CN209870736U - Fixed wing of VTOL patrols line unmanned aerial vehicle - Google Patents
Fixed wing of VTOL patrols line unmanned aerial vehicle Download PDFInfo
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- CN209870736U CN209870736U CN201920107451.3U CN201920107451U CN209870736U CN 209870736 U CN209870736 U CN 209870736U CN 201920107451 U CN201920107451 U CN 201920107451U CN 209870736 U CN209870736 U CN 209870736U
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Abstract
A vertical take-off and landing fixed wing line patrol unmanned aerial vehicle comprises a rack and a motor, wherein a flight controller and an electronic speed regulator are arranged on the rack; the coaxial reversing gear set comprises an inner shaft and an outer shaft which are coaxial and have opposite output directions, the inner shaft serves as an input shaft and an output shaft, the outer shaft serves as an output shaft, the lower end of the inner shaft is connected with an output shaft of the motor, the upper end of the outer shaft is connected with the lower paddle to drive the lower paddle to rotate, the outer shaft and the lower paddle are provided with coaxial hollow holes, and the upper end of the inner shaft penetrates through the coaxial reversing gear set and the hollow holes and then is connected with the upper paddle to drive the upper paddle to rotate. The utility model provides high power transmission efficiency has reduced unmanned aerial vehicle's work energy consumption, strengthens unmanned aerial vehicle duration and work efficiency simultaneously.
Description
Technical Field
The utility model relates to an unmanned air vehicle technique field, concretely relates to VTOL fixed wing patrols line unmanned aerial vehicle.
Background
The power line is an important component of a power system, and the safe and reliable operation of the power line is directly related to the stable development of national economy. Since the power line is exposed to the natural environment for a long time, the power line is not only subjected to the internal pressure of the power load of the normal mechanical load, but also subjected to external aggressions such as pollution, lightning strike, strong wind, landslide, subsidence and bird damage, and the factors can promote the aging of each element on the line, if the elements are not discovered and eliminated in time, various faults can be developed, and the safety and the stability of a power system are seriously threatened.
The manned helicopter is utilized to carry out power line routing inspection, the influence of geographical environment factors is small, the routing inspection period is short, and the single routing inspection efficiency is high, but because the attendance rate of the manned helicopter is low at present in China, the annual routing inspection efficiency is low, and meanwhile, the safety problems of workers, the expensive helicopter use and maintenance cost, the complex examination and approval procedures before flight and other problems limit the vigorous popularization of the routing inspection mode. Therefore, the electric power department urgently needs a polling mode with low cost, short period, strong maneuverability and high efficiency, and the unmanned aerial vehicle can enter the visual field of people.
At present stage, the unmanned aerial vehicle patrols the line and utilizes helicopter or many rotor unmanned aerial vehicle as the carrier basically, because the characteristic of this type of aircraft, the dead weight must have the lift that the screw produced to offset, and power is higher, and it is faster to consume the energy. Therefore, the cruising time of the line patrol unmanned aerial vehicle is short, and the line patrol efficiency is greatly limited. The fixed-wing aircraft can obtain longer dead time because the wings generate lift force and the motor load is smaller, but the fixed-wing aircraft can not hover because the fixed-wing aircraft needs speed to obtain the lift force, so that the fixed target can not be accurately detected.
To sum up, provide a new unmanned aerial vehicle to the work requirement that the adaptation electric power was patrolled and examined, improve the work efficiency of patrolling line unmanned aerial vehicle, the extension time of cruising line unmanned aerial vehicle has high market value.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome prior art's shortcoming and not enough, provide a VTOL fixed wing patrols line unmanned aerial vehicle, can possess the advantage of helicopter and fixed wing aircraft simultaneously, can carry out the conversion between horizontal flight and vertical hovering to strengthen unmanned aerial vehicle duration and work efficiency greatly.
In order to achieve the above object, the utility model adopts the following technical scheme:
a vertical take-off and landing fixed wing line patrol unmanned aerial vehicle comprises a rack and a motor, wherein a flight controller and an electronic speed regulator are arranged on the rack; the coaxial reversing gear set comprises an inner shaft and an outer shaft which are coaxial and have opposite output directions, the inner shaft serves as an input shaft and an output shaft, the outer shaft serves as an output shaft, the lower end of the inner shaft is connected with an output shaft of the motor, the upper end of the outer shaft is connected with the lower paddle to drive the lower paddle to rotate, the outer shaft and the lower paddle are provided with coaxial hollow holes, and the upper end of the inner shaft penetrates through the coaxial reversing gear set and the hollow holes and then is connected with the upper paddle to drive the upper paddle to rotate.
By last, the utility model discloses a coaxial reversing gear group realizes coaxial and turns to interior axle and outer axle opposite, wherein interior axle drive goes up the paddle and rotates, outer axle drive down the paddle is rotatory, it turns to oppositely with lower paddle to realize going up the paddle, the rotational speed that makes paddle and lower paddle simultaneously is unanimous, the unidirectional rotation deflection moment has been balanced, it provides the "precompression" of air for lower paddle to go up the paddle simultaneously, then the paddle has bigger "advance/discharge air" and "air current density" down, thereby power transmission efficiency has been improved, unmanned aerial vehicle's work energy consumption has been reduced, strengthen unmanned aerial vehicle duration and work efficiency simultaneously.
To sum up, the utility model discloses a paddle turns to on the contrary with lower paddle in the realization, makes simultaneously paddle and the rotational speed of paddle down unanimous, has balanced the unidirectional rotation deflection moment of falling, goes up the paddle simultaneously and provides "precompression" of air for lower paddle, then the paddle has bigger "advance/discharge air volume" and "air current density" down to improve power transmission efficiency, reduced unmanned aerial vehicle's work energy consumption, strengthen unmanned aerial vehicle duration and work efficiency simultaneously.
As an improvement of the utility model, a universal joint coupler is arranged between the upper end of the outer shaft and the lower paddle, the upper end of the outer shaft is connected with the input end of the universal joint coupler, the output end of the universal joint coupler is connected with the lower paddle, the outer shaft, the universal joint coupler and the lower paddle are provided with coaxial hollow holes, the upper end of the inner shaft is connected with the upper paddle after passing through the coaxial reversing gear set and the hollow holes, the output end of the universal joint coupler is provided with a wing plate, the wing plate is provided with a first vertical rod, the frame is provided with a first steering engine with an output shaft longitudinally and horizontally arranged at a position corresponding to the first vertical rod, and the output shaft of the first steering engine is connected with the first; a second vertical rod is arranged on the wing plate, a second steering engine with an output shaft transversely and horizontally arranged is arranged at the position, corresponding to the second vertical rod, of the frame, and the output shaft of the second steering engine is connected with the second vertical rod; the rack is provided with a vertical tail and a horizontal tail.
Furthermore, the wing plate is an annular plate, and the annular plate is fixedly connected to the output end of the universal joint coupler through a sleeve.
As an improvement of the utility model, coaxial reversing gear group includes gear box, coaxial and output turn to opposite interior axle and outer axle, be equipped with down bevel gear in the gear box, well bevel gear and last bevel gear, the vertical coaxial setting of lower bevel gear and last bevel gear, lower bevel gear is connected with last bevel gear transmission through well bevel gear, lower bevel gear, go up bevel gear, the gear box, the universal joint coupling, outer axle and lower paddle are opened and are had coaxial cavity hole, interior epaxial end is connected and the drive is gone up the paddle rotation with last paddle behind the cavity hole, interior axle and lower bevel gear fixed connection and lower bevel gear input torque down simultaneously, go up bevel gear and outer axle lower extreme fixed connection and to outer axle output torque.
As an improvement of the utility model, be equipped with GPS orientation module and camera module in the frame.
Compared with the prior art, the utility model has the advantages of it is following:
the utility model discloses a paddle turns to on the contrary with lower paddle in the realization, makes simultaneously paddle and the rotational speed of paddle unanimous down, has balanced the unidirectional rotation deflection moment that has fallen, goes up the paddle simultaneously and provides "precompression" of air for lower paddle, then the paddle has bigger "advance/discharge air volume" and "air current density" down to improve power transmission efficiency, reduced unmanned aerial vehicle's work energy consumption, strengthen unmanned aerial vehicle duration and work efficiency simultaneously.
Drawings
Fig. 1 is a perspective view of the vertical take-off and landing fixed-wing line patrol unmanned aerial vehicle;
FIG. 2 is another angular view of FIG. 1;
fig. 3 is the utility model discloses VTOL fixed wing patrols line unmanned aerial vehicle's local exploded view.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Examples
Referring to fig. 1 to 3, a vertical take-off and landing fixed wing line patrol unmanned aerial vehicle includes a frame 10 and a motor 20, the frame 10 is provided with a flight controller and an electronic speed regulator, the motor 20 is provided on the frame 10, and the flight controller controls the rotation speed of the motor 20 through the electronic speed regulator so as to control the unmanned aerial vehicle to fly;
the propeller also comprises an upper blade 30, a lower blade 40 and a coaxial counter-rotating gear set 50 arranged on the frame 10, wherein the coaxial counter-rotating gear set 50 comprises an inner shaft 51 and an outer shaft 52 which are coaxial and have opposite output directions, the inner shaft 51 is used as an input shaft and an output shaft at the same time, and the outer shaft 52 is used as an output shaft;
the lower end of the inner shaft 51 is connected with an output shaft of the motor 10, the upper end of the outer shaft 52 is connected with the lower paddle 40 so as to drive the lower paddle 40 to rotate, the outer shaft 52 and the lower paddle 40 are provided with coaxial hollow holes, and the upper end of the inner shaft 51 penetrates through the coaxial reverse gear set 50 and the hollow holes and then is connected with the upper paddle 30 so as to drive the upper paddle 30 to rotate.
By last, the utility model discloses a coaxial reversing gear group realizes coaxial and turns to interior axle and outer axle opposite, wherein interior axle drive goes up the paddle and rotates, outer axle drive down the paddle is rotatory, it turns to oppositely with lower paddle to realize going up the paddle, the rotational speed that makes paddle and lower paddle simultaneously is unanimous, the unidirectional rotation deflection moment has been balanced, it provides the "precompression" of air for lower paddle to go up the paddle simultaneously, then the paddle has bigger "advance/discharge air" and "air current density" down, thereby power transmission efficiency has been improved, unmanned aerial vehicle's work energy consumption has been reduced, strengthen unmanned aerial vehicle duration and work efficiency simultaneously.
To sum up, the utility model discloses a paddle turns to on the contrary with lower paddle in the realization, makes simultaneously paddle and the rotational speed of paddle down unanimous, has balanced the unidirectional rotation deflection moment of falling, goes up the paddle simultaneously and provides "precompression" of air for lower paddle, then the paddle has bigger "advance/discharge air volume" and "air current density" down to improve power transmission efficiency, reduced unmanned aerial vehicle's work energy consumption, strengthen unmanned aerial vehicle duration and work efficiency simultaneously.
In this embodiment, a universal joint coupler 60 is disposed between the upper end of the outer shaft 52 and the lower blade 40, the upper end of the outer shaft 52 is connected to the input end of the universal joint coupler 60, the output end of the universal joint coupler 60 is connected to the lower blade 40, the outer shaft 52, the universal joint coupler 60 and the lower blade 40 are provided with coaxial hollow holes, the upper end of the inner shaft 51 passes through the coaxial reversing gear set 50 and the hollow holes and then is connected to the upper blade 30, the output end of the universal joint coupler 60 is provided with a wing plate 61, the wing plate 61 is provided with a first vertical rod 63, the frame 40 is provided with a first steering gear 64 with an output shaft longitudinally and horizontally arranged at a position corresponding to the first vertical rod 63, the output shaft of the first steering gear 64 is connected with the first vertical rod 63, a second vertical rod 65 is arranged on the wing plate 61, a second steering engine 66 with an output shaft transversely and horizontally arranged is arranged at the position, corresponding to the second vertical rod 65, of the rack 10, and the output shaft of the second steering engine 66 is connected with the second vertical rod 65; the rack 10 is provided with a vertical tail 12 and a horizontal tail 11.
Based on the above description, the utility model discloses a first montant can be driven to first steering wheel and vertical horizontal direction upward movement to make universal joint shaft coupling output take place to incline at vertical horizontal direction, can drive the second montant through the second steering wheel and move in horizontal direction, thereby make universal joint shaft coupling output take place to incline at horizontal direction, universal joint shaft coupling is used for controlling unmanned aerial vehicle's every single move and driftage, perpendicular fin is used for stabilizing unmanned aerial vehicle course, horizontal fin is used for controlling unmanned aerial vehicle's every single move and roll dress. The utility model adopts the mode of vertical take-off and landing, realizes the conversion from hovering to horizontal flight by establishing a mathematical model, controls the deflection quantity of the horizontal tail wing and the wing plate until the unmanned aerial vehicle achieves the expected pitch angle, and in the conversion process, the pitching moment and the lift force help the unmanned aerial vehicle to complete the conversion to the horizontal flight mode; after the vertical take-off and landing unmanned aerial vehicle is converted into the horizontal flight mode, the thrust of the unmanned aerial vehicle is reduced to complete the flight task of the unmanned aerial vehicle, and similarly, the unmanned aerial vehicle can also enter a vertical hovering state from a horizontal state and then is mainly subjected to flight control by wing plates.
In this embodiment, the wing plate 61 is an annular plate that is fixedly attached to the output end of the universal joint coupling 60 by a sleeve 62. The pterygoid lamina establishes the appearance of annular plate, passes through sleeve fixed connection moreover, can improve the equilibrium of universal joint shaft coupling output stress, improves the steering precision of universal joint shaft coupling output.
In the present embodiment, the coaxial reversing gear set 50 includes a gear box 53, an inner shaft 51 and an outer shaft 52 which are coaxial and have opposite output and rotation directions, a lower bevel gear 54, a middle bevel gear 55 and an upper bevel gear 56 are arranged in the gear box 53, the lower bevel gear 54 and the upper bevel gear 56 are vertically and coaxially arranged, the lower bevel gear 54 is in transmission connection with the upper bevel gear 56 through the middle bevel gear 55, the lower bevel gear 54, the upper bevel gear 56, the gear box 53, a universal joint coupler 60, the outer shaft 52 and the lower blade 40 are provided with coaxial hollow holes, the upper end of the inner shaft 51 passes through the hollow holes and then is connected with the upper blade 30 to drive the upper blade 30 to rotate, meanwhile, the inner shaft 51 is fixedly connected with the lower bevel gear 54 to input torque to the lower bevel gear 54, and the upper bevel gear 56 is fixedly connected with the lower end. The lower bevel gear, the middle bevel gear and the upper bevel gear are in transmission connection, so that the lower bevel gear and the upper bevel gear are opposite in rotation direction. It can be easily conceived from the above that the coaxial reverse gear set can also adopt a planetary gear train structure, and the steering of the central gear of the planetary gear train is different from that of the planetary gear carrier, wherein the inner shaft passes through the central gear of the planetary gear train, and the outer shaft is a hollow shaft and is sleeved on the planetary gear carrier, so that the coaxial inner shaft and the outer shaft with opposite output steering can be realized.
In this embodiment, a GPS positioning module and a camera module 13 are disposed on the frame 10, and the GPS positioning module is electrically connected to the flight controller. GPS orientation module is connected with flight controller for obtain unmanned aerial vehicle's real-time position, the camera module is used for the image of shooting.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (5)
1. A vertical take-off and landing fixed wing line patrol unmanned aerial vehicle comprises a rack and a motor, wherein a flight controller and an electronic speed regulator are arranged on the rack; the method is characterized in that: the coaxial reversing gear set comprises an inner shaft and an outer shaft which are coaxial and have opposite output directions, the inner shaft serves as an input shaft and an output shaft, the outer shaft serves as an output shaft, the lower end of the inner shaft is connected with an output shaft of the motor, the upper end of the outer shaft is connected with the lower paddle to drive the lower paddle to rotate, the outer shaft and the lower paddle are provided with coaxial hollow holes, and the upper end of the inner shaft penetrates through the coaxial reversing gear set and the hollow holes and then is connected with the upper paddle to drive the upper paddle to rotate.
2. The VTOL fixed-wing line patrol UAV of claim 1, wherein: a universal joint coupler is arranged between the upper end of the outer shaft and the lower paddle, the upper end of the outer shaft is connected with the input end of the universal joint coupler, the output end of the universal joint coupler is connected with the lower paddle, coaxial hollow holes are formed in the outer shaft, the universal joint coupler and the lower paddle, the upper end of the inner shaft penetrates through the coaxial reversing gear set and the hollow holes and then is connected with the upper paddle, a wing plate is arranged at the output end of the universal joint coupler, a first vertical rod is arranged on the wing plate, a first steering engine with an output shaft longitudinally and horizontally arranged is arranged at a position, corresponding to the first vertical rod, of the frame, and the output shaft of the first steering engine is; a second vertical rod is arranged on the wing plate, a second steering engine with an output shaft transversely and horizontally arranged is arranged at the position, corresponding to the second vertical rod, of the frame, and the output shaft of the second steering engine is connected with the second vertical rod; the rack is provided with a vertical tail and a horizontal tail.
3. The VTOL fixed-wing line patrol UAV of claim 2, wherein: the wing plate is an annular plate, and the annular plate is fixedly connected to the output end of the universal joint coupler through a sleeve.
4. The VTOL fixed-wing line patrol UAV of claim 1, wherein: the coaxial reversing gear set comprises a gear box, an inner shaft and an outer shaft which are coaxial and have opposite output and rotation directions, a lower bevel gear, a middle bevel gear and an upper bevel gear are arranged in the gear box, the lower bevel gear and the upper bevel gear are vertically and coaxially arranged, the lower bevel gear is in transmission connection with the upper bevel gear through the middle bevel gear, the lower bevel gear, the upper bevel gear, the gear box, a universal joint coupler, the outer shaft and the lower blade are provided with coaxial hollow holes, the upper end of the inner shaft penetrates through the hollow holes and then is connected with the upper blade to drive the upper blade to rotate, meanwhile, the inner shaft is fixedly connected with the lower bevel gear to input torque to the lower bevel gear, and the upper bevel gear is fixedly connected with the lower.
5. The VTOL fixed-wing line patrol UAV of claim 1, wherein: and the frame is provided with a GPS positioning module and a camera module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920107451.3U CN209870736U (en) | 2019-01-22 | 2019-01-22 | Fixed wing of VTOL patrols line unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920107451.3U CN209870736U (en) | 2019-01-22 | 2019-01-22 | Fixed wing of VTOL patrols line unmanned aerial vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN209870736U true CN209870736U (en) | 2019-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920107451.3U Expired - Fee Related CN209870736U (en) | 2019-01-22 | 2019-01-22 | Fixed wing of VTOL patrols line unmanned aerial vehicle |
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| Country | Link |
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| CN (1) | CN209870736U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109720560A (en) * | 2019-01-22 | 2019-05-07 | 广东工业大学 | VTOL fixed-wing patrol UAV |
-
2019
- 2019-01-22 CN CN201920107451.3U patent/CN209870736U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109720560A (en) * | 2019-01-22 | 2019-05-07 | 广东工业大学 | VTOL fixed-wing patrol UAV |
| CN109720560B (en) * | 2019-01-22 | 2024-04-30 | 广东工业大学 | Line inspection unmanned aerial vehicle with vertical take-off and landing fixed wings |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191231 |