CN110550222B - Miniature coaxial dual-rotor unmanned aerial vehicle - Google Patents
Miniature coaxial dual-rotor unmanned aerial vehicle Download PDFInfo
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- CN110550222B CN110550222B CN201910820533.7A CN201910820533A CN110550222B CN 110550222 B CN110550222 B CN 110550222B CN 201910820533 A CN201910820533 A CN 201910820533A CN 110550222 B CN110550222 B CN 110550222B
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- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 9
- 230000009977 dual effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000000737 periodic effect Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000000407 epitaxy Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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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
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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
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
The invention relates to the technical field of aircrafts, in particular to a miniature coaxial double-rotor unmanned aerial vehicle which comprises a shell, wherein a loading mechanism is installed at the bottom end inside the shell and comprises a loading cloud platform, a rotating seat is arranged on the inner side of the loading cloud platform and is rotatably connected with the loading cloud platform through a connecting shaft, a camera is fixedly installed on the side wall of the rotating seat, a power mechanism is arranged at the top end of the loading cloud platform and comprises a second fixing plate, the second fixing plate is fixedly connected with the loading cloud platform, a battery is fixedly installed at the top of the second fixing plate, connecting columns are arranged at four corners of the second fixing plate and are fixedly installed on the second fixing plate, a flight control plate is fixedly installed at the top of the battery, a transmission mechanism is arranged at the top end of the flight control plate, an operating mechanism is installed at the top end of the connecting columns, and a rotor mechanism is arranged at the top end of the operating mechanism. The invention has compact structure, high controllability and strong maneuverability.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a micro coaxial dual-rotor unmanned aerial vehicle.
Background
The miniaturization of aircraft is an aspect that a great deal of researcher and user pursued, and it can adapt to every corner in the battlefield in the military field, and flexible difficult discovery is moved simultaneously, and also can make things convenient for the user in civilian field to adapt to multiple exploration, search and rescue work, at present, the aircraft generally is many rotor unmanned vehicles, but, because many rotor unmanned vehicles' part is complicated, has increased heavy burden simultaneously, this moment of inertia when just having improved the flight state transition reduces the controllability and the mobility of aircraft.
Disclosure of Invention
The invention aims to solve the defects of low maneuverability and controllability in the prior art, and provides a micro coaxial dual-rotor unmanned aerial vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme:
a micro coaxial dual-rotor unmanned aerial vehicle is designed, which comprises a shell, wherein a load mechanism is arranged at the bottom end inside the shell, the loading mechanism comprises a loading cloud platform, the inner side of the loading cloud platform is provided with a rotating seat, the rotating seat is rotatably connected with the loading cloud platform through a connecting shaft, a camera is fixedly arranged on the side wall of the rotating seat, a power mechanism is arranged at the top end of the loading pan-tilt, the power mechanism comprises a second fixing plate which is fixedly connected with the loading cloud deck, the top of the second fixing plate is fixedly provided with a battery, four corners of the second fixing plate are provided with connecting columns, the connecting columns are all fixedly arranged on the second fixing plate, the top of the battery is fixedly provided with a flight control plate, fly the top of control panel and be equipped with drive mechanism, operating device is installed on the top of spliced pole, operating device's top is equipped with rotor mechanism.
Preferably, drive mechanism includes the guide needle board, guide needle board and flying control board fixed connection, the top of guide needle board is equipped with the internal gear, the top of internal gear is equipped with the external gear, external gear and internal gear coaxial coupling, the epitaxy of internal gear is equipped with drive gear, drive gear passes through the connecting axle and is connected with guide needle board rotation, drive gear and internal gear intermeshing.
Preferably, a second mounting hole is formed in the center of the inner gear, a plurality of clamping blocks are fixedly mounted in the second mounting hole, and the outer gear is clamped in the second mounting hole.
Preferably, a sleeve shaft matched with the second mounting hole is fixedly mounted at the center of the outer gear, and the sleeve shaft is clamped in the second mounting hole.
Preferably, the outer gear and the inner gear are respectively provided with a plurality of lightening holes in an extending manner, and the lightening holes are uniformly distributed around the corresponding outer gear and the corresponding inner gear.
Preferably, the rotor wing mechanism comprises an outer rotating shaft, the outer rotating shaft is fixedly connected with an outer gear, an inner rotating shaft is fixedly connected to the inner side of the outer rotating shaft and fixedly connected with an inner gear, a lower wing connecting rod is fixedly mounted on the outer side of the outer rotating shaft, an upper wing connecting rod is fixedly connected to the top end of the inner rotating shaft, and two ends of the lower wing connecting rod and two ends of the upper wing connecting rod are rotatably connected with the rotor wings through hinges.
Preferably, the operating mechanism comprises a first fixing plate, the first fixing plate is fixedly installed on the connecting column, a driving motor is fixedly installed at the top of the first fixing plate, a steering engine is arranged on one side of the driving motor, the steering engine is fixedly installed on the first fixing plate, and an output shaft of the driving motor is fixedly connected with an input end of the steering engine.
Preferably, the output end of the steering engine is connected with a tilting disk, and the tilting disk is installed on the outer rotating shaft.
Preferably, a first mounting hole corresponding to the outer rotating shaft is formed in the center of the tilting disk, a connecting piece is fixedly mounted on the extension of the tilting disk, and the connecting piece is connected with the output end of the steering engine through a connecting rod.
The invention provides a micro coaxial dual-rotor unmanned aerial vehicle, which has the beneficial effects that: the invention has advantages in structure and size, and can make the weight of the whole aircraft relatively concentrated near the gravity center of the aircraft due to compact structure and small longitudinal size, thereby reducing the rotational inertia during the transition of flight state and enhancing the controllability and maneuverability of the aircraft.
Drawings
Fig. 1 is a schematic structural view of a micro coaxial dual-rotor unmanned aerial vehicle according to the present invention;
fig. 2 is a schematic partial structural view of a micro coaxial dual-rotor unmanned aerial vehicle according to the present invention;
fig. 3 is a schematic structural diagram of a power mechanism and a transmission mechanism of a micro coaxial dual-rotor unmanned aerial vehicle according to the present invention;
fig. 4 is a schematic structural diagram of a swashplate of a micro coaxial dual-rotor unmanned aerial vehicle according to the present invention;
fig. 5 is a schematic structural diagram of an internal gear of a micro coaxial dual-rotor unmanned aerial vehicle according to the present invention;
fig. 6 is a schematic structural diagram of an external gear of the micro coaxial dual-rotor unmanned aerial vehicle according to the present invention.
In the figure: the device comprises a shell 1, an operating mechanism 2, a first fixing plate 21, a driving motor 22, a steering engine 23, an inclined disc 24, a first mounting hole 241, a connecting piece 242, a rotor mechanism 3, an outer rotating shaft 31, an inner rotating shaft 32, a lower wing connecting rod 33, an upper wing connecting rod 34, a transmission mechanism 4, a compass plate 41, an inner gear 42, a lightening hole 421, a second mounting hole 422, a clamping block 423, a transmission gear 43, an outer gear 44, a sleeve shaft 441, a power mechanism 5, a second fixing plate 51, a battery 52, a flight control plate 53, a connecting column 54, a load mechanism 6, a loading cloud platform 61, a rotating seat 62 and a camera 63.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-6, a miniature coaxial dual rotor unmanned aerial vehicle, including casing 1, load mechanism 6 is installed to the inside bottom of casing 1, load mechanism 6 is including loading cloud platform 61, the inboard of loading cloud platform 61 is equipped with rotates seat 62, it rotates with loading cloud platform 61 through the connecting axle to rotate seat 62, fixed mounting has camera 63 on the lateral wall of rotating seat 62, the top of loading cloud platform 61 is equipped with power unit 5, power unit 5 includes second fixed plate 51, second fixed plate 51 with load cloud platform 61 fixed connection, the top fixed mounting of second fixed plate 51 has battery 52, the four corners position of second fixed plate 51 all is equipped with spliced pole 54, equal fixed mounting of spliced pole 54 is on second fixed plate 51, the top fixed mounting of battery 52 has flying control board 53.
The top end of the flight control plate 53 is provided with a transmission mechanism 4, the transmission mechanism 4 comprises a compass plate 41, the compass plate 41 is fixedly connected with the flight control plate 53, the top of the compass plate 41 is provided with an internal gear 42, an external gear 44 is arranged above the internal gear 42, the external gear 44 is coaxially connected with the internal gear 42, the external extension of the internal gear 42 is provided with a transmission gear 43, the transmission gear 43 is rotatably connected with the compass plate 41 through a connecting shaft, the transmission gear 43 is mutually meshed with the internal gear 42, the central position of the internal gear 42 is provided with a second mounting hole 422, a plurality of clamping blocks 423 are fixedly mounted in the second mounting hole 422, the external gear 44 is clamped in the second mounting hole 422, the central position of the external gear 44 is fixedly provided with a sleeve shaft 441 matched with the second mounting hole 422, the sleeve shaft 441 is clamped in the second mounting hole 422, the external gear 44 and the external gear 42 are respectively provided with a plurality of lightening holes 421, and the lightening holes 421 surround the corresponding external gear 44, The internal gears 42 are uniformly distributed, and the lightening holes 421 can lighten the load of the aircraft.
The top end of the connecting column 54 is provided with the operating mechanism 2, the top end of the operating mechanism 2 is provided with the rotor wing mechanism 3, the rotor wing mechanism 3 comprises an outer rotating shaft 31, the outer rotating shaft 31 is fixedly connected with an outer gear 44, the inner side of the outer rotating shaft 31 is fixedly connected with an inner rotating shaft 32, the inner rotating shaft 32 is fixedly connected with an inner gear 42, the outer side of the outer rotating shaft 31 is fixedly provided with a lower wing connecting rod 33, the top end of the inner rotating shaft 32 is fixedly connected with an upper wing connecting rod 34, and two ends of the lower wing connecting rod 33 and two ends of the upper wing connecting rod 34 are rotatably connected with rotor wings through hinges; the course is changed by adopting a semi-differential mode through a coaxial rotor aircraft, the course control is realized by changing the attack angle of the lower rotor, and the upper rotor only rotates in the horizontal direction.
The operating mechanism 2 comprises a first fixing plate 21, the first fixing plate 21 is fixedly installed on a connecting column 54, a driving motor 22 is fixedly installed at the top of the first fixing plate 21, a steering engine 23 is arranged on one side of the driving motor 22, the steering engine 23 is fixedly installed on the first fixing plate 21, an output shaft of the driving motor 22 is fixedly connected with an input end of the steering engine 23, an output end of the steering engine 23 is connected with an inclined plate 24, the inclined plate 24 is installed on an outer rotating shaft 31, a first installation hole 241 corresponding to the outer rotating shaft 31 is formed in the center of the inclined plate 24, a connecting piece 242 is fixedly installed on the extension of the inclined plate 24, and the connecting piece 242 is connected with an output end of the steering engine 23 through a connecting rod; the swing arms of the steering engines 23 and the transmission connecting rods are transmitted to the tilting disk 24, the tilting disk 24 can tilt towards a certain fixed direction according to the difference of the swing angles of the two steering engines 23, the connecting rods on the tilting disk 24 drive the pitch-variable cross rods of the rotor wing mechanisms 3 to tilt, periodic tilting of the rotary wing surfaces is caused, periodic pitch variation of the rotor wings is achieved, and therefore control of transverse and lateral flying actions of the aircraft is achieved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. The utility model provides a miniature coaxial two rotor unmanned aerial vehicle, includes casing (1), its characterized in that, load mechanism (6) are installed to the inside bottom of casing (1), load mechanism (6) are including loading cloud platform (61), the inboard of loading cloud platform (61) is equipped with rotates seat (62), it rotates with loading cloud platform (61) to rotate seat (62) through the connecting axle and is connected, fixed mounting has camera (63) on the lateral wall of rotating seat (62), the top of loading cloud platform (61) is equipped with power unit (5), power unit (5) include second fixed plate (51), second fixed plate (51) with load cloud platform (61) fixed connection, the top fixed mounting of second fixed plate (51) has battery (52), the four corners position of second fixed plate (51) all is equipped with spliced pole (54), the equal fixed mounting of spliced pole (54) is on second fixed plate (51), a flight control board (53) is fixedly mounted at the top of the battery (52), a transmission mechanism (4) is arranged at the top end of the flight control board (53), an operating mechanism (2) is mounted at the top end of the connecting column (54), and a rotor wing mechanism (3) is arranged at the top end of the operating mechanism (2);
the transmission mechanism (4) comprises a guide needle plate (41), the guide needle plate (41) is fixedly connected with a flight control plate (53), an internal gear (42) is arranged at the top of the guide needle plate (41), an external gear (44) is arranged above the internal gear (42), the external gear (44) is coaxially connected with the internal gear (42), a transmission gear (43) is arranged on the extension of the internal gear (42), the transmission gear (43) is rotationally connected with the guide needle plate (41) through a connecting shaft, and the transmission gear (43) is meshed with the internal gear (42); the central point of internal gear (42) puts and is equipped with second mounting hole (422), fixed mounting has a plurality of tight pieces of clamp (423) in second mounting hole (422), external gear (44) joint is in second mounting hole (422).
2. The micro coaxial dual-rotor unmanned aerial vehicle as claimed in claim 1, wherein a sleeve shaft (441) matched with the second mounting hole (422) is fixedly installed at the center position of the outer gear (44), and the sleeve shaft (441) is clamped in the second mounting hole (422).
3. The micro coaxial dual-rotor unmanned aerial vehicle as claimed in claim 2, wherein the external gear (44) and the internal gear (42) are extended to form a plurality of lightening holes (421), and the lightening holes (421) are uniformly distributed around the corresponding external gear (44) and internal gear (42).
4. The micro coaxial dual-rotor unmanned aerial vehicle as claimed in claim 3, wherein the rotor mechanism (3) comprises an outer rotating shaft (31), the outer rotating shaft (31) is fixedly connected with an outer gear (44), an inner rotating shaft (32) is fixedly connected to the inner side of the outer rotating shaft (31), the inner rotating shaft (32) is fixedly connected with an inner gear (42), a lower wing connecting rod (33) is fixedly installed at the outer side of the outer rotating shaft (31), an upper wing connecting rod (34) is fixedly connected to the top end of the inner rotating shaft (32), and two ends of the lower wing connecting rod (33) and the upper wing connecting rod (34) are rotatably connected with a rotor through hinges.
5. The micro coaxial dual-rotor unmanned aerial vehicle as claimed in claim 1, wherein the operating mechanism (2) comprises a first fixing plate (21), the first fixing plate (21) is fixedly mounted on a connecting column (54), a driving motor (22) is fixedly mounted at the top of the first fixing plate (21), a steering engine (23) is arranged on one side of the driving motor (22), the steering engine (23) is fixedly mounted on the first fixing plate (21), and an output shaft of the driving motor (22) is fixedly connected with an input end of the steering engine (23).
6. A micro coaxial dual rotor unmanned aerial vehicle according to claim 5, wherein the output of the steering engine (23) is connected with a tilt disk (24), and the tilt disk (24) is mounted on the outer rotating shaft (31).
7. The micro coaxial dual-rotor unmanned aerial vehicle as claimed in claim 6, wherein a first mounting hole (241) corresponding to the outer rotating shaft (31) is formed in the center of the tilting disk (24), a connecting piece (242) is fixedly mounted on the extension of the tilting disk (24), and the connecting piece (242) is connected with the output end of the steering engine (23) through a connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910820533.7A CN110550222B (en) | 2019-08-29 | 2019-08-29 | Miniature coaxial dual-rotor unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910820533.7A CN110550222B (en) | 2019-08-29 | 2019-08-29 | Miniature coaxial dual-rotor unmanned aerial vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN110550222A CN110550222A (en) | 2019-12-10 |
| CN110550222B true CN110550222B (en) | 2021-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910820533.7A Active CN110550222B (en) | 2019-08-29 | 2019-08-29 | Miniature coaxial dual-rotor unmanned aerial vehicle |
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Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4826785B2 (en) * | 2006-11-14 | 2011-11-30 | 国立大学法人神戸大学 | Flight type information processor |
| CN205574258U (en) * | 2016-04-08 | 2016-09-14 | 北京博瑞爱飞科技发展有限公司 | Unmanned aerial vehicle |
| CN207759012U (en) * | 2018-01-17 | 2018-08-24 | 重庆大学 | DCB Specimen is taken photo by plane unmanned plane |
| CN109747817A (en) * | 2019-03-11 | 2019-05-14 | 王继华 | A kind of no empennage vector coaxal helicopter design |
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| CN110550222A (en) | 2019-12-10 |
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