阅读说明：本技术 一种小型共轴双旋翼无人机 (Small coaxial dual-rotor unmanned aerial vehicle ) 是由 张健 孔孟鑫 张伟 李波浪 喻小鹏 龚双 陈定平 于 2020-05-25 设计创作，主要内容包括：本发明公开一种小型共轴双旋翼无人机,涉及无人机技术领域,包括机体、上旋翼机构、下旋翼机构、电机组模块和舵机模组；机体包括机壳和中心轴,上旋翼机构、下旋翼机构和舵机模组依次安装于中心轴上；电机组模块用于上旋翼机构和下旋翼机构旋转,且上旋翼机构和下旋翼机构的旋转方向相反,用于相互抵消转动惯量；上旋翼机构定轴转动,下旋翼机构与舵机模组联动连接,舵机模组能够驱动改变下旋翼机构的旋转平面,进而使下旋翼机构与上旋翼机构之间产生夹角,实现变距功能。本发明提出的小型共轴双旋翼无人机,通过优异的结构设计,简化小型共轴无人机的结构,可靠性高,增强了共轴双旋翼无人机的续航能力和机动性能,能够满足远程点作业要求。(The invention discloses a small coaxial double-rotor unmanned aerial vehicle, which relates to the technical field of unmanned aerial vehicles and comprises a vehicle body, an upper rotor mechanism, a lower rotor mechanism, a motor set module and a steering engine module; the machine body comprises a shell and a central shaft, and the upper rotor mechanism, the lower rotor mechanism and the steering engine module are sequentially arranged on the central shaft; the motor set module is used for rotating the upper rotor mechanism and the lower rotor mechanism, and the rotating directions of the upper rotor mechanism and the lower rotor mechanism are opposite to each other and are used for offsetting the rotational inertia; the fixed shaft of the upper rotor mechanism rotates, the lower rotor mechanism is in linkage connection with the steering engine module, and the steering engine module can drive and change the rotating plane of the lower rotor mechanism, so that an included angle is formed between the lower rotor mechanism and the upper rotor mechanism, and the variable pitch function is realized. The small coaxial dual-rotor unmanned aerial vehicle provided by the invention has the advantages that the structure of the small coaxial unmanned aerial vehicle is simplified through the excellent structural design, the reliability is high, the cruising ability and the maneuvering performance of the coaxial dual-rotor unmanned aerial vehicle are enhanced, and the remote point operation requirement can be met.)

1. A small coaxial dual-rotor unmanned aerial vehicle is characterized by comprising a vehicle body, an upper rotor mechanism, a lower rotor mechanism, a motor set module and a steering engine module; the machine body comprises a machine shell and a central shaft, and the upper rotor mechanism, the lower rotor mechanism and the steering engine module are sequentially arranged on the central shaft; the motor set module is used for rotating the upper rotor mechanism and the lower rotor mechanism, and the rotating directions of the upper rotor mechanism and the lower rotor mechanism are opposite to each other, so that the rotating inertia is counteracted mutually; the fixed shaft of the upper rotor mechanism rotates, the lower rotor mechanism is in linkage connection with the steering engine module, and the steering engine module can drive and change the rotating plane of the lower rotor mechanism, so that an included angle is formed between the lower rotor mechanism and the upper rotor mechanism, and the function of variable pitch is realized.

2. A small coaxial dual rotor drone according to claim 1, wherein the housing is a bullet-shaped shell comprising a bullet-shaped head, a bullet-shaped middle section, a bullet-shaped lower section and a bullet-shaped base on which the bullet-shaped lower section is mounted.

3. A small coaxial dual rotor drone according to claim 1, wherein the upper rotor mechanism includes an upper rotor mount and an upper rotor blade joint mounted on top of the upper rotor mount, the upper rotor blade joint having a pair of left rotors articulated thereon, the upper rotor mount being connected to the motor block module by a power transmission assembly.

4. A small coaxial dual rotor drone according to claim 3, wherein the lower rotor mechanism comprises a lower rotor mount, a lower rotor frame nested on top of the lower rotor mount, and a pair of right rotors hinged at both ends of the lower rotor frame by lower rotor blade joints, the lower rotor mount being connected to the motor assembly module by a power transmission assembly.

5. The small coaxial dual-rotor unmanned aerial vehicle of claim 4, wherein the motor group module is mounted between the upper rotor mechanism and the lower rotor mechanism and comprises a GPS, a flight control board connected with the GPS signal, a motor frame mounted on the central shaft, and two oppositely mounted motors, wherein the GPS is fixed on the top of the central shaft, and the motors are fixed on the motor frame through a motor cover plate; go up rotor mount pad bottom with rotor gear wheel and lower rotor gear wheel are installed respectively to lower rotor mount pad top, two the output of motor respectively through the pinion with go up the rotor gear wheel with lower rotor gear wheel meshes and connects.

6. The small coaxial dual-rotor unmanned aerial vehicle of claim 4, wherein frame joints are hinged to two sides of the lower rotor frame, the frame joints are connected with the top of a fisheye joint through a first ball joint, the fisheye joint is connected to the central shaft, and the bottom of the fisheye joint is connected with the steering engine module through a second ball joint; the steering engine module drives the second ball joint to sequentially link the fisheye joint and the first ball joint, so that the lower rotor frame is inclined, and the variable-pitch function is realized.

7. A small coaxial dual rotor drone according to claim 6, wherein the fisheye joint comprises an inner bearing housing and an outer bearing housing bearing-connected to the inner bearing housing, the first ball joint being connected to the inner bearing housing and the second ball joint being connected to the outer bearing housing; and the outer bearing sleeve is also provided with a swash plate clamping seat.

8. A small coaxial dual rotor unmanned aerial vehicle according to claim 6, wherein a capture is connected between the lower rotor mount and the fisheye joint; the placeholder is connected to the central shaft.

9. A small coaxial dual rotor unmanned aerial vehicle according to claim 1, wherein the steering engine module comprises a steering engine, a steering engine link, a steering engine mount, and a steering engine arm; the steering engine seat is connected to the central shaft; one end of the steering engine connecting frame is provided with the steering engine, and the other end of the steering engine connecting frame is fixed on the steering engine base; the rudder horn is fastened on the output shaft of the steering engine; the bottom of the steering engine is connected with a steering engine mounting plate, and a chart transmitter is fixed on the steering engine mounting plate; and a plurality of supporting aluminum columns are supported between the rudder engine base and the steering engine mounting plate.

10. A small coaxial dual rotor unmanned aerial vehicle according to claim 2, wherein the bullet-shaped base is a circular base, and a plurality of slots are spaced on the circular base for guiding airflow and providing lift force after launch.

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a small coaxial double-rotor unmanned aerial vehicle.

Background

Nowadays, unmanned aerial vehicle technology develops at a rapid pace, and is widely applied to various industries and fields. The unmanned aerial vehicle has the characteristics of stable flight, portability, large flight range, moderate endurance and the like, and meets the special requirements of various industries. To different application scenes and application fields, many different types have been developed for unmanned aerial vehicles, and the most widely used are multi-rotor unmanned aerial vehicles, fixed-wing unmanned aerial vehicles and coaxial unmanned aerial vehicles.

At present, the miniaturization and the quick response flight of the aircraft are an important direction for the development of the unmanned aerial vehicle. In military and civilian field, ordinary unmanned aerial vehicle is when taking off, and most take off time is long, has defects such as take off speed is slow, continuation of the journey mileage is not enough, can't satisfy unmanned aerial vehicle remote point operation. Therefore, in order to realize remote target point operation, long-time takeoff and lifting are needed, long-distance back-and-forth flight reaches a specified place for a long time, and the endurance mileage needs to be increased, which is not beneficial to the miniaturization of the unmanned aerial vehicle. On this basis, compare in many rotors and fixed wing aircraft, coaxial pair rotor has the folding characteristics of rotor, realizes the miniaturization target more easily.

Disclosure of Invention

The invention aims to provide a small coaxial double-rotor unmanned aerial vehicle, which has the advantages that the structure of the small coaxial unmanned aerial vehicle is simplified through an excellent structural design, the reliability is high, and the requirement of remote point operation can be met.

In order to achieve the purpose, the invention provides the following scheme:

the invention provides a small coaxial double-rotor unmanned aerial vehicle which comprises a body, an upper rotor mechanism, a lower rotor mechanism, a motor set module and a steering engine module, wherein the upper rotor mechanism is arranged on the body; the machine body comprises a machine shell and a central shaft, and the upper rotor mechanism, the lower rotor mechanism and the steering engine module are sequentially arranged on the central shaft; the motor set module is used for rotating the upper rotor mechanism and the lower rotor mechanism, and the rotating directions of the upper rotor mechanism and the lower rotor mechanism are opposite to each other, so that the rotating inertia is counteracted mutually; the fixed shaft of the upper rotor mechanism rotates, the lower rotor mechanism is in linkage connection with the steering engine module, and the steering engine module can drive and change the rotating plane of the lower rotor mechanism, so that an included angle is formed between the lower rotor mechanism and the upper rotor mechanism, and the function of variable pitch is realized.

Optionally, the casing is a bullet-shaped casing, the bullet-shaped casing includes a bullet-shaped head, a bullet-shaped middle part, a bullet-shaped lower part and a bullet-shaped base, and the bullet-shaped lower part is mounted on the bullet-shaped base.

Optionally, the upper rotor mechanism comprises an upper rotor mounting base and an upper rotor blade joint mounted at the top of the upper rotor mounting base, a pair of left rotors are hinged to the upper rotor blade joint, and the upper rotor mounting base is connected with the motor unit module through a power transmission assembly.

Optionally, the lower rotor mechanism includes a lower rotor mounting seat, a lower rotor frame sleeved on the top of the lower rotor mounting seat, and a pair of right rotors, the right rotors are hinged to two ends of the lower rotor frame through lower rotor blade joints, and the lower rotor mounting seat is connected with the motor unit module through a power transmission assembly.

Optionally, the motor group module is installed between the upper rotor mechanism and the lower rotor mechanism, and includes a GPS, a flight control board connected with the GPS signal, a motor frame installed on the central shaft, and two motors installed in opposite directions, where the GPS is fixed to the top of the central shaft, and the motors are fixed to the motor frame through a motor cover plate; go up rotor mount pad bottom with rotor gear wheel and lower rotor gear wheel are installed respectively to lower rotor mount pad top, two the output of motor respectively through the pinion with go up the rotor gear wheel with lower rotor gear wheel meshes and connects.

Optionally, frame joints are hinged to two sides of the lower rotor frame, the frame joints are connected with the top of a fisheye joint through a first ball joint, the fisheye joint is connected to the central shaft, and the bottom of the fisheye joint is connected with the steering engine module through a second ball joint; the steering engine module drives the second ball joint to sequentially link the fisheye joint and the first ball joint, so that the lower rotor frame is inclined, and the variable-pitch function is realized.

Optionally, the fisheye joint includes an inner bearing sleeve and an outer bearing sleeve connected to the inner bearing sleeve, the first ball joint is connected to the inner bearing sleeve, and the second ball joint is connected to the outer bearing sleeve; and the outer bearing sleeve is also provided with a swash plate clamping seat.

Optionally, a position occupying piece is connected between the lower rotor wing mounting seat and the fisheye joint; the placeholder is connected to the central shaft.

Optionally, the steering engine module comprises a steering engine, a steering engine connecting frame, a steering engine base and a steering engine arm; the steering engine seat is connected to the central shaft; one end of the steering engine connecting frame is provided with the steering engine, and the other end of the steering engine connecting frame is fixed on the steering engine base; the rudder horn is fastened on the output shaft of the steering engine; the bottom of the steering engine is connected with a steering engine mounting plate, and a chart transmitter is fixed on the steering engine mounting plate; and a plurality of supporting aluminum columns are supported between the rudder engine base and the steering engine mounting plate.

Optionally, the bullet-shaped base is a circular base, and a plurality of slots are arranged on the circular base at intervals and used for guiding airflow and providing lift force after ejection and emission.

Compared with the prior art, the invention has the following technical effects:

the small coaxial dual-rotor unmanned aerial vehicle provided by the invention has few driving elements, greatly simplifies the structure, has compact structure and small longitudinal size, improves the reliability, and can meet the operation requirement of remote points; the missile can be matched with an unmanned aerial vehicle catapult for use in appearance design, and can be carried for complex terrain operation; simultaneously, the light weight design of optimization has strengthened coaxial two rotor unmanned aerial vehicle's duration and mobility.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

Figure 1 is a front view of a small coaxial dual rotor drone of the present invention;

figure 2 is a side view of a removed portion of the small coaxial twin rotor drone of the present invention;

figure 3 is a front view of the small coaxial twin rotor drone of the present invention with portions removed;

figure 4 is an exploded perspective view of the small coaxial dual rotor drone of the present invention;

figure 5 is an isometric view of a removed portion of the small coaxial twin rotor drone of the present invention;

FIG. 6 is an enlarged partial schematic view at A of FIG. 5;

fig. 7 is a schematic view of the lower rotor profile deployment of the small coaxial dual rotor drone of the present invention;

fig. 8 is a schematic view of the deployment of the upper rotor profile of the small coaxial dual rotor drone of the present invention;

figure 9 is a moment diagram of the small coaxial dual rotor drone of the present invention;

FIG. 10-1 is a schematic view of the vertical motion maneuver of the small coaxial dual rotor drone of the present invention;

fig. 10-2 is a schematic view of the longitudinal motion maneuver of the small coaxial dual rotor drone of the present invention;

fig. 10-3 are schematic diagrams of the lateral motion maneuver of the small coaxial dual rotor drone of the present invention;

10-4 are schematic views of the course motion maneuver of the small coaxial dual rotor drone of the present invention;

wherein the reference numerals are: 101. the steering engine comprises a bullet-shaped head part 102, a bullet-shaped middle part 103, a bullet-shaped base 104, a bullet-shaped lower part 105, a central shaft 110, an upper rotor mechanism 111, a left rotor 112, an upper rotor blade joint 113, an upper rotor mounting seat 114, an upper rotor big gear 115, a flight control plate 120, a motor set module 121, a motor 122, a motor frame 123, a motor cover plate 124, a GPS 125, a pinion gear 126, a frame joint 130, a lower rotor mechanism 131, a lower rotor big gear 132, a lower rotor mounting seat 133, a lower rotor frame 134, a lower rotor blade joint 1351, a first ball joint 1352, a second ball joint 136, an occupation part 137, an inner bearing sleeve 138, an outer bearing sleeve 139, a right rotor 140, a steering engine module 141, a steering engine base 142, a steering engine 143, a steering engine arm 144, a steering engine connecting frame 145, a steering engine mounting plate 146, a supporting aluminum column, 147. fig. 148 swash plate holder 149 battery.

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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.