CN107235141A - The multi-rotor unmanned aerial vehicle structure that a kind of vector is promoted - Google Patents
The multi-rotor unmanned aerial vehicle structure that a kind of vector is promoted Download PDFInfo
- Publication number
- CN107235141A CN107235141A CN201710409657.7A CN201710409657A CN107235141A CN 107235141 A CN107235141 A CN 107235141A CN 201710409657 A CN201710409657 A CN 201710409657A CN 107235141 A CN107235141 A CN 107235141A
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- China
- Prior art keywords
- rotor
- steering wheel
- aerial vehicle
- unmanned aerial
- host rack
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses the multi-rotor unmanned aerial vehicle structure that a kind of vector is promoted, including：Main frame and multiple rotor assemblies, each rotor assemblies correspondence are connected through a host rack with main frame, and each rotor assemblies are surrounded and are arranged on around main frame；A steering wheel is equipped with each host rack, the gauche form motor fixing seat connection for the rotor assemblies that each steering wheel is connected by steering wheel connecting rod with the host rack of place, gauche form motor fixing seat is provided with motor and propeller, and steering wheel can adjust connected gauche form motor fixing seat and thereon angle of the propeller on host rack.By the present invention in that changing multi-rotor unmanned aerial vehicle propeller posture with steering wheel (servomechanism), realize that vector rotor direction of change rotor thrust on the basis of adjustment rotating speed is controlled, it is not only more preferable than traditional multi-rotor unmanned aerial vehicle control effect, improve controllability, the flexibility of unmanned plane, and electric energy is more saved, the endurance of unmanned plane is improved indirectly.It can be applied to the fields such as unmanned plane of taking photo by plane.
Description
Technical field
The present invention relates to field unmanned plane, more particularly to the multi-rotor unmanned aerial vehicle structure that a kind of vector is promoted.
Background technology
The structure of common unmanned plane has three kinds of fixed-wing, many rotors and autogyro, according to respective control principle and spy
Put and be applied to different field.Wherein, multi-rotor unmanned aerial vehicle can be divided into four rotors, six rotors, eight rotations according to the number of rotor
The types such as the wing, its maximum feature is exactly to have multipair rotor, and the steering of each pair rotor is identical, for offsetting anti-twisted power each other
Square.Many inorganic people of rotor have advantageous advantage compared to other unmanned planes, compared with fixed wing aircraft, and it has can be with
VTOL, can pinpoint the advantage spiraled；Compared with single-rotor helicopter, and there is no tail-rotor device, therefore with safety
Property high, the low advantage of use cost.The plurality of advantages of multi-rotor unmanned aerial vehicle makes it in education, scientific research, taken photo by plane and unmanned plane transport
Extensive use is obtained Deng field.
But traditional multi-rotor unmanned aerial vehicle controls posture and the position of unmanned plane by changing the rotating speed of each rotor, specifically
It is that the rotating speed that each rotor is realized by the motor speed for changing each rotor is controlled, so can be in certain speed range with any
Speed flight, with maneuverability, hoverning stability be good and the features such as manipulation simplicity.But such as need to be closely around one
Fixed object surround flight, such as realizes around shooting, but because adjustment direction and posture are the rotating speeds by different motors
What difference was realized, there is delay in time and motor speed difference control error is big, controllability is bad, and unmanned plane may be caused to surround
Unsteady attitude during flight, positioning is inaccurate, and the picture shot when taking photo by plane is not unstable, influences shooting quality, and then cause many
To there is direction controlling in rotor wing unmanned aerial vehicle retainer ring unstable and the problem of be difficult to accurately control position and posture around flight.
The content of the invention
Based on the problems of prior art, it is an object of the invention to provide the multi-rotor unmanned aerial vehicle that a kind of vector is promoted
Structure, can improve controllability, flexibility and the endurance of multi-rotor unmanned aerial vehicle, effectively solve traditional multi-rotor unmanned aerial vehicle and be difficult to surely
Fixed circumvolant problem.
The purpose of the present invention is achieved through the following technical solutions：
Embodiment of the present invention provides the multi-rotor unmanned aerial vehicle structure that a kind of vector is promoted, including：
Main frame and multiple rotor assemblies, each rotor assemblies correspondence are connected through a host rack with the main frame, each rotation
Wing component is surrounded and is arranged on around the main frame；
A steering wheel is equipped with each host rack, each steering wheel is connected by steering wheel connecting rod with the host rack of place
The gauche form motor fixing seat connection of rotor assemblies, gauche form motor fixing seat is provided with motor and propeller, and steering wheel can be adjusted
The gauche form motor fixing seat that is connected and thereon angle of the propeller on host rack.
As seen from the above technical solution provided by the invention, many rotors that vector provided in an embodiment of the present invention is promoted
Unmanned plane device, its advantage is：
Due to being respectively provided with a steering wheel on each host rack, each gauche form electricity can be controlled through steering wheel connecting rod by steering wheel
Angle between machine fixed seat and the propeller and host rack installed thereon, and then change propeller direction of pull shape can be stablized
Promoted into vector, the poor control mode of traditional motor speed is instead of, so as to more effectively adjust the direction of multi-rotor unmanned aerial vehicle
And posture, particularly effectively improve multi-rotor unmanned aerial vehicle and fix circumvolant stability and controllability.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, being used required in being described below to embodiment
Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill in field, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the multi-rotor unmanned aerial vehicle principle schematic that vector provided in an embodiment of the present invention is promoted；
Fig. 2 is the multi-rotor unmanned aerial vehicle schematic diagram that vector provided in an embodiment of the present invention is promoted.
Embodiment
With reference to the particular content of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely retouched
State, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on the present invention
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made,
Belong to protection scope of the present invention.
As shown in Figure 1, 2, the embodiment of the present invention provides the multi-rotor unmanned aerial vehicle structure that a kind of vector is promoted, including：
Main frame and multiple rotor assemblies, each rotor assemblies correspondence are connected through a host rack with the main frame, each rotation
Wing component is surrounded and is arranged on around the main frame；
A steering wheel 1 is equipped with each host rack, each steering wheel 1 is by steering wheel connecting rod 10 with connecting on the host rack of place
The gauche form motor fixing seat 4 of the rotor assemblies connect is connected, and gauche form motor fixing seat 4 is provided with motor and propeller, steering wheel
1) connected gauche form motor fixing seat 4 and thereon angle of the propeller 8 on host rack can be adjusted.
In above-mentioned multi-rotor unmanned aerial vehicle, multiple rotor assemblies are uniformly distributed to surround and are arranged on around the main frame.It is preferred that,
Multiple rotor assemblies are four groups, six groups or eight groups.
In above-mentioned multi-rotor unmanned aerial vehicle, each rotor assemblies include：
Propeller 8, gauche form motor fixing seat 4, motor 3, shaft fixing block 5 and rotating shaft 6；
The shaft fixing block 5, is fixedly installed on the host rack outer end；
The gauche form motor fixing seat 4, is actively installed in the shaft fixing block 5 through the rotating shaft 6, can be along described turn
Axle 6 rotates the angle changed with the host rack；
The motor 3 is located in the gauche form motor fixing seat 4, and the propeller is set in the rotary shaft of motor upward
8。
In above-mentioned multi-rotor unmanned aerial vehicle, each steering wheel 1 is arranged on host rack 9 by a steering wheel fixed seat 2.
In above-mentioned multi-rotor unmanned aerial vehicle, each steering wheel is connected with the main-machine communication respectively, and main frame can be controlled to each steering wheel
System.
The angle that the present invention can adjust the gauche form motor fixing seat for installing propeller on host rack due to setting, it is real
Show not only by regulation motor speed discrepancy, and also by way of changing adjustment propeller posture, realized multi-rotor unmanned aerial vehicle
Flight control, the direction of rotor thrust is controlled on the basis of adjustment rotating speed, is a kind of vector Solid rocket engine technology,
All functionality advantages of traditional multi-rotor unmanned aerial vehicle can not only be realized, moreover it is possible to realize around flight, especially closely around winged
Change direction during row accurately, stably, without retardance, error is small, and controllability is good, is that traditional multi-rotor unmanned aerial vehicle can not be realized
Stabilizing ring around flight and closely around shoot provide solution.
The embodiment of the present invention is specifically described in further detail below.
Fig. 1 show the principle schematic for the multi-rotor unmanned aerial vehicle that vector of the present invention is promoted, wherein, steering wheel 1 passes through steering wheel
Connecting rod 10 changes the angle for being provided with the gauche form motor fixing seat 4 of motor and propeller 8 with host rack 9, so as to change spiral shell
The angle of oar 8 and host rack 9 is revolved, therefore propeller direction of pull changes, and then realizes control direction.Many rotations of the present embodiment
Wing unmanned plane structure, changes the control structure of rotor on the basis of traditional multi-rotor unmanned aerial vehicle structure, in adjustment rotating speed
On the basis of the direction of rotor thrust is controlled, realize vector rotor Solid rocket engine, instead of and traditional only turn by motor
The mode of speed difference control, so that the preferably direction of adjustment unmanned plane and posture, while saving electric energy, improves the continuous of unmanned plane
Boat power.
By taking four rotors as an example, structure chart is as shown in Fig. 2 four rotors are symmetrically distributed in the front, rear, left and right four of main frame 7
Direction, four rotors are in sustained height plane, and the structure and radius of four rotors are all identical.Vector promote four rotors nobody
In machine, including a main frame, and four rotor assemblies and its control unit, a rotor assemblies and its corresponding master of control unit
Structure is wanted to include：Steering wheel 1, steering wheel fixed seat 2, motor 3, gauche form motor fixing seat 4, shaft fixing block 5, rotating shaft 6, propeller
8th, host rack 9 and steering wheel connecting rod 10.Wherein, main frame 7 is connected by host rack 9 with shaft fixing block 5, steering wheel fixed seat 2
It is fixed on host rack 9, steering wheel 1 is connected to gauche form motor fixing seat 4, gauche form motor fixing seat by steering wheel connecting rod 10
4 and shaft fixing block 5 connected by rotating shaft 6.In remote control distributor, steering wheel 1 can drive gauche form motor fixing seat 4 to change direction
And position, gauche form motor fixing seat 4 steering wheel 1 control under can be moved forward and backward, drive motor 3 move forward and backward, and then
Change the direction of pull of propeller, the multi-rotor unmanned aerial vehicle of this structure can not only adjust the rotating speed control flight of motor 3, moreover it is possible to
The direction of rotor thrust is controlled simultaneously.Than the speed discrepancy adjustment of the rotor motor of traditional regulation front, rear, left and right four direction
Direction is easier, accurate and stably, can preferably realize stabilizing ring around flight.
By the present invention in that changing multi-rotor unmanned aerial vehicle propeller posture with steering wheel (servomechanism), realize vector rotor in tune
The direction for changing rotor thrust on the basis of turn over speed is controlled, not only than traditional multi-rotor unmanned aerial vehicle control effect more preferably,
Controllability, the flexibility of unmanned plane are improved, and more saves electric energy, the endurance of unmanned plane is improved indirectly.It can be applied to
Take photo by plane the fields such as unmanned plane.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can be readily occurred in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (6)
1. the multi-rotor unmanned aerial vehicle structure that a kind of vector is promoted, it is characterised in that including：
Main frame and multiple rotor assemblies, each rotor assemblies correspondence are connected through a host rack with the main frame, each rotor group
Part is surrounded and is arranged on around the main frame；
A steering wheel (1) is equipped with each host rack, each steering wheel (1) passes through on steering wheel connecting rod (10) and place host rack
Gauche form motor fixing seat (4) connection of the rotor assemblies of connection, gauche form motor fixing seat (4) is provided with motor and spiral
Oar, steering wheel (1) can adjust connected gauche form motor fixing seat (4) and thereon angle of the propeller (8) on host rack.
2. the multi-rotor unmanned aerial vehicle that a kind of vector according to claim 1 is promoted, it is characterised in that the multiple rotor group
Part is uniformly distributed to surround and is arranged on around the main frame.
3. the multi-rotor unmanned aerial vehicle that a kind of vector according to claim 1 is promoted, it is characterised in that described rotor assemblies
Including：
Propeller (8), gauche form motor fixing seat (4), motor (3), shaft fixing block (5) and rotating shaft (6)；
The shaft fixing block (5), is fixedly installed on the host rack outer end；
The gauche form motor fixing seat (4), is actively installed in the shaft fixing block (5) through the rotating shaft (6), can be along described
Rotating shaft (6) rotates the angle changed with the host rack；
The motor (3) is located in the gauche form motor fixing seat (4), and institute is set in the rotating shaft that the motor (3) is set upward
State propeller (8).
4. the multi-rotor unmanned aerial vehicle that a kind of vector according to any one of claims 1 to 3 is promoted, it is characterised in that each
Steering wheel (1) is arranged on host rack by a steering wheel fixed seat (2).
5. the multi-rotor unmanned aerial vehicle that a kind of vector according to any one of claims 1 to 3 is promoted, it is characterised in that each rudder
Machine is connected with the main-machine communication respectively.
6. the multi-rotor unmanned aerial vehicle that a kind of vector according to any one of claims 1 to 3 is promoted, it is characterised in that described
Multiple rotor assemblies are four groups, six groups or eight groups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710409657.7A CN107235141A (en) | 2017-06-02 | 2017-06-02 | The multi-rotor unmanned aerial vehicle structure that a kind of vector is promoted |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710409657.7A CN107235141A (en) | 2017-06-02 | 2017-06-02 | The multi-rotor unmanned aerial vehicle structure that a kind of vector is promoted |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107235141A true CN107235141A (en) | 2017-10-10 |
Family
ID=59985336
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710409657.7A Pending CN107235141A (en) | 2017-06-02 | 2017-06-02 | The multi-rotor unmanned aerial vehicle structure that a kind of vector is promoted |
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| Country | Link |
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| CN (1) | CN107235141A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107672801A (en) * | 2017-11-14 | 2018-02-09 | 哈尔滨理工大学 | A kind of quick rotor wing unmanned aerial vehicle of deflecting four |
| CN108820231A (en) * | 2018-06-06 | 2018-11-16 | 广东工业大学 | A kind of motor cabinet of unmanned plane |
| CN110341947A (en) * | 2019-06-25 | 2019-10-18 | 武汉科技大学 | A kind of quadrotor that multidirectional can be verted |
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| CN105035313A (en) * | 2015-06-30 | 2015-11-11 | 北京航空航天大学 | Rotated quadrotor |
| CN204937491U (en) * | 2015-08-21 | 2016-01-06 | 李少泽 | A kind of multi-rotor aerocraft |
| CN105775114A (en) * | 2016-03-14 | 2016-07-20 | 北京航空航天大学 | Variable-incidence multi-degree-of-freedom agile flight unmanned rotorcraft |
| CN106428552A (en) * | 2016-08-30 | 2017-02-22 | 上海未来伙伴机器人有限公司 | Tiltable multi-rotor device |
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2017
- 2017-06-02 CN CN201710409657.7A patent/CN107235141A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204701770U (en) * | 2015-06-03 | 2015-10-14 | 江苏数字鹰科技发展有限公司 | Exempt from stable four autogiros of taking photo by plane of The Cloud Terrace |
| CN105035313A (en) * | 2015-06-30 | 2015-11-11 | 北京航空航天大学 | Rotated quadrotor |
| CN204937491U (en) * | 2015-08-21 | 2016-01-06 | 李少泽 | A kind of multi-rotor aerocraft |
| CN105775114A (en) * | 2016-03-14 | 2016-07-20 | 北京航空航天大学 | Variable-incidence multi-degree-of-freedom agile flight unmanned rotorcraft |
| CN106428552A (en) * | 2016-08-30 | 2017-02-22 | 上海未来伙伴机器人有限公司 | Tiltable multi-rotor device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107672801A (en) * | 2017-11-14 | 2018-02-09 | 哈尔滨理工大学 | A kind of quick rotor wing unmanned aerial vehicle of deflecting four |
| CN108820231A (en) * | 2018-06-06 | 2018-11-16 | 广东工业大学 | A kind of motor cabinet of unmanned plane |
| CN110341947A (en) * | 2019-06-25 | 2019-10-18 | 武汉科技大学 | A kind of quadrotor that multidirectional can be verted |
| CN110341947B (en) * | 2019-06-25 | 2022-07-19 | 武汉科技大学 | Four-rotor aircraft capable of tilting in multiple directions |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171010 |
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| RJ01 | Rejection of invention patent application after publication |