle of steering wheel 15, one end of connecting rod 8 is bolted on steering wheel rocking arm 7, the other end of connecting rod 8 is led to
Cross and be bolted on collar connecting rod 10；
Step 6: connecting the control line and power line of steering wheel 15, power supply makes steering wheel rocking arm 7 move to the rear water of rotor carbon pipe 11
Level state completes inclining rotary mechanism initialization.
Step 7: control steering wheel 15 makes rear rotor carbon pipe 11 and steering wheel by steering wheel rocking arm 7, connecting rod 8 and collar connecting rod 10
15 synchronous axial systems, rotor system is rotated after being driven with this.When rear rotor carbon pipe 11 rotates 90 degree, now connecting rod 8 and collar connect
Bar 10, which collinearly forms dead point, realizes the locked of push and pull system.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, some improvement can also be made under the premise without departing from the principles of the invention, and these improvement also should be regarded as the present invention's
Protection domain.
Claims (4)
1. a kind of inclining rotary mechanism for the quadrotor that verts, including tail supporting rod (1), are fixed on tail supporting rod (1) rear upper
Vertical fin (5), it is characterized in that；Also include carbon pipe threeway (9), rear rotor carbon pipe (11), the first oil-free bushing (16), the second oil-free lining
Cover (17) and retainer ring (18)；The rear rotor carbon pipe (11) is arranged on the end of tail supporting rod (1) by carbon pipe threeway (9), the
One oil-free bushing (16) and the second oil-free bushing (17) are fixed in carbon pipe threeway (9), and retainer ring (18) is fixed on rear rotor carbon
Manage on (11), motor mount and the department of electrical engineering being fixed in mounting seat are fixedly mounted at rear rotor carbon pipe (11) two ends
System；
Rotor carbon pipe inclining rotary mechanism after being installed on the rear rotor carbon pipe (11), the rear rotor carbon pipe inclining rotary mechanism includes fixing
Steering wheel (15), steering wheel rocking arm (7) and the connecting rod machine verted in rotor carbon pipe (11) after the driving being used on vertical fin covering lid (6)
Structure；One end of the steering wheel rocking arm (7) is connected in the rotating shaft of steering wheel (15) and positioned at the side of vertical fin (5), the other end and company
One end connection of linkage, the other end of the linkage is connected with rotor carbon pipe (11), and the rear rotor carbon pipe verts machine
Rotor carbon pipe (11) is rotated after structure is driven by linkage.
2. a kind of inclining rotary mechanism of quadrotor that verts according to claim 1, it is characterised in that linkage bag
Include connecting rod (8) and collar connecting rod (10)；The steering wheel rocking arm (7) is parallel with collar connecting rod (10) and is connected by connecting rod (8)；Axle
Ring connecting rod (10), which is fixed on rear rotor carbon pipe (11) and contacted with carbon pipe threeway (9), to align, and steering wheel (15) passes through steering wheel rocking arm
(7), connecting rod (8) and collar connecting rod (10) make rear rotor carbon pipe (11) and steering wheel (15) synchronous axial system, when after rotor carbon pipe (11)
When rotating 90 degree, connecting rod (8) and collar connecting rod (10) collinearly form dead point and realize the locked of push and pull system.
3. a kind of inclining rotary mechanism of quadrotor that verts according to claim 1 or 2, it is characterised in that the electricity
Machine mounting seat is connected in the two ends of rear rotor carbon pipe (11) by motor clip.
4. a kind of assembly method of the inclining rotary mechanism of quadrotor that verts according to claim 3, it is characterised in that
The assembly method is realized by following steps：
Step 1: carbon pipe threeway (9) is affixed to by bolt on the rear portion positioning hole of rear rotor carbon pipe (11)；
Step 2: the first oil-free bushing (16) and the second oil-free bushing (17) are pressed into carbon pipe threeway (9)；
Step 3: rear rotor carbon pipe (11) is inserted into the first oil-free bushing (16) and the second oil-free bushing (17), by fixation
Ring (18) and collar connecting rod (10) are connected on rear rotor carbon pipe (11) by positioning hole and alignment pin；
Step 4: motor clip to be connected in the two ends of rear rotor carbon pipe (11) by bolt, motor mount is passed through into bolt
It is connected on motor clip, electric system is connected in motor mount by bolt；
Step 5: steering wheel (15) is connected on vertical fin covering lid (6) by bolt, steering wheel rocking arm (7) is bolted
In the rotating shaft of steering wheel (15), one end of connecting rod (8) is bolted on steering wheel rocking arm (7), by connecting rod (8) other end
It is bolted on collar connecting rod (10)；
Step 6: the control line and power line of connection steering wheel (15), power supply make steering wheel rocking arm (7) move to rear rotor carbon pipe (11)
Horizontality completes inclining rotary mechanism initialization；
Step 7: control steering wheel (15) makes rear rotor carbon pipe (11) by steering wheel rocking arm (7), connecting rod (8) and collar connecting rod (10)
With steering wheel (15) synchronous axial system, when rear rotor carbon pipe (11) rotates 90 degree, connecting rod (8) and collar connecting rod (10) collinearly form dead
Point realizes the locked of push and pull system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710164969.6A CN107097938A (en) | 2017-03-20 | 2017-03-20 | A kind of inclining rotary mechanism for the quadrotor that verts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710164969.6A CN107097938A (en) | 2017-03-20 | 2017-03-20 | A kind of inclining rotary mechanism for the quadrotor that verts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107097938A true CN107097938A (en) | 2017-08-29 |
Family
ID=59675102
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710164969.6A Pending CN107097938A (en) | 2017-03-20 | 2017-03-20 | A kind of inclining rotary mechanism for the quadrotor that verts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107097938A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438215A (en) * | 2018-03-21 | 2018-08-24 | 西南交通大学 | It is a kind of to have the vector four-axle aircraft for keeping organism level ability |
| CN108639331A (en) * | 2018-06-29 | 2018-10-12 | 长沙市云智航科技有限公司 | One kind is verted double-rotor aerobat |
| CN111516903A (en) * | 2020-05-15 | 2020-08-11 | 蜂巢航宇科技（北京）有限公司 | Test bench for tilt rotor unmanned aerial vehicle |
| CN111959765A (en) * | 2020-08-03 | 2020-11-20 | 南京航空航天大学 | Tilt rotor wing mechanism based on ultrasonic motor |
| CN112389662A (en) * | 2020-11-27 | 2021-02-23 | 杭州巨泳科技有限公司 | Wing driving mechanism of unmanned aerial vehicle |
| CN114537653A (en) * | 2022-04-24 | 2022-05-27 | 北京玮航科技有限公司 | Fixing mechanism and unmanned aerial vehicle of duct installation roof beam |
| CN115123535A (en) * | 2022-08-11 | 2022-09-30 | 北京北航天宇长鹰无人机科技有限公司 | Tilt wing unmanned aerial vehicle |
| CN117125252A (en) * | 2023-10-09 | 2023-11-28 | 南京航空航天大学 | Driving device for power system of micro aircraft |
| CN117125252B (en) * | 2023-10-09 | 2024-07-26 | 南京航空航天大学 | Driving device for power system of micro aircraft |
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| CN206750133U (en) * | 2017-03-20 | 2017-12-15 | 长光卫星技术有限公司 | A kind of inclining rotary mechanism for the quadrotor that verts |
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| CN101962075A (en) * | 2010-10-18 | 2011-02-02 | 南京航空航天大学 | Tilting mechanism, running mode of tilting mechanism, application of tilting mechanism in tilting rotorcraft |
| CN104176251A (en) * | 2014-08-25 | 2014-12-03 | 北京航空航天大学 | Small-angle tilting mechanism of engine for small tilt rotor aircraft |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438215A (en) * | 2018-03-21 | 2018-08-24 | 西南交通大学 | It is a kind of to have the vector four-axle aircraft for keeping organism level ability |
| CN108639331A (en) * | 2018-06-29 | 2018-10-12 | 长沙市云智航科技有限公司 | One kind is verted double-rotor aerobat |
| CN111516903A (en) * | 2020-05-15 | 2020-08-11 | 蜂巢航宇科技（北京）有限公司 | Test bench for tilt rotor unmanned aerial vehicle |
| CN111959765A (en) * | 2020-08-03 | 2020-11-20 | 南京航空航天大学 | Tilt rotor wing mechanism based on ultrasonic motor |
| CN111959765B (en) * | 2020-08-03 | 2022-06-17 | 南京航空航天大学 | Tilt rotor wing mechanism based on ultrasonic motor |
| CN112389662A (en) * | 2020-11-27 | 2021-02-23 | 杭州巨泳科技有限公司 | Wing driving mechanism of unmanned aerial vehicle |
| CN114537653A (en) * | 2022-04-24 | 2022-05-27 | 北京玮航科技有限公司 | Fixing mechanism and unmanned aerial vehicle of duct installation roof beam |
| CN115123535A (en) * | 2022-08-11 | 2022-09-30 | 北京北航天宇长鹰无人机科技有限公司 | Tilt wing unmanned aerial vehicle |
| CN117125252A (en) * | 2023-10-09 | 2023-11-28 | 南京航空航天大学 | Driving device for power system of micro aircraft |
| CN117125252B (en) * | 2023-10-09 | 2024-07-26 | 南京航空航天大学 | Driving device for power system of micro aircraft |
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Application publication date: 20170829 |