CN108545178A - Coaxial double-rotary wing unmanned plane based on vector mechanism - Google Patents
Coaxial double-rotary wing unmanned plane based on vector mechanism Download PDFInfo
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- CN108545178A CN108545178A CN201810603254.0A CN201810603254A CN108545178A CN 108545178 A CN108545178 A CN 108545178A CN 201810603254 A CN201810603254 A CN 201810603254A CN 108545178 A CN108545178 A CN 108545178A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 113
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- 230000001360 synchronised effect Effects 0.000 claims description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical group [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 238000005553 drilling Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
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- 238000000034 method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 18
- 230000005484 gravity Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005194 fractionation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005096 rolling 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
- 108091092878 Microsatellite Proteins 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
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Abstract
The present invention provides a kind of coaxial double-rotary wing unmanned plane based on vector mechanism, including：Power Component (1), deflection vector mechanism (2) and fuselage (3)；Power Component (1) includes coaxial motor driving unit, upper rotor unit and lower rotor unit；Deflection vector mechanism (2) includes：Interior ring seat (21), interior ring seat deflection unit, outer ring seat (22), outer ring seat deflection unit and vector mechanism base (23).Advantage is：By the present invention in that realizing the vector tension technique of coaxial double-rotary wing unmanned plane with two vector controlled servos controls, one two-freedom rotary mechanism, provide a kind of unmanned mechanism type of completely new coaxial double-rotary wing, it is simple in structure, it effectively simplifies and changes the structure that Rotor thrust space is directed toward, reduce power plant amount of parts, improves the reliability and safety of structure of system.
Description
Technical field
The invention belongs to vertical take-off and landing drone technical fields, and in particular to a kind of coaxial double-rotary wing based on vector mechanism
Unmanned plane.
Background technology
Coaxial double-rotary wing unmanned plane has many advantages, such as can VTOL, tool low and easy to use to landing site's requirement
There is huge development prospect.Traditional unmanned helicopter is since it is desired that balance reaction torque has to arrange tail with course is controlled
Paddle, it is complicated so as to cause result, volume is big, poor reliability the shortcomings that.Existing coaxial double-rotary wing unmanned plane mostly use two or
Two or more engines are connect with mechanisms such as retarders, by two of retarder turn to opposite output shaft respectively with upper backspin
The reverse rotation of rotor up and down is realized in wing connection, to which the reaction torque for making two rotors bring is cancelled out each other, efficiently against
The inherent shortcoming of traditional unmanned helicopter.Such coaxial double-rotary wing unmanned plane has been widely used at present in jungle investigation, speedily carries out rescue work
The fields such as the disaster relief, motion photography.
Traditional coaxial double-rotary wing unmanned plane mostly realizes the control to UAV Attitude and movement by deflecting rotor shaft, such as
In a kind of double coaxial double-rotary wing unmanned vehicles of the low structure complexity of big load disclosed in patent of invention CN201510182069.5
The full pitch-changing mechanism used, disadvantage is that there are certain difficult point, such as Power Component structure are multiple in terms of safe design
It is miscellaneous, parts are more and resistance is larger etc..
Invention content
In view of the defects existing in the prior art, the present invention provides a kind of coaxial double-rotary wing unmanned plane based on vector mechanism,
It can effectively solve the above problems.
The technical solution adopted by the present invention is as follows：
The present invention provides a kind of coaxial double-rotary wing unmanned plane based on vector mechanism, including：Power Component (1), vector are inclined
Rotation mechanism (2) and fuselage (3)；
The Power Component (1) includes coaxial motor driving unit, upper rotor unit and lower rotor unit；Wherein, described
Coaxial motor driving unit includes coaxial motor (17) and motor mount (18)；The coaxial motor (17) includes upper motor
(17A) and lower motor (17B)；The upper motor (17A) and lower motor (17B) tail are mounted on the motor mount to tail
(18) both sides up and down；The upper motor (17A) is without output shaft；The lower motor (17B) has motor output shaft (12), described
Centre bore of the motor output shaft (12) of lower motor (17B) through the upper motor (17A) is pierced by upwards；
The lower rotor unit includes lower paddle cover (11B), lower rotor hub (15) and lower rotor blade (16)；The backspin
Above to the lower paddle cover (11B), the both sides of the lower rotor hub (15) are each to be hinged under one wing propeller hub (15) fixing assembling
Rotor blade (16)；The lower paddle cover (11B) is sheathed on the outside of the upper motor (17A), and makes the motor output shaft
(12) it is passed through from the center of the lower rotor hub (15)；The motor of the lower rotor hub (15) and the upper motor (17A)
Mounting hole on rotor case is fixedly connected, by the upper motor (17A), driving lower rotor hub (15) rotation, into
And drive the lower paddle cover (11B) and the lower rotor blade (16) synchronous rotary；
The upper rotor unit includes upper paddle cover (11A), upper rotor hub (13), upper rotor blade (14) and upper rotor peace
Fill cap (19)；
Upper rotor hub (13) fixing assembling to the upper paddle cover (11A) above, the upper rotor hub (13)
Each hinged upper rotor blade (14) in both sides；The upper paddle cover (11A) is installed to the top of the lower paddle cover (11B), also,
The motor output shaft (12) is fastened by upper rotor mounting cap (19) and the upper rotor hub (13), passes through the lower motor
(17B) driving upper rotor hub (13) rotation, and then drive the upper paddle cover (11A) and the upper rotor blade (14) same
Step rotation；
The deflection vector mechanism (2) includes：Interior ring seat (21), interior ring seat deflection unit, outer ring seat (22), outer ring seat are inclined
Turn unit and vector mechanism base (23)；
Top setting Power Component mounting hole position (28A) of the interior ring seat (21), the motor peace of the Power Component (1)
Dress seat (18) is fixedly connected with Power Component mounting hole position (28A), and then realizes the Power Component (1) and the inner ring
Seat (21) is fixedly connected；
The interior ring seat (21) is set to the inside of the outer ring seat (22), also, the central shaft of the interior ring seat (21)
Line both sides are hinged by the central axis both sides of inner ring shaft (27A) and the outer ring seat (22)；The interior ring seat deflection unit
It is described for driving the interior ring seat (21) to carry out Y-direction deflection relative to the outer ring seat (22) around the inner ring shaft (27A)
Interior ring seat deflection unit includes inner ring steering engine (24A) and inner ring rocking arm drag link mechanism；The inner ring steering engine (24A) is fixedly mounted
In on the outer ring seat (22), the output end of the inner ring steering engine (24A) by the inner ring rocking arm drag link mechanism with it is described interior
Ring seat (21) is connected；
The vector mechanism base (23), also, the two of the outer ring seat (22) are installed the lower section of the outer ring seat (22)
Side is hinged by outer shroud shaft (27B) and the vector mechanism base (23)；The outer ring seat deflection unit is described for driving
Outer ring seat (22) carries out Z-direction deflection, the outer ring seat around the outer shroud shaft (27B) relative to the vector mechanism base (23)
Deflection unit includes outer shroud steering engine (24B) and outer shroud rocking arm drag link mechanism；
The outer shroud steering engine (24B) is fixedly installed on the vector mechanism base (23), the outer shroud steering engine (24B)
Output end is connected by the outer shroud rocking arm drag link mechanism with the outer ring seat (22)；
Fuselage mounting hole position (28D) is arranged in the vector mechanism base (23), by fuselage mounting hole position (28D),
It is fixedly connected with the fuselage (3).
Preferably, the lower rotor blade (16) and the upper rotor blade (14) are collapsible blade.
Preferably, the inner ring rocking arm drag link mechanism includes：Inner ring rocking arm (25A) and inner ring pull rod (26A)；
The upper end of the inner ring pull rod (26A) is with the interior ring seat (21) in the hinge hole position of interior ring seat and inner ring pull rod
Hinged at (28B), lower end is articulated with inner ring steering engine rocking arm pull rod articulated shaft (27C), the inner ring with the inner ring rocking arm (25A)
The rocking arm upper end (25A) is hinged with the inner ring pull rod (26A), and lower end is hinged with the inner ring steering engine (24A), the inner ring rudder
Machine (24A) is fixed on the inner ring steering engine installation position (29A) on the outer ring seat (22).
Preferably, the outer shroud rocking arm drag link mechanism includes outer shroud rocking arm (25B) and outer shroud pull rod (26B)；
The outer shroud pull rod upper end (26B) is with the outer ring seat (22) in outer ring seat and outer shroud pull rod hinge hole position (28C)
Place is hinged, and lower end is articulated with outer shroud steering engine rocking arm pull rod articulated shaft (27D), the outer shroud rocking arm with the outer shroud rocking arm (25B)
The upper end (25B) is hinged with the outer shroud pull rod (26B), and lower end is hinged with the outer shroud steering engine (24B), the outer shroud steering engine
(24B) is fixed on the outer shroud steering engine installation position (29B) on the vector mechanism base (23).
Preferably, the motor mount (18) is the aluminum mounting base with electric drilling match, is circular ring shape, and outer rim is equipped with four
A fastened by screw auricle；
For the interior ring seat (21) using the motor mount (18) each size as reference, it is coaxial to accommodate that centre is equipped with circular groove
Motor (17)；
The outer ring seat (22) is chamfering side's ring component, and upper and lower surface is respectively equipped with turn of yaw dimension and pitching dimension
Axial trough auricle, is equipped with inner ring steering engine installation position (29A) below back side edge, right edge be equipped with circular hole to outer shroud pull rod
(26B) is hinged；
The upper surface of the vector mechanism base (23) is equipped with rotary axis groove auricle and outer shroud steering engine installation position (29B).
Preferably, the fuselage (3) includes fuselage compartment section (32), and satellite is fixedly mounted in the top of the fuselage compartment section (32)
Reception antenna mounting base of navigating (31) is connect equipped with the receiving antenna of satellite navigation in the receiving antenna of satellite navigation mounting base (31)
Receipts machine (34)；Inner containment airborne computer (35), battery (36) and the electron speed regulator (37) of the fuselage compartment section (32)；Institute
Tripod (33) is fixedly mounted in the bottom for stating fuselage compartment section (32).
Coaxial double-rotary wing unmanned plane provided by the invention based on vector mechanism has the following advantages：
The present invention provides a kind of coaxial double-rotary wing unmanned plane based on thrust vectoring mechanism, and the power of this unmanned plane is by being mounted in
Two motors up and down on same motor cabinet, i.e. coaxial motor provide, deflection vector mechanism by two vector controlled steering engines come
Power Component pitching and rotation on two axis of rolling in aircraft shafting are controlled, to reach control attitude of flight vehicle and movement
Purpose.The present invention has power plant simple, and small, maneuvering performance is good, and the high feature of reliability is suitable as microminiature
The aircraft platforms of UAV system.
Description of the drawings
Fig. 1 is the three-dimensional installation diagram of the coaxial double-rotary wing unmanned plane provided by the invention based on vector mechanism；
Fig. 2 is the three-dimensional installation diagram of Power Component；
Fig. 3 is the exploded perspective view of each component of Power Component；
Fig. 4 is deflection vector mechanism three-dimensional installation diagram；
Fig. 5 faces installation diagram for deflection vector mechanism；
Fig. 6 is that the right side of deflection vector mechanism regards installation diagram；
Fig. 7 is the assembled rear view of Fig of deflection vector mechanism；
Fig. 8 is deflection vector mechanism schematic diagram after axis 27A fractionations；
Fig. 9 is that deflection vector mechanism rotates schematic diagram along axis 27A；
Figure 10 is deflection vector mechanism schematic diagram after axis 27B fractionations；
Figure 11 is that deflection vector mechanism rotates schematic diagram along axis 27B；
Figure 12 is ring seat assembling schematic diagram inside and outside deflection vector mechanism；
Figure 13 is ring seat and vector mechanism base assembling schematic diagram outside deflection vector mechanism；
Figure 14 is deflection vector mechanism vertical view；
Figure 15 is the three-dimensional installation diagram of fuselage；
Figure 16 is that fuselage interior loads schematic diagram；
Wherein：
1：Power Component
11A：Upper paddle cover；11B：Lower paddle cover；
12：Motor output shaft；13：Upper rotor hub；14：Upper rotor blade；
15：Lower rotor hub；16：Lower rotor blade；
17：Coaxial motor；17A：Upper motor；17B：Lower motor；18：Motor mount；19：Upper rotor mounting cap；
2：Deflection vector mechanism；
20：Motor string holes position；21：Interior ring seat；22：Outer ring seat；
23：Vector mechanism base；24A：Inner ring steering engine；24B：Outer shroud steering engine；
25A：Inner ring rocking arm；25B：Outer shroud rocking arm；
26A：Inner ring pull rod；26B：Outer shroud pull rod；
27A：Inner ring shaft；27B：Outer shroud shaft；
27C：Inner ring steering engine rocking arm pull rod articulated shaft；27D：Outer shroud steering engine rocking arm pull rod articulated shaft；
28A：Power Component mounting hole position；28B：The hinge hole position of interior ring seat and inner ring pull rod；
28C：Outer ring seat and outer shroud pull rod hinge hole position；28D:Fuselage mounting hole position；
29A：Inner ring steering engine installation position；29B:Outer shroud steering engine installation position；
3：Fuselage；
31：Receiving antenna of satellite navigation mounting base；32：Fuselage compartment section；33：Tripod；
34：Receiving antenna of satellite navigation receiver；35：Airborne computer；36：Battery；37：Electron speed regulator.
Specific implementation mode
In order to make the technical problems, technical solutions and beneficial effects solved by the present invention be more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein only to
It explains the present invention, is not intended to limit the present invention.
In order to overcome the disadvantage that traditional coaxial double-rotary wing structure/mechanism is complicated, parts are more, the present invention to provide a kind of base
In the coaxial double-rotary wing unmanned plane of thrust vectoring mechanism, the power of this unmanned plane is by two electricity up and down on same motor cabinet
Machine, i.e. coaxial motor provide, and deflection vector mechanism controls Power Component in aircraft shafting by two vector controlled steering engines
Pitching and the rotation on two axis of rolling, to achieve the purpose that control attitude of flight vehicle and movement.The present invention is filled with power
It sets simply, small, maneuvering performance is good, and the high feature of reliability is suitable as the aircraft platforms of Small and micro-satellite system.
The present invention provides a kind of coaxial double-rotary wing unmanned plane based on vector mechanism, including：Power Component 1, deflection vector
Mechanism 2 and fuselage 3.Deflection vector mechanism 2 is set between Power Component 1 and fuselage 3.As shown in Figure 1, this figure is of the invention
Overall assembling figure, the Power Component 1 of the top are fixed on Power Component mounting hole position 28A with the deflection vector mechanism 2 at middle part, under
The fuselage 3 of side is connected and fuselage mounting hole position 28D with deflection vector mechanism 2.This three parts is discussed in detail respectively below：
(1) Power Component：
As shown in Figures 2 and 3, Power Component 1 includes coaxial motor driving unit, upper rotor unit and lower rotor unit；
Wherein, coaxial motor driving unit includes coaxial motor 17 and motor mount 18；Motor mount 18 be and electric drilling match
Aluminum mounting base, is circular ring shape, and outer rim sets that there are four fastened by screw auricles being connect with other structures；
Coaxial motor 17 includes upper motor 17A and lower motor 17B；Upper motor 17A and lower motor 17B tails are mounted on electricity to tail
The both sides up and down of machine mounting base 18；Upper motor 17A passes through mounting hole on motor rotor casing and lower rotor hub without output shaft
It is assembled；There is lower motor 17B motor output shaft 12, the motor output shaft 12 of lower motor 17B to be via power up the centre bore of machine 17A
It is pierced by, and is connected with upper motor stator by bearing upwards, motor output shaft 12 is for connecting rotor hub 13；
Lower rotor unit includes lower paddle cover 11B, lower rotor hub 15 and lower rotor blade 16；Lower rotor hub 15 fixes dress
It is fitted on above lower paddle cover 11B, lower paddle cover 11B follows lower rotor hub 15 to rotate together, and the both sides of lower rotor hub 15 are each hinged
One lower rotor blade 16, when storage, naturally droop, and centrifugal force Unscrew are relied on after electric motor starting, and can be stably maintained at
Perpendicular to the direction of rotary shaft, motor will naturally droop again under the effect of gravity after closing, and be used and stored to meet with this
The double requirements of space limitation.Lower paddle cover 11B is sheathed on the outside of motor 17A, and makes motor output shaft 12 from lower rotor
The center of hub 15 passes through；Lower rotor hub 15 is fixedly connected with the mounting hole on the motor rotor casing of upper motor 17A, by upper
Motor 17A drives lower rotor hub 15 to rotate, and then drives lower paddle cover 11B and lower 16 synchronous rotary of rotor blade；
Upper rotor unit includes upper paddle cover 11A, upper rotor hub 13, upper rotor blade 14 and upper rotor mounting cap 19；
Above 13 fixing assembling of upper rotor hub to upper paddle cover 11A, upper paddle cover 11A follows rotor hub 13 to revolve together
Turn, the both sides of upper rotor hub 13 are each one hinged, and upper rotor blade 14 naturally droops when storing, by centrifugation after electric motor starting
Power Unscrew, and can be stably maintained at perpendicular to the direction of rotary shaft, motor under the effect of gravity will again certainly after closing
It is so sagging, the double requirements of use and storage space limitation are met with this.
Upper paddle cover 11A is installed to the top of lower paddle cover 11B, also, motor output shaft 12 by upper rotor mounting cap 19 with
Upper rotor hub 13 fastens, and is rotated by rotor hub 13 in lower motor 17B drivings, and then drives upper paddle cover 11A and upper rotor
14 synchronous rotary of blade.
In the present invention, upper and lower rotor blade is a kind of folding rotor, and propeller hub both sides are equipped with blade shaft, and when storage can roll over
Lower reduction occupied space, when use, can unscrew automatically.
Its working principle is that：
Coaxial motor 17 can be with bidirectional rotation, respectively by being connected directly or exporting after the signal for receiving airborne computer
Axis is connected to rotor up and down and provides power, and lift is provided as complete machine.There are certain between upper paddle cover 11A and lower paddle cover 11B
Gap, come the reversed high-speed friction that may be brought when avoiding respectively following rotor wing rotation.
(2) deflection vector mechanism：
The main function of deflection vector mechanism is：Motor may be implemented in two freedom by the rotation output of two steering engines
Each a certain range of rotation on degree.
As shown in Figure 4 and Figure 5, deflection vector mechanism 2 includes：It is interior ring seat 21, interior ring seat deflection unit, outer ring seat 22, outer
Ring seat deflection unit and vector mechanism base 23；
Power Component mounting hole position 28A, the motor mount 18 and power packages of Power Component 1 is arranged in the top of interior ring seat 21
Part mounting hole position 28A is fixedly connected, and then realizes being fixedly connected for Power Component 1 and interior ring seat 21；
Interior ring seat 21 is set to the inside of outer ring seat 22, also, the central axis both sides of interior ring seat 21 pass through inner ring shaft
27A and the central axis both sides of outer ring seat 22 are hinged；Interior ring seat deflection unit is for driving interior ring seat 21 around inner ring shaft 27A phases
Y-direction deflection is carried out for outer ring seat 22, interior ring seat deflection unit includes inner ring steering engine 24A and inner ring rocking arm drag link mechanism；It is interior
Ring steering engine 24A is fixedly installed in outer ring seat 22, and the output end of inner ring steering engine 24A passes through inner ring rocking arm drag link mechanism and interior ring seat
21 are connected；
Wherein, inner ring rocking arm drag link mechanism includes：Inner ring rocking arm 25A and inner ring pull rod 26A；
The upper end of inner ring pull rod 26A is hinged at the hinge hole position 28B of interior ring seat and inner ring pull rod with interior ring seat 21, lower end
It is articulated with inner ring steering engine rocking arm pull rod articulated shaft 27C with inner ring rocking arm 25A, the inner ring upper ends rocking arm 25A are cut with scissors with inner ring pull rod 26A
It connects, lower end is hinged with inner ring steering engine 24A, and inner ring steering engine 24A is fixed on the inner ring steering engine installation position 29A in outer ring seat 22.
The operation principle of interior ring seat deflection unit is：Inner ring steering engine 24A is after receiving the defection signal that control system is sent out
Inner ring rocking arm 25A can be driven to move, inner ring pull rod 26A and inner ring rocking arm 25A forms connecting rod mechanism movement, finally ring seat in drive
21 rotate around inner ring shaft 27A.
The lower section installation vector mechanism base 23 of outer ring seat 22, also, the both sides of outer ring seat 22 by outer shroud shaft 27B and
Vector mechanism base 23 is hinged；Outer ring seat deflection unit is for driving outer ring seat 22 around outer shroud shaft 27B relative to vector mechanism
Pedestal 23 carries out Z-direction deflection, and outer ring seat deflection unit includes outer shroud steering engine 24B and outer shroud rocking arm drag link mechanism；
Outer shroud steering engine 24B is fixedly installed in vector mechanism base 23, and the output end of outer shroud steering engine 24B passes through outer shroud rocking arm
Drag link mechanism is connected with outer ring seat 22；
In practical application, outer shroud rocking arm drag link mechanism includes outer shroud rocking arm 25B and outer shroud pull rod 26B；
The outer shroud upper ends pull rod 26B and outer ring seat 22 are hinged in outer ring seat and the places outer shroud pull rod hinge hole position 28C, lower end with outside
Ring rocking arm 25B is articulated with outer shroud steering engine rocking arm pull rod articulated shaft 27D, and the outer shroud upper ends rocking arm 25B are hinged with outer shroud pull rod 26B, under
End is hinged with outer shroud steering engine 24B, and outer shroud steering engine 24B is fixed on the outer shroud steering engine installation position 29B in vector mechanism base 23.
The operation principle of outer ring seat deflection unit is：Outer shroud steering engine 24B is after receiving the defection signal that control system is sent out
Outer shroud rocking arm 25B can be driven to move, outer shroud pull rod 26B and outer shroud rocking arm 25B forms connecting rod mechanism movement, final to drive outer ring seat
22 rotate around outer shroud shaft 27B.
As shown in figs, it is that deflection vector mechanism splits schematic diagram, in fig. 8, interior ring seat 21 exists with outer ring seat 22
It is hinged and can be moved around inner ring shaft 27A shaft rotations at inner ring shaft 27A；In Fig. 10, outer ring seat 22 and vector mechanism base 23
It is hinged and can be rotated around outer shroud shaft 27B at outer shroud shaft 27B.
As shown in figures 9 and 11, it is the rotation schematic diagram of deflection vector mechanism, in fig.9, interior ring seat 21 and outer ring seat 22
It can be if figure is around inner ring shaft 27A rotations；In fig. 11, outer ring seat 22 can be if figure is around outer shroud shaft 27B with vector mechanism base 23
Rotation.
As shown in figure 12, this figure is inside and outside ring seat and inner ring steering engine rocking arm pull rod schematic diagram, and inner ring steering engine 24A is mounted on outer
At inner ring steering engine installation position 29A in ring seat 22, by the link mechanism that is made of inner ring rocking arm 25A and inner ring pull rod 26A with
Interior ring seat 21 is connected in the hinge hole position 28B of interior ring seat and inner ring pull rod.Interior ring seat 21 is articulated with inner ring shaft with outer ring seat 22
27A simultaneously can rotate around the axis, and inner ring rocking arm 25A and inner ring pull rod 26A is articulated at inner ring steering engine rocking arm pull rod articulated shaft 27C and can
Pivoting.It will produce corresponding movement after inner ring steering engine 24A receives the signal that airborne computer is sent out, and then drive inner ring
Seat 21 rotates.
As shown in figure 13, this figure is outer ring seat, vector mechanism base and outer shroud steering engine rocking arm pull rod schematic diagram, with class above
Seemingly, outer shroud steering engine 24A be mounted on vector mechanism base 23 on outer shroud steering engine installation position 29B place, by by outer shroud rocking arm 25B with
The link mechanism of outer shroud pull rod 26B compositions is articulated with outer ring seat and outer shroud pull rod hinge hole position 28C with vector mechanism base 23, outside
Ring seat 22 is articulated at outer shroud shaft 27B and can rotate around the axis with vector mechanism base 23, outer shroud rocking arm 25B and outer shroud pull rod
26B is articulated at outer shroud steering engine rocking arm pull rod articulated shaft 27D and can rotate around the axis.Airborne computer is received in outer shroud steering engine 24B
It will produce corresponding movement after the signal sent out, and then outer ring seat 22 driven to rotate.
As shown in figure 14, this figure is deflection vector mechanism vertical view, and interior ring seat 21 is cut with scissors with outer ring seat at interior ring shaft 27A
It connects, 28A is Power Component mounting hole position.
Four fuselage mounting hole position 28D are arranged in vector mechanism base 23, by fuselage mounting hole position 28D, using bolt with
Fuselage 3 is fixedly connected.
For interior ring seat 21 using 18 each size of motor mount as reference, centre is equipped with circular groove to accommodate coaxial motor 17；In addition
Equipped with motor string holes position 20, rotary axis groove etc..
Outer ring seat 22 is chamfering side's ring component, and upper and lower surface is respectively equipped with the rotary axis groove ear of yaw dimension and pitching dimension
Piece, back side edge lower section are equipped with inner ring steering engine installation position 29A, and right edge is equipped with circular hole to hinged with outer shroud pull rod 26B；
The upper surface of vector mechanism base 23 is equipped with rotary axis groove auricle and outer shroud steering engine installation position 29B.
In the present invention, it is provided with motor string holes position in interior ring seat 21 and vector mechanism base 23, in narrow space
Arrange and fix motor circuit, and ensure circuit will not interference vector deflection mechanism normal work.Pass through the above method, arrow
Amount thrust mechanism may be implemented Rotor thrust direction and be rotated rotating around y-axis and z-axis two degrees of freedom, and then generate the torque around center of gravity
Control the flight attitude of aircraft.
(3) fuselage：
As shown in Figure 15 and Figure 16, this figure is fuselage sections schematic diagram, and fuselage 3 includes fuselage compartment section 32, fuselage compartment section 32
Top receiving antenna of satellite navigation mounting base 31 is fixedly mounted, specifically, fuselage compartment section 32 is pacified with the receiving antenna of satellite navigation
Seat 31 is filled by four in the fuselage mounting hole position 28D that bolt is mounted on vector mechanism base 23, satellite navigation receives day
Receiving antenna of satellite navigation receiver 34 is housed in line mounting base 31, satellite necessary to flight control is provided for airborne computer
Navigation information.Inner containment airborne computer 35, battery 36 and the electron speed regulator 37 of fuselage compartment section 32；Airborne computer 35 is
Full machine control axis, sends out corresponding signal, and then make machine after receiving the instruction that remote control equipment is sent out to airborne each equipment
It carries equipment and makes corresponding movement as requested to realize the control to airplane motion.Battery 36 is then full machine main energy sources, is
Power plant is powered with control system, and electron speed regulator 37 is then main to play two aspects, when electric machine controller function,
Required voltage threshold voltage is provided for airborne computer and airborne control device, second is that will be electric after receiving airborne computer signal
The DC current in pond is converted to the three-dimensional alternating current needed for coaxial motor, to ensure the normal work of power plant.
Tripod 33 is fixedly mounted in the bottom of fuselage compartment section 32.The interspersed bottom for being fixed in fuselage compartment section 32 of tripod 33, can be with
The roll event for being used to support aircraft and this coaxial double-rotary wing unmanned plane being prevented to be likely to occur during takeoff and landing.
Specifically, fuselage is an elongated square box structure passes through quadrangle to accommodate high capacity cell, electron speed regulator etc.
Screw hole, using bolt together with deflection vector fastening.Tripod is four cylindrical columns, and it is pre- to be inserted into fuselage bottom
If mounting hole in, during landing from stable support function.
It can be seen that by the present invention in that being realized with two vector controlled servos controls, one two-freedom rotary mechanism
The vector tension technique of coaxial double-rotary wing unmanned plane provides a kind of unmanned mechanism type of completely new coaxial double-rotary wing, simple in structure,
It effectively simplifies and changes the structure that Rotor thrust space is directed toward, reduce power plant amount of parts, improve system
Reliability and safety of structure.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
Depending on protection scope of the present invention.
Claims (6)
1. a kind of coaxial double-rotary wing unmanned plane based on vector mechanism, which is characterized in that including：Power Component (1), deflection vector
Mechanism (2) and fuselage (3)；
The Power Component (1) includes coaxial motor driving unit, upper rotor unit and lower rotor unit；Wherein, described coaxial
Electric-motor drive unit includes coaxial motor (17) and motor mount (18)；The coaxial motor (17) includes upper motor (17A)
With lower motor (17B)；The upper motor (17A) and lower motor (17B) tail are mounted on the motor mount (18) to tail
Both sides up and down；The upper motor (17A) is without output shaft；The lower motor (17B) has motor output shaft (12), the lower electricity
Centre bore of the motor output shaft (12) of machine (17B) through the upper motor (17A) is pierced by upwards；
The lower rotor unit includes lower paddle cover (11B), lower rotor hub (15) and lower rotor blade (16)；The lower rotor
Above to the lower paddle cover (11B), the both sides of the lower rotor hub (15) are each to be hinged a lower rotor to hub (15) fixing assembling
Blade (16)；The lower paddle cover (11B) is sheathed on the outside of the upper motor (17A), and make the motor output shaft (12) from
The center of the lower rotor hub (15) passes through；Outside the rotor of the lower rotor hub (15) and the upper motor (17A)
Mounting hole on shell is fixedly connected, by the upper motor (17A), driving lower rotor hub (15) rotation, and then drive
The lower paddle cover (11B) and the lower rotor blade (16) synchronous rotary；
The upper rotor unit includes upper paddle cover (11A), upper rotor hub (13), upper rotor blade (14) and upper rotor mounting cap
(19)；
Upper rotor hub (13) fixing assembling to the upper paddle cover (11A) above, the both sides of the upper rotor hub (13)
Each hinged upper rotor blade (14)；The upper paddle cover (11A) is installed to the top of the lower paddle cover (11B), also, described
Motor output shaft (12) is fastened by upper rotor mounting cap (19) and the upper rotor hub (13), passes through the lower motor
(17B) driving upper rotor hub (13) rotation, and then drive the upper paddle cover (11A) and the upper rotor blade (14) same
Step rotation；
The deflection vector mechanism (2) includes：Interior ring seat (21), interior ring seat deflection unit, outer ring seat (22), the deflection of outer ring seat are single
Member and vector mechanism base (23)；
Top setting Power Component mounting hole position (28A) of the interior ring seat (21), the motor mount of the Power Component (1)
(18) it is fixedly connected with Power Component mounting hole position (28A), and then realizes the Power Component (1) and the interior ring seat
(21) be fixedly connected；
The interior ring seat (21) is set to the inside of the outer ring seat (22), also, the central axis two of the interior ring seat (21)
Side is hinged by the central axis both sides of inner ring shaft (27A) and the outer ring seat (22)；The interior ring seat deflection unit is used for
The interior ring seat (21) is driven to carry out Y-direction deflection, the inner ring relative to the outer ring seat (22) around the inner ring shaft (27A)
Seat deflection unit includes inner ring steering engine (24A) and inner ring rocking arm drag link mechanism；The inner ring steering engine (24A) is fixedly installed in institute
It states in outer ring seat (22), the output end of the inner ring steering engine (24A) passes through the inner ring rocking arm drag link mechanism and the interior ring seat
(21) it is connected；
The vector mechanism base (23) is installed in the lower section of the outer ring seat (22), also, the both sides of the outer ring seat (22) are logical
It is hinged with the vector mechanism base (23) to cross outer shroud shaft (27B)；The outer ring seat deflection unit is for driving the outer shroud
Seat (22) carries out Z-direction deflection, the outer ring seat deflection around the outer shroud shaft (27B) relative to the vector mechanism base (23)
Unit includes outer shroud steering engine (24B) and outer shroud rocking arm drag link mechanism；
The outer shroud steering engine (24B) is fixedly installed on the vector mechanism base (23), the output of the outer shroud steering engine (24B)
End is connected by the outer shroud rocking arm drag link mechanism with the outer ring seat (22)；
Fuselage mounting hole position (28D) is arranged in the vector mechanism base (23), by fuselage mounting hole position (28D), with institute
Fuselage (3) is stated to be fixedly connected.
2. the coaxial double-rotary wing unmanned plane according to claim 1 based on vector mechanism, which is characterized in that the lower rotor
Blade (16) and the upper rotor blade (14) are collapsible blade.
3. the coaxial double-rotary wing unmanned plane according to claim 1 based on vector mechanism, which is characterized in that the inner ring is shaken
Arm brace mechanism includes：Inner ring rocking arm (25A) and inner ring pull rod (26A)；
The upper end of the inner ring pull rod (26A) is with the interior ring seat (21) in the hinge hole position (28B) of interior ring seat and inner ring pull rod
Place is hinged, and lower end is articulated with inner ring steering engine rocking arm pull rod articulated shaft (27C), the inner ring rocking arm with the inner ring rocking arm (25A)
The upper end (25A) is hinged with the inner ring pull rod (26A), and lower end is hinged with the inner ring steering engine (24A), the inner ring steering engine
(24A) is fixed on the inner ring steering engine installation position (29A) on the outer ring seat (22).
4. the coaxial double-rotary wing unmanned plane according to claim 1 based on vector mechanism, which is characterized in that the outer shroud shakes
Arm brace mechanism includes outer shroud rocking arm (25B) and outer shroud pull rod (26B)；
It is cut with scissors at outer ring seat and outer shroud pull rod hinge hole position (28C) with the outer ring seat (22) the outer shroud pull rod upper end (26B)
It connects, lower end is articulated with outer shroud steering engine rocking arm pull rod articulated shaft (27D), the outer shroud rocking arm (25B) with the outer shroud rocking arm (25B)
Upper end is hinged with the outer shroud pull rod (26B), and lower end is hinged with the outer shroud steering engine (24B), and the outer shroud steering engine (24B) is solid
Outer shroud steering engine installation position (29B) on the vector mechanism base (23).
5. the coaxial double-rotary wing unmanned plane according to claim 1 based on vector mechanism, which is characterized in that the motor peace
It is aluminum mounting base with electric drilling match to fill seat (18), is circular ring shape, and outer rim sets that there are four fastened by screw auricles；
For the interior ring seat (21) using the motor mount (18) each size as reference, centre is equipped with circular groove to accommodate coaxial motor
(17)；
The outer ring seat (22) is chamfering side's ring component, and upper and lower surface is respectively equipped with the rotary axis groove of yaw dimension and pitching dimension
Auricle, back side edge lower section are equipped with inner ring steering engine installation position (29A), and right edge is equipped with circular hole to be cut with scissors with outer shroud pull rod (26B)
It connects；
The upper surface of the vector mechanism base (23) is equipped with rotary axis groove auricle and outer shroud steering engine installation position (29B).
6. the coaxial double-rotary wing unmanned plane according to claim 1 based on vector mechanism, which is characterized in that the fuselage
(3) include fuselage compartment section (32), receiving antenna of satellite navigation mounting base (31) is fixedly mounted in the top of the fuselage compartment section (32),
Receiving antenna of satellite navigation receiver (34) is housed in the receiving antenna of satellite navigation mounting base (31)；The fuselage compartment section
(32) inner containment airborne computer (35), battery (36) and electron speed regulator (37)；The bottom of the fuselage compartment section (32)
Tripod (33) is fixedly mounted.
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| CN201810603254.0A CN108545178B (en) | 2018-06-12 | 2018-06-12 | Coaxial double-rotor unmanned aerial vehicle based on vector mechanism |
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| CN201810603254.0A CN108545178B (en) | 2018-06-12 | 2018-06-12 | Coaxial double-rotor unmanned aerial vehicle based on vector mechanism |
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| CN109050906A (en) * | 2018-09-21 | 2018-12-21 | 长沙神弓信息科技有限公司 | Coaxial double-rotary wing thrust vectoring unmanned plane |
| CN109405649A (en) * | 2018-11-12 | 2019-03-01 | 彩虹无人机科技有限公司 | The foldable coaxial anti-paddle unmanned plane of one kind and striking method |
| CN109606680A (en) * | 2018-12-26 | 2019-04-12 | 李昊泽 | The multi-modal aircraft of a kind of pair of hair full vector and flight system |
| CN109606669A (en) * | 2018-12-07 | 2019-04-12 | 江西洪都航空工业集团有限责任公司 | A kind of DCB Specimen unmanned plane |
| CN110155316A (en) * | 2019-06-09 | 2019-08-23 | 西北工业大学 | A kind of coaxial twin screw vertically taking off and landing flyer of Moving mass control and its control method |
| CN111137436A (en) * | 2020-01-19 | 2020-05-12 | 广州佳禾创新科技有限公司 | Aerocar wing tilting mechanism and aerocar comprising same |
| CN111169630A (en) * | 2020-02-20 | 2020-05-19 | 山东蜂巢航空科技有限公司 | Vector coaxial double-propeller unmanned aerial vehicle |
| CN112173071A (en) * | 2020-11-26 | 2021-01-05 | 尚良仲毅(沈阳)高新科技有限公司 | Unmanned aerial vehicle and cross plate mechanism and control method thereof |
| CN113306713A (en) * | 2021-06-29 | 2021-08-27 | 哈尔滨工业大学 | Coaxial dual-rotor unmanned aerial vehicle based on parallelogram control rotor shaft |
| CN113716049A (en) * | 2021-07-23 | 2021-11-30 | 西安交通大学 | Primary-secondary unmanned aerial vehicle system and working method thereof |
| CN113942635A (en) * | 2021-12-20 | 2022-01-18 | 深圳市高端无人机有限公司 | Coaxial unmanned aerial vehicle |
| WO2022051409A1 (en) * | 2020-09-01 | 2022-03-10 | California Institute Of Technology | Rotating shroud for rotator blade systems |
| CN115806071A (en) * | 2021-09-11 | 2023-03-17 | 浙江大学 | Vector propulsion device and aircraft |
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| CN109050906A (en) * | 2018-09-21 | 2018-12-21 | 长沙神弓信息科技有限公司 | Coaxial double-rotary wing thrust vectoring unmanned plane |
| CN109050906B (en) * | 2018-09-21 | 2023-12-26 | 长沙神弓信息科技有限公司 | Coaxial double-rotor thrust vector unmanned aerial vehicle |
| CN109405649A (en) * | 2018-11-12 | 2019-03-01 | 彩虹无人机科技有限公司 | The foldable coaxial anti-paddle unmanned plane of one kind and striking method |
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| CN110155316A (en) * | 2019-06-09 | 2019-08-23 | 西北工业大学 | A kind of coaxial twin screw vertically taking off and landing flyer of Moving mass control and its control method |
| CN111137436A (en) * | 2020-01-19 | 2020-05-12 | 广州佳禾创新科技有限公司 | Aerocar wing tilting mechanism and aerocar comprising same |
| CN111169630A (en) * | 2020-02-20 | 2020-05-19 | 山东蜂巢航空科技有限公司 | Vector coaxial double-propeller unmanned aerial vehicle |
| WO2022051409A1 (en) * | 2020-09-01 | 2022-03-10 | California Institute Of Technology | Rotating shroud for rotator blade systems |
| US11407493B2 (en) | 2020-09-01 | 2022-08-09 | California Institute Of Technology | Rotating shroud for rotator blade systems |
| CN112173071B (en) * | 2020-11-26 | 2021-03-23 | 尚良仲毅(沈阳)高新科技有限公司 | Unmanned aerial vehicle and cross plate mechanism and control method thereof |
| CN112173071A (en) * | 2020-11-26 | 2021-01-05 | 尚良仲毅(沈阳)高新科技有限公司 | Unmanned aerial vehicle and cross plate mechanism and control method thereof |
| CN113306713A (en) * | 2021-06-29 | 2021-08-27 | 哈尔滨工业大学 | Coaxial dual-rotor unmanned aerial vehicle based on parallelogram control rotor shaft |
| CN113716049A (en) * | 2021-07-23 | 2021-11-30 | 西安交通大学 | Primary-secondary unmanned aerial vehicle system and working method thereof |
| CN113716049B (en) * | 2021-07-23 | 2024-05-07 | 西安交通大学 | Primary and secondary unmanned aerial vehicle system and working method thereof |
| CN115806071A (en) * | 2021-09-11 | 2023-03-17 | 浙江大学 | Vector propulsion device and aircraft |
| CN113942635A (en) * | 2021-12-20 | 2022-01-18 | 深圳市高端无人机有限公司 | Coaxial unmanned aerial vehicle |
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