CN117284522A

CN117284522A - Coaxial anti-oar unmanned aerial vehicle structure towards transmission

Info

Publication number: CN117284522A
Application number: CN202311169712.1A
Authority: CN
Inventors: 闵丞志; 李俊卓; 狄长安; 彭澎; 纪如桐
Original assignee: Nanjing University of Science and Technology
Current assignee: Nanjing University of Science and Technology
Priority date: 2023-09-12
Filing date: 2023-09-12
Publication date: 2023-12-26

Abstract

The invention discloses a coaxial anti-propeller unmanned aerial vehicle structure facing to launching and lifting and flying in a projectile form, which comprises a frame, a base, a driving assembly, a steering mechanism, an ejecting mechanism, a rotor wing and a balance rod, wherein the rotor wing is arranged on the base; the base is positioned at the bottom and fixedly connected with the bullet-shaped shell and used for fixedly fixing the electronic device; the ejecting mechanism is connected with the base, and is connected with the ejectable part and acts to drive the ejectable part to move; the ejectable component comprises a frame, a driving component and a steering mechanism; the rack is used for bearing the driving assembly and the steering mechanism; the driving assembly is used for providing power to enable the upper layer rotor wing and the lower layer rotor wing to rotate to provide lifting force; the steering mechanism is used for adjusting the blade pitch. The coaxial reverse-paddle unmanned aerial vehicle structure provided by the invention can be compressed into a bullet-shaped structure for launching and lifting and expanding at a target position, so that the risks of detection, interception and striking are reduced.

Description

Coaxial anti-oar unmanned aerial vehicle structure towards transmission

Technical Field

The invention relates to the field of coaxial anti-propeller aircraft structures, in particular to a transmitting-oriented coaxial unmanned aerial vehicle structure without anti-propeller.

Background

At present, due to the small size, the micro unmanned aerial vehicle is widely applied to air monitoring, detection, remote target identification, communication relay and the like. The present invention relates to a rotary-wing micro-unmanned aerial vehicle, and more particularly, to a rotary-wing micro-unmanned aerial vehicle capable of hovering and flying in a space, which is widely used in complex urban environments and close-range observations, but is limited in flying speed, and is easily detected, intercepted and hit during the lift-off and flying processes, so that the rotary-wing micro-unmanned aerial vehicle is required to be compressed into an elastic structure, and can quickly reach the vicinity of a designated place through launching, and is not easily detected, intercepted and hit.

Most unmanned aerial vehicles capable of being converted into bullet-shaped structures are fixed wing structures, do not have hovering observation capacity, and rotor unmanned aerial vehicles with hovering capacity are mainly multi-rotor and helicopter structures. Helicopter structure is difficult to be reformed and compressed into a bullet-shaped structure due to longer fuselage and tail rotor, and in the multi-rotor structure, the rotor plate plane and the ground cannot have an excessive included angle, so that the multi-rotor structure is difficult to keep balance in the unfolding process.

Disclosure of Invention

The invention aims to overcome the defects of the existing products, and provides a coaxial anti-propeller unmanned aerial vehicle structure facing to launch and flying in a projectile form, wherein an unmanned aerial vehicle using the structure can launch in a launching mode, fly in the projectile form and rapidly reach a target position and then be unfolded, and meanwhile, the risks of being detected, intercepted and hit are reduced.

The purpose of the invention is realized in the following way: the coaxial unmanned plane structure without the counter-propeller for emission comprises a rotor wing, a balance rod, a frame, a base, a driving assembly, a steering mechanism and an ejecting mechanism; the base is positioned at the bottom and fixedly connected with the bullet-shaped shell and used for fixedly fixing the electronic device; the ejecting mechanism is connected with the base, and is connected with the ejectable part and acts to drive the ejectable part to move; the ejectable component comprises a frame, a driving component and a steering mechanism; the rack is used for bearing the driving assembly and the steering mechanism; the driving assembly is used for providing power to enable the upper layer rotor wing and the lower layer rotor wing to rotate to provide lifting force; the steering mechanism is used for adjusting the blade pitch.

Further, the frame is divided into an upper frame layer and a lower frame layer, and the upper layer and the lower layer are fixedly connected through a support column.

Further, the drive assembly includes an upper rotor drive mechanism and a lower rotor drive mechanism; the upper rotor driving mechanism is used for driving the upper rotor to rotate; the lower rotor driving mechanism is used for driving the lower rotor to rotate.

Further, the rotor includes an upper rotor and a lower rotor.

Further, the upper rotor driving mechanism comprises a first motor, a first gear, a second gear, an inner shaft and an upper rotor hub; the first motor is fixedly connected with the upper layer of the frame, the output end of the first motor is fixedly connected with the first gear, the first gear is meshed with the second gear, and the second gear is fixedly connected with the inner shaft; the upper rotor hub is fixedly connected with the inner shaft, and is hinged with the upper layer rotor through a hinge piece.

Further, the lower rotor driving mechanism comprises a second motor, a third gear, a fourth gear, an external gear shaft and a lower rotor hub; the second motor is fixedly connected with the upper layer of the frame, the output end of the second motor is fixedly connected with a third gear, the third gear is meshed with a fourth gear, the fourth gear is fixedly connected with an outer shaft, the outer shaft is sleeved outside an inner shaft, the outer shaft is fixedly connected with a lower rotor hub, and the lower rotor is hinged with the lower rotor hub through a hinge piece.

Further, the steering mechanism includes: the steering engine rack is connected and fixed above the upper layer of the rack, the first steering engine, the second steering engine and the third steering engine are arranged on the steering engine rack, and the tilting disk is arranged on the outer shaft; the output ends of the three steering engines are respectively fixedly connected with steering engine arms, the steering engine arms are in ball hinge joint with ball head connecting rods, the ball head connecting rods are likewise connected with three corners of a stator at the lower part of the tilting disk, and a rotor at the upper part of the tilting disk is also connected with a hub at the lower layer through the ball head connecting rods.

Further, the ejection mechanism comprises a connecting piece arranged below the frame, two guide rails and springs arranged above the base, and a fourth steering engine arranged above the base.

Further, a fixing ring is arranged at the lowest part of the inner shaft, and a boss is arranged at the lowest part of the outer shaft.

Further, the guide rail terminates in a boss for preventing the ejectable portion from being completely separated from the base portion.

Compared with the prior art, the invention has the beneficial effects that:

by adopting the technical scheme, the unmanned aerial vehicle structure can be folded into a bullet shape through the ejection mechanism, the rotor folding hinge, the driving mechanism and the like, is lifted off in a launching mode, flies in a projectile mode to quickly reach a target position and then is unfolded, and meanwhile, the risk of being detected, intercepted and hit is reduced.

Drawings

FIG. 1 is an overall appearance of the present invention;

FIG. 2 is a simplified view of the folded interior of the present invention;

FIG. 3 is an expanded attitude view of the present invention;

FIG. 4 is an internal block diagram of the present invention;

FIG. 5 is a block diagram of a frame of the present invention;

FIG. 6 is a block diagram of a foldable blade of the present invention;

FIG. 7 is a block diagram of a drive assembly of the present invention;

FIG. 8 is a block diagram of a gear assembly of the present invention;

FIG. 9 is a block diagram of the steering mechanism of the present invention;

fig. 10 is a structural view of the eject mechanism of the present invention.

Reference numerals: 1-a frame; 11-upper layer of the frame; 12-the lower layer of the frame; 13-struts; 21-a base; 22-bullet-shaped casing 22; 3-a driving mechanism; 31-a first motor; 32-a second motor; 33-first gear 1; 34-third gear 2; 35-a second gear 3; 36-fourth gear 4; 37-inner shaft, 38-outer shaft; 39-upper rotor hub; 310-lower rotor hub; 311-deep groove ball bearing I; 312-deep groove ball bearings II; 313-angular contact bearing one; 314-angular contact bearing two; 315-upper rotor; 316-lower rotor; 317-a fixing ring; 4-steering mechanism; 41-rudder mount; 42-a first steering engine; 43-a second steering engine; 44-a third steering engine; 45-tilting tray; 46-ball head connecting rod; 47-rudder arms; 48-lower rotor blade clip; 5-an ejector mechanism; 51-connecting piece; 52-a fourth steering engine; 53-a guide rail; 54-rudder arms; 55-springs; 6-a hinge mechanism; 61-a first hinge plate; 62-a second hinge plate; 63-a baffle; 7-balance bar.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

Referring to fig. 4, the present embodiment provides a coaxial reverse propeller unmanned aerial vehicle structure facing launch lift-off, which comprises a frame 1, a base 21, a driving assembly 3, a steering mechanism 4, an ejector mechanism 5 and a rotor 6. The base 21 is located at the bottom and fixedly connected with the bullet-shaped shell 22, the ejection mechanism 5 is connected with the upper portion of the base 21, and an ejectable portion is arranged above the ejection mechanism 5 and comprises a frame 1, a driving assembly 3 and a steering mechanism 4. Wherein the base 21 is used for fixing electronic devices such as an fly control chip, an electronic speed regulator, a camera, a battery and the like, and the frame 1 is used for bearing the driving assembly 3 and the steering mechanism 4; the driving assembly 3 is used for providing power to enable the upper layer rotor wing and the lower layer rotor wing to rotate to provide lifting force; the steering mechanism 4 is used to adjust the blade pitch.

Referring to fig. 2 and 4, the base 21 is an integral body and is fixedly connected with the shell 22, the upper end of the base is connected with the frame 1 through the ejection mechanism 5, and the middle and lower parts of the base are used for bearing electronic devices such as a battery, a flight control chip, an electronic speed regulator, a camera module and the like.

Referring to fig. 5, the frame 1 is divided into two layers, namely an upper frame layer 11 and a lower frame layer 12, which are fixedly connected by a strut 13. The frame 1 is used for carrying a drive assembly 3 and a steering mechanism 4.

Referring to fig. 6, the rotors, including upper rotor 315 and lower rotor 316, are both foldable rotors. In upper rotor 315, the rotor root has a pair of hinge mechanisms, first hinge tab 61 is attached to the upper rotor root and second hinge tab 62 is attached to upper rotor hub 39, through which folding of the rotor is accomplished. Lower rotor 316 has a pair of hinge mechanisms at the rotor root that are hinged to lower hub 310 by hinges. Initially, the wings are folded over and integrally built into the flip housing 22, and when the flip portion is flipped out, the drive assembly operates, and the upper rotor 315 and the lower rotor 316 are rotated and extended.

Referring to fig. 7, drive assembly 3 includes an upper rotor drive mechanism and a lower rotor drive mechanism.

Wherein the upper rotor drive mechanism comprises a first motor 31, a first gear 33, a second gear 35, an inner shaft 37, an upper rotor hub 39; the main body of the first motor 31 is fixed on the upper layer 11 of the stand, the output end of the first motor passes through a through hole arranged on the upper layer 11 of the stand downwards and is fixedly connected with a gear 33, the gear 33 is meshed with a gear 35, and the gear 35 and the inner shaft 37 are connected through bolts and nuts to realize axial and circumferential fixation; when the gear 35 rotates to drive the inner shaft 37 to rotate, the upper rotor 315 and the balance bar 7 are fixed at the top end of the inner shaft 37 through the upper hub 39. When the first motor 31 drives the gear 33 to rotate, the upper rotor 315 is driven to rotate by the first motor 31 under the transmission of the gear 33, the gear 35 and the inner shaft 37.

The lower rotor driving mechanism includes: second motor 32, third gear 34, fourth gear 36, outer gear shaft 36, lower rotor hub 310; the main body of the second motor 32 is fixed on the upper layer 11 of the stand, the output end of the second motor 32 downwards passes through a through hole formed in the upper layer 11 of the stand and is fixedly connected with the third gear 34, the third gear 34 is meshed with the fourth gear 36, the fourth gear 36 and the outer shaft 38 are circumferentially fixed through the end face of a D-shaped shaft and a set screw, the lower rotor 316 is fixed on the outer shaft 38 through the lower rotor hub 310, and when the second motor 32 drives the gear 34 to rotate, the second motor 32 drives the lower rotor 316 to rotate under the transmission of the gear 34, the gear 36 and the outer shaft 38.

Referring to fig. 8, the inner shaft 37 is radially restrained by a deep groove ball bearing 311 provided on the top of the outer shaft 38 and an angular contact bearing 313 fixed to the lower layer 12 of the frame, and a fixing ring 317 is provided at the lowermost portion of the inner shaft 37 and fixed to the bottom of the inner shaft 37, and the angular contact bearing 313 fixed to the lower layer 12 of the frame is provided above the fixing ring 317, so that axial restraint of the inner shaft 37 is achieved by the fixing ring 317.

Second, the outer shaft 38 is radially fixed by a second deep groove ball bearing 312 arranged above the rudder frame 41 and a second angular contact bearing 314 fixed on the upper layer 11 of the frame, and a boss is arranged at the lowest part of the outer shaft 38, and through the boss, the outer shaft 38 realizes axial limit.

Referring to fig. 9, the steering mechanism 4 includes: a steering gear frame 41 fixed above the upper deck 11 of the frame, a first steering gear 42, a second steering gear 43 and a third steering gear 44 mounted on the steering gear frame 41, and a tilting disk 45 mounted on the outer shaft 38. The output ends of the three steering engines are respectively and fixedly connected with a steering engine arm 47, the steering engine arm 47 is in ball hinge joint with a ball head connecting rod 46, the ball head connecting rod 46 is likewise connected with three corners of a stator at the lower part of the tilting disk 45, and a rotor at the upper part of the tilting disk 45 is also connected with a lower-layer paddle hub 310 through the ball head connecting rod 46.

When the steering engine is controlled to drive the steering engine arm 47 to rotate, the ball connecting rod 46 is driven to move, and the upper end of the ball connecting rod 46 drives the tilting disk 45 to lift at an angle. The height of three angles of the tilting disk 45 can be changed by adjusting the rotation angles of the three steering gears, and the bearing is arranged in the lower rotor blade clamp 48, so that when the height of the tilting disk is changed, the ball head connecting rod 49 is driven to lift together, the upper end of the ball head connecting rod drives the blade clamp 48 to rotate, and the rotation of the blade clamp drives the rotor blade 316 to deflect, so that the change of the pitch of the rotor blade 316 is realized, and the steering gears control the pitch of the blades of the rotor blade 316.

Referring to fig. 10, the eject mechanism 5 includes: a connecting piece 51 arranged below the frame 1, two guide rails 53 and springs 55 above the base 21, and a fourth steering engine 52 arranged above the base 21. Initially, the bullet of bullet type structure is placed downwards, and the manual rotor of folding up, then will pop out the part and push down, and spring 55 is compressed along guide rail 53, presses to the bottom, and when pressing to the bottom, the rotatory certain angle of steering wheel 52 of control, blocks connecting piece 51, just has realized the connection locking of pop-up mechanism 5 and frame 1 at this moment. When the fourth steering engine 52 is controlled to make the steering engine arm contact with the connecting piece 51 and break, the frame 1 drives the whole part capable of being launched to pop up to the tail end of the guide rail 53 along the guide rail 53 under the action of the elastic force of the spring 55, and the tail end of the guide rail 53 is provided with a boss for preventing the part capable of being launched from being thoroughly separated from the base 21.

Referring to fig. 6, the balance bar 7 is a bar-shaped body with weights at both ends fixed above the upper rotor 315. The upper layer rotor 315 rotates along with the rotation direction of the rotor in the rotation process of the rotor, becomes a single-degree-of-freedom gyroscope relative to the machine body, and has the characteristic of unique dead axle and precession of the gyroscope, namely the characteristic that the space orientation of the rotation shaft is kept unchanged and the set movement direction of the rotation center is unchanged in the process of moving the rotation center. According to this characteristic, it can prevent the aircraft from moving instantaneously and greatly, thus playing a role in resisting wind.

The coaxial anti-oar unmanned aerial vehicle structure to transmission, at the beginning need fold the rotor, make the central axis parallel of rotor and bullet type structure, then will pop out the part and push down downwards, compress spring 55 in the pop out mechanism 5, after can pop out the part and descend to certain height, control steering wheel 52 of pop out mechanism 5 will realize the locking of frame 1 and base 21, and the whole structure just is compressed at this moment, takes in bullet type shell, forms a bullet type device towards transmission. The compressed bullet-shaped device can be launched to the vicinity of the designated position in the air through the launching device. After the bullet-shaped device passes through the highest point of the trajectory, the ejector mechanism 5 is controlled to push the ejectable part from the inside of the bullet-shaped device to the tail end at proper time, so that the rotor structure is exposed outside the bullet-shaped device, and simultaneously, the motor is started, the driving assembly 3 works, and the rotor is driven to start rotating. Under the effect of centrifugal force and air resistance, the folded rotor wing can be unfolded gradually, under the effect of lift force and air resistance generated by rotation of the rotor wing, the speed of the whole bullet-shaped device can be reduced gradually, and finally, the device hovers in the air stably, and controls the steering mechanism 4, so that the control of the flying heading of the whole device is realized.

Finally, it is noted that the above-mentioned preferred embodiments are only intended to illustrate rather than limit the invention, and that, although the invention has been described in detail by means of the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention as defined by the appended claims.

It should be noted that: the terms "upper", "lower", "left", "right", "inner", "outer" and the like in the present invention are merely used to describe the present invention with reference to the drawings, and are not limiting terms.

Claims

1. The coaxial unmanned aerial vehicle structure without the counter-paddle facing the launching comprises a rotor wing (6) and a balance rod (7), and is characterized by further comprising a frame (1), a base (2), a driving assembly (3), a steering mechanism (4) and an ejecting mechanism (5); the base (21) is positioned at the bottom and fixedly connected with the bullet-shaped shell (22) and is used for fixedly fixing the electronic device; the ejecting mechanism (5) is connected with the base (21), the ejecting mechanism (5) is connected with the ejectable part, and the ejecting mechanism (5) acts to drive the ejectable part to move; the ejectable component comprises a frame (1), a driving component (3) and a steering mechanism (4); the frame (1) is used for bearing the driving assembly (3) and the steering mechanism (4); the driving assembly (3) is used for providing power to enable the upper layer rotor wing and the lower layer rotor wing to rotate to provide lifting force; the steering mechanism (4) is used for adjusting the blade pitch.

2. The launch-oriented coaxial non-counterpitch unmanned aerial vehicle structure of claim 1, wherein the frame (1) is divided into a frame upper layer (11) and a frame lower layer (12), the upper and lower layers being fixedly connected by struts (13).

3. The launch-oriented coaxial non-countered unmanned aerial vehicle structure of claim 1, wherein the drive assembly (3) comprises an upper rotor drive mechanism and a lower rotor drive mechanism; the upper rotor driving mechanism is used for driving the upper rotor (315) to rotate; the lower rotor driving mechanism is used for driving the lower rotor (316) to rotate.

4. A launch-oriented coaxial non-countered unmanned structure according to claim 3, wherein the rotors comprise an upper layer rotor (315) and a lower layer rotor (316).

5. The launch-oriented coaxial non-counterpitch unmanned structure of claim 4, wherein the upper rotor drive mechanism comprises a first motor (31), a first gear (33), a second gear (35), an inner shaft (37), an upper rotor hub (39); the first motor (31) is fixedly connected with the upper layer (11) of the frame, the output end of the first motor is fixedly connected with the first gear (33), the first gear (33) is meshed with the second gear (35), and the second gear (35) is fixedly connected with the inner shaft (37); the upper rotor hub (39) is fixedly connected with the inner shaft (37), and the upper rotor hub (39) is hinged with the upper rotor (315) through a hinge piece.

6. The launch-oriented coaxial non-counterpitch unmanned structure of claim 5, wherein the lower rotor drive mechanism comprises a second motor (32), a third gear (34), a fourth gear (36), an external gear shaft (36), a lower rotor hub (310); the second motor (3) is fixedly connected with the upper layer (11) of the frame, the output end of the second motor is fixedly connected with the third gear (34), the third gear (34) is meshed with the fourth gear (36), the fourth gear (36) is fixedly connected with the outer shaft (38), the outer shaft (38) is sleeved outside the inner shaft (37), the outer shaft (38) is fixedly connected with the lower rotor hub (310), and the lower rotor (316) is hinged with the lower rotor hub (310) through a hinge piece.

7. The launch-oriented coaxial non-countered unmanned aerial vehicle structure according to claim 1, wherein the steering mechanism (4) comprises: a steering engine frame (41) connected and fixed above the upper layer (11) of the frame, a first steering engine (42), a second steering engine (43) and a third steering engine (44) arranged on the steering engine frame (41), and an inclined disc (45) arranged on the outer shaft (38); the output ends of the three steering engines are respectively and fixedly connected with a steering engine arm (47), the steering engine arm (47) is in ball hinge joint with a ball head connecting rod (46), the ball head connecting rod (46) is likewise connected with three corners of a stator at the lower part of the tilting disk (45), and a rotor at the upper part of the tilting disk (45) is also connected with a lower-layer paddle hub (310) through the ball head connecting rod (46).

8. The launch-oriented coaxial non-countered unmanned aerial vehicle structure according to claim 1, wherein the ejector mechanism (5) comprises a connection (51) arranged below the frame (1), two guide rails (53) and springs (55) above the base (21), and a fourth steering engine (52) arranged above the base (21).

9. The launch-oriented coaxial non-counterpitch unmanned aerial vehicle structure of claim 6, wherein the inner shaft (37) is provided with a retaining ring at the lowermost portion and the outer shaft (38) is provided with a boss at the lowermost portion.

10. The launch-facing coaxial non-counterpaddle unmanned aerial vehicle structure of claim 8, wherein the rail (53) terminates in a boss for preventing the ejector section from being completely separated from the base (21) section.