CN107672801B - Quick four rotor unmanned aerial vehicle that turns to - Google Patents
Quick four rotor unmanned aerial vehicle that turns to Download PDFInfo
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- CN107672801B CN107672801B CN201711120301.8A CN201711120301A CN107672801B CN 107672801 B CN107672801 B CN 107672801B CN 201711120301 A CN201711120301 A CN 201711120301A CN 107672801 B CN107672801 B CN 107672801B
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- rotor
- inner frame
- outer frame
- frame motor
- aerial vehicle
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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
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Permanent Magnet Type Synchronous Machine (AREA)
Abstract
The invention discloses a quick steering four-rotor unmanned aerial vehicle which is used for assisting a human to finish civil work tasks such as geological survey, aerial photography and the like in high altitude and can also be used for resource transportation in special areas. The invention comprises an unmanned aerial vehicle frame, a rotor wing, a direction changing device, a signal receiver, a power supply and a driving controller. The invention detects the space swing included angle of the outer frame motor rotor and the inner frame motor rotor of the direction changing device through the magnetoelectric angular displacement sensor, and the outer frame motor rotor connected to the inner frame is pushed by the outer frame motor stator of the direction changing device so as to enable the inner frame to rotate; the inner frame motor stator is used for pushing the inner frame motor rotor connected to the rotor motor support, so that the rotor motor support rotates, the pose change of the rotor in space coordinates is realized, the rapid turning of the unmanned aerial vehicle is realized, the unmanned aerial vehicle can be used for aerial photography and material delivery, the working efficiency of the unmanned aerial vehicle is improved, and the power stability during turning is improved.
Description
Technical Field
The invention discloses a rapid steering four-rotor unmanned aerial vehicle, relates to the civil fields of transportation equipment, aerial photography and the like, and particularly relates to a rapid steering four-rotor unmanned aerial vehicle.
Background
In the field of geological exploration and disaster relief, the four-rotor unmanned aerial vehicle can help people to explore terrains, and improve working efficiency of people. In the transportation field, because some regional topography is complicated, leads to the transport vehicle unable entering, along with four rotor unmanned aerial vehicle technical development, adopts four rotor unmanned aerial vehicle to carry out the material delivery to special region for shorten the delivery time and deliver the cost and be the necessary trend. The existing four-rotor unmanned aerial vehicle changes the rotation speed of a rotor through adjusting the rotation speed of four rotor motors to realize the change of lift force, so that the gesture and the position of the unmanned aerial vehicle are controlled. The method for controlling the gesture and the position of the unmanned aerial vehicle by adjusting the rotating speed of the motor enables the direction changing speed of the unmanned aerial vehicle to be low, power to be unstable, the flying gesture to be unstable during direction changing, and the fault rate to be high, so that the unmanned aerial vehicle is not easy to be used for executing tasks.
Disclosure of Invention
The invention aims to adopt a motor to drive the rapid steering mechanism to drive the change of the gesture of the unmanned aerial vehicle, thereby improving the steering speed of the unmanned aerial vehicle, improving the steering accuracy and the power stability of the steering process and improving the working efficiency of the unmanned aerial vehicle.
The invention solves the technical problems as follows:
the invention relates to a rapid steering four-rotor unmanned aerial vehicle, which comprises five parts, namely an unmanned aerial vehicle body 1, a reversing device a2, a reversing device b3, a reversing device c4 and a reversing device d 5; the four reversing devices of the fast steering quadrotor unmanned aerial vehicle have the same structure, so in the following structural description, only one reversing device is described; the method is characterized in that: and the reversing device a, the reversing device b, the reversing device c and the reversing device d are respectively connected with the unmanned aerial vehicle body through bolts.
Preferably, the unmanned aerial vehicle fuselage constitute by unmanned aerial vehicle support, signal receiver, drive controller, power, wherein signal receiver, drive controller, power and unmanned aerial vehicle support screw connection.
Preferably, the reversing device a comprises a rotor motor bracket, an inner frame motor rotor iron core, an inner frame motor rotor, a plurality of pairs of pole magnet steel a, a plurality of pairs of pole magnet steel mounting bases, a rotor motor, a rotor, an inner frame, a plurality of pairs of pole magnet steel b, an outer frame motor rotor iron core, a bearing a, an inner frame motor rear end cover, an inner frame motor stator winding, an inner frame angular displacement type magnetoelectric encoder, a bearing b, an inner frame angular displacement type magnetoelectric encoder end cover, an outer frame, a bearing c, an outer frame motor rear end cover, an outer frame angular displacement type magnetoelectric encoder end cover, a bearing d, an outer frame motor stator height limiting winding and an outer frame motor stator winding; the motor comprises an inner frame motor rotor, a multi-pair pole magnet steel mounting base, a rotor motor and a rotor motor bracket, wherein the inner frame motor rotor is in glue connection with the inner frame motor rotor core, the inner frame motor rotor, the multi-pair pole magnet steel mounting base, the rotor motor and the rotor motor are in bolt connection with the rotor motor bracket, the multi-pair pole magnet steel a is in glue connection with the multi-pair pole magnet steel mounting base, the rotor motor and the rotor motor bracket, the inner frame motor rotor, the multi-pair pole magnet steel a is in glue connection with the multi-pair pole magnet steel mounting base, the rotor motor and the rotor motor bracket are in bolt connection, the inner frame motor rotor, the outer frame motor rear end cover and the bearing a are in bearing connection, the multi-pair pole magnet steel mounting base, the inner frame angular displacement magnet encoder end cover and the bearing b bearing are in bearing connection, the outer frame motor rotor, the inner frame motor rear end cover and the outer frame angular encoder stator are in screw connection with the outer frame motor stator, the motor stator is in glue connection with the inner frame motor stator, the outer frame motor stator is in glue connection with the outer frame motor stator, the unmanned frame motor stator is in glue connection with the outer frame encoder, the unmanned frame encoder is in screw connection with the outer frame encoder, the outer frame encoder is in screw connection with the outer frame encoder stator is in screw glue connection with the outer frame encoder stator.
The beneficial effects of the invention are as follows:
1. adopt the diversion device, increased the degree of freedom of rotor for the position appearance of rotor can change, has improved unmanned aerial vehicle's speed of diversion, makes work efficiency improve.
2. The direction changing device is adopted, the condition that power is unstable when a general four-rotor unmanned aerial vehicle changes direction is overcome, and the stability of the unmanned aerial vehicle in the direction changing process is improved.
3. Two magnetoelectric angular displacement sensors are respectively adopted as position feedback of the outer frame motor and the inner frame motor, so that the angular displacement of the rotors of the outer frame motor and the inner frame motor is measured, and the pose change of the current rotor wing can be accurately controlled.
Drawings
FIG. 1: the overall structure of the invention is schematically shown;
fig. 2: the unmanned aerial vehicle body structure schematic diagram of the invention;
fig. 3: the partial structure schematic diagram of the direction changing device is provided;
fig. 4: the partial structure schematic diagram of the direction changing device is provided;
fig. 5: the partial structure schematic diagram of the direction changing device is provided;
fig. 6: the partial structure schematic diagram of the direction changing device is provided;
fig. 7: the partial structure schematic diagram of the direction changing device is provided;
fig. 8: the partial structure schematic diagram of the direction changing device is provided;
fig. 9: the partial structure schematic diagram of the direction changing device is provided;
fig. 10: the partial structure schematic diagram of the direction changing device is provided;
fig. 11: the partial structure schematic diagram of the direction changing device is provided;
in the figure, a 1-1 unmanned aerial vehicle bracket, a 1-2 signal receiver, a 1-3 driving controller, a 1-4 power supply, a2-1 rotor motor bracket, a 2-2 inner frame motor rotor core, a 2-3 inner frame motor rotor, a2-4 multi-pair pole magnet steel a, a 2-5 multi-pair pole magnet steel mounting base, a 2-6 rotor motor, a 2-7 rotor, a 2-8 inner frame, a 2-9 multi-pair pole magnet steel b, a 2-10 outer frame motor rotor, a 2-11 outer frame motor rotor core, a2-12 bearing a, a 2-13 inner frame motor rear end cover, a 2-14 inner frame motor stator, a 2-15 inner frame motor stator winding, a 2-16 inner frame angular displacement type magnet encoder, a 2-17 bearing b, a 2-18 inner frame angular displacement type magnet encoder end cover, a 2-19 outer frame, a 2-20 bearing c, a 2-21 outer frame motor rear end cover, a 2-22 outer frame angular displacement magnet encoder end cover, a 2-23 bearing d, a 2-24 angular type magnet encoder motor stator, a 2-25 outer frame motor stator, a 2-26 outer frame stator winding height-27.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention is described below by means of specific embodiments shown in the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
Specific constructions and embodiments of the present invention are further described below with reference to the drawings.
The structure of the invention is shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 and 11.
The invention relates to a rapid steering four-rotor unmanned aerial vehicle, which comprises five parts, namely an unmanned aerial vehicle body 1, a reversing device a2, a reversing device b3, a reversing device c4 and a reversing device d 5; the four reversing devices of the fast steering quadrotor unmanned aerial vehicle have the same structure, so in the following structural description, only one reversing device is described; the method is characterized in that: and the reversing device a2, the reversing device b3, the reversing device c4 and the reversing device d5 are respectively connected with the unmanned aerial vehicle body 1 through bolts.
Further, the unmanned aerial vehicle body 1 comprises unmanned aerial vehicle support 1-1, signal receiver 1-2, drive controller 1-3, power 1-4, wherein signal receiver 1-2, drive controller 1-3, power 1-4 and unmanned aerial vehicle support 1-1 screw connection.
Further, the reversing device a2 consists of a rotor motor bracket 2-1, an inner frame motor rotor iron core 2-2, an inner frame motor rotor 2-3, a multi-pair pole magnetic steel a2-4, a multi-pair pole magnetic steel mounting base 2-5, a rotor motor 2-6, a rotor 2-7, an inner frame 2-8, a multi-pair pole magnetic steel b2-9, an outer frame motor rotor 2-10, an outer frame motor rotor iron core 2-11, a bearing a2-12, an inner frame motor rear end cover 2-13, an inner frame motor stator 2-14, an inner frame motor stator winding 2-15, an inner frame angular displacement type magnetic encoder 2-16, a bearing b2-17, an inner frame angular displacement type magnetic encoder end cover 2-18, an outer frame 2-19, a bearing c2-20, an outer frame motor rear end cover 2-21, an angular displacement type magnetic encoder end cover 2-22, a bearing d2-23, an outer frame angular displacement type magnetic encoder 2-24, an outer frame motor stator 2-25, an outer frame motor stator height limiting winding 2-26 and an outer frame motor stator winding 2-27; wherein the inner frame motor rotor 2-3 is in glue connection with the inner frame motor rotor core 2-2, the inner frame motor rotor 2-3, the multi-pair pole magnet steel mounting base 2-5, the rotor motor 2-6 is in bolt connection with the rotor motor bracket 2-1, the multi-pair pole magnet steel a2-4 is in glue connection with the multi-pair pole magnet steel mounting base 2-5, the rotor 2-7 is in bolt connection with the rotor motor 2-6, the inner frame motor rotor 2-3, the inner frame motor rear end cover 2-13 is in bearing connection with the bearing a2-12, the multi-pair pole magnet steel mounting base 2-5, the inner frame angular displacement magneto-electric encoder end cover 2-18 is in bearing connection with the bearing b2-17, the outer frame motor rotor 2-10, the inner frame motor rear end cover 2-13, the inner frame angular displacement magneto-electric encoder end cover 2-18 is in bolt connection with the inner frame 2-8, the multi-pair pole magnetic steel b2-9, the inner frame motor stator 2-14 and the inner frame 2-8 are glued, the outer frame motor rotor iron core 2-11 and the outer frame motor rotor 2-10 are glued, the inner frame motor stator winding 2-15 and the inner frame motor stator 2-14 are glued, the inner frame angular displacement type magnetoelectric encoder 2-16 and the inner frame angular displacement type magnetoelectric encoder end cover 2-18 are connected by screw, the outer frame motor rotor 2-10, the outer frame motor rear end cover 2-21 and the bearing c2-20 are connected by bearing, the inner frame 2-8, the outer frame angular displacement type magnetoelectric encoder end cover 2-22 and the bearing d2-23 are connected by bearing, the outer frame motor rear end cover 2-21, the outer frame angular displacement type magnetoelectric encoder end cover 2-22 is connected with the outer frame 2-19 through screws, the outer frame motor stator 2-25 is glued with the outer frame 2-19, the outer frame angular displacement type magnetoelectric encoder 2-24 is connected with the outer frame angular displacement type magnetoelectric encoder end cover 2-22 through screws, the outer frame motor stator height limiting winding 2-26, the outer frame motor stator winding 2-27 is glued with the outer frame motor stator 2-25, and the outer frame 2-19 is connected with the unmanned aerial vehicle bracket 1-1 through bolts.
The working principle is as follows: the reversing device a2, the reversing device b3, the reversing device c4 and the reversing device d5 have the same structure, the working principle of the invention is illustrated by taking a2 as an example, when the signal receiver 1-2 receives an instruction, the instruction is transmitted to the driving controller 1-3, so that the stator winding 2-27 of the outer frame motor is electrified, the outer frame motor rotor 2-10 connected with the inner frame 2-8 is driven to rotate, and the inner frame 2-8 is driven to rotate; meanwhile, when the driving controller receives signals, the inner frame motor stator winding 2-15 is electrified, the inner frame motor rotor 2-3 connected with the rotor motor bracket 2-1 is driven to rotate, and then the rotor motor bracket 2-1 and the rotor motor 2-6 are driven to rotate, so that the pose of the rotor 2-7 is finally changed, and the direction change is completed; the inner frame magneto-electric type angular displacement sensor 2-16 and the outer frame magneto-electric type angular displacement sensor 2-24 are adopted to respectively collect the angular displacements of the inner frame motor rotor 2-3 and the outer frame motor rotor 2-10, so that the pose of the rotor wing can be accurately controlled.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. A fast steering four-rotor unmanned aerial vehicle comprises five parts, namely an unmanned aerial vehicle body (1), a reversing device a (2), a reversing device b (3), a reversing device c (4) and a reversing device d (5); the reversing device a (2), the reversing device b (3), the reversing device c (4) and the reversing device d (5) have the same structure, and are characterized in that: the reversing device a (2), the reversing device b (3), the reversing device c (4) and the reversing device d (5) are respectively connected with the unmanned aerial vehicle body (1) through bolts; the reversing device a (2) is composed of a rotor motor bracket (2-1), an inner frame motor rotor core (2-2), an inner frame motor rotor (2-3), a multi-pair pole magnet steel a (2-4), a multi-pair pole magnet steel mounting base (2-5), a rotor motor (2-6), a rotor (2-7), an inner frame (2-8), a multi-pair pole magnet steel b (2-9), an outer frame motor rotor (2-10), an outer frame motor rotor core (2-11), a bearing a (2-12), an inner frame motor rear end cover (2-13), an inner frame motor stator (2-14), an inner frame motor stator winding (2-15), an inner frame angular displacement type magnetoelectric encoder (2-16), a bearing b (2-17), an inner frame angular displacement type magnetoelectric encoder end cover (2-18), a bearing c (2-20), an outer frame motor rear end cover (2-21), an outer frame angular type magnetoelectric encoder (2-22), a bearing d (2-23), an angular type magnetoelectric encoder (2-24), an outer frame motor stator (2-25) and a limited height (2-25), outer frame motor stator windings (2-27); wherein the inner frame motor rotor (2-3) is glued with the inner frame motor rotor core (2-2), the inner frame motor rotor (2-3), the multi-pair pole magnet steel mounting base (2-5), the rotor motor (2-6) is connected with the rotor motor bracket (2-1) through bolts, the multi-pair pole magnet steel a (2-4) is glued with the multi-pair pole magnet steel mounting base (2-5), the rotor (2-7) is connected with the rotor motor (2-6) through bolts, the inner frame motor rotor (2-3), the inner frame motor rear end cover (2-13) is connected with the bearing a (2-12), the multi-pair pole magnet steel mounting base (2-5), the inner frame angular displacement magnet steel encoder end cover (2-18) is connected with the bearing b (2-17), the outer frame motor rotor (2-10), the inner frame motor rear end cover (2-13), the inner frame angular displacement magnet steel encoder end cover (2-18) is connected with the outer frame (2-8) through bolts, the multi-pair magnet steel b (2-9), the inner frame motor stator (2-14) is connected with the outer frame motor rotor (2-8) through bolts, the inner frame motor stator winding (2-15) is glued with the inner frame motor stator (2-14), the inner frame angular displacement type magnetoelectric encoder (2-16) is connected with the inner frame angular displacement type magnetoelectric encoder end cover (2-18) through screws, the outer frame motor rotor (2-10), the outer frame motor rear end cover (2-21) is connected with the bearing c (2-20) through bearings, the inner frame (2-8), the outer frame angular displacement type magnetoelectric encoder end cover (2-22) is connected with the bearing d (2-23) through bearings, the outer frame motor rear end cover (2-21), the outer frame angular displacement type magnetoelectric encoder end cover (2-22) and the outer frame (2-19) through screws, the outer frame motor stator (2-25) is glued with the outer frame (2-19), the outer frame angular displacement type magnetoelectric encoder (2-24) is connected with the outer frame angular displacement type magnetoelectric encoder end cover (2-22) through screws, the outer frame motor stator height limiting winding (2-26), the outer frame motor stator winding (2-27) is connected with the outer frame motor stator (2-25) through screws, and the outer frame motor stator (2-19) is connected with the unmanned aerial vehicle bracket (1-1).
2. The fast steering quad-rotor unmanned helicopter according to claim 1, wherein: the unmanned aerial vehicle body (1) comprises an unmanned aerial vehicle support (1-1), a signal receiver (1-2), a driving controller (1-3) and a power supply (1-4), wherein the signal receiver (1-2), the driving controller (1-3) and the power supply (1-4) are connected with the unmanned aerial vehicle support (1-1) through screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711120301.8A CN107672801B (en) | 2017-11-14 | 2017-11-14 | Quick four rotor unmanned aerial vehicle that turns to |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711120301.8A CN107672801B (en) | 2017-11-14 | 2017-11-14 | Quick four rotor unmanned aerial vehicle that turns to |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107672801A CN107672801A (en) | 2018-02-09 |
| CN107672801B true CN107672801B (en) | 2023-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711120301.8A Active CN107672801B (en) | 2017-11-14 | 2017-11-14 | Quick four rotor unmanned aerial vehicle that turns to |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101554487B1 (en) * | 2013-12-23 | 2015-09-21 | 이상현 | Multi rotor aerial vehicle |
| US9938005B2 (en) * | 2015-07-17 | 2018-04-10 | Teal Drones, Inc. | Thrust vectoring on a rotor-based remote vehicle |
| CN107010211A (en) * | 2016-07-28 | 2017-08-04 | 张崎 | A kind of Posable multi-rotor aerocraft |
| CN107235141A (en) * | 2017-06-02 | 2017-10-10 | 韩孚楷 | The multi-rotor unmanned aerial vehicle structure that a kind of vector is promoted |
| CN207550501U (en) * | 2017-11-14 | 2018-06-29 | 哈尔滨理工大学 | A kind of quick deflecting quadrotor device |
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| CN107672801A (en) | 2018-02-09 |
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