Master-slave multi-rotor unmanned aerial vehicle

Abstract

The invention relates to the technical field of aircrafts, in particular to a master-slave multi-rotor unmanned aerial vehicle which comprises a control system and a storage battery. The device further comprises a structure assembly. The structural assembly comprises a tetrahedral shell, coaxial reverse dual motors, two main rotors, three branch pipes, three driving mechanisms and three slave rotors. The control system controls operation of the whole, and the storage battery supplies power to the whole. The large-size main rotor is used for replacing a traditional multi-rotor to provide main lifting force, the efficiency can be improved, the energy utilization level can be improved, and meanwhile the loading capacity is higher compared with the multi-rotor; a combined triangle is used as a main structural form, so that the structural stability and reliability under various stress conditions are ensured, and the use is more stable under a complex scene; the flight direction, attitude and stability are controlled by three small-size slave rotors; therefore, the problems that an existing multi-rotor unmanned aerial vehicle is low in energy utilization efficiency and poor in loading capacity are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft technology, in particular to a master-slave multi-rotor unmanned aircraft. BACKGROUND

[0002] Unmanned aerial vehicles, commonly known as drones, are increasingly popular in social life and industrial and agricultural production. The main unmanned aerial vehicle configurations currently include unmanned fixed-wing aircraft and unmanned helicopters, which are similar to manned civil / military aircraft configurations, and multi-rotor unmanned aerial vehicles developed from model aircraft and hybrid-wing unmanned aerial vehicles (eVTOL) combining the advantages of fixed-wing and multi-rotor aircraft. Unmanned fixed-wing aircraft and unmanned helicopters have the same configuration and control method as manned aircraft, and their structures and control systems are relatively complex. Considering the convenience of the control system, most civilian multi-rotor unmanned aerial vehicles are electrically driven, i.e., using batteries to provide energy, electric motors to drive propellers to generate lift, or hybrid forms, i.e., using fuel to provide energy, internal combustion engines to provide primary power generation to supply batteries, and batteries to provide secondary power for electric motors. Electric multi-rotor unmanned aerial vehicles have simple structures and easy-to-use and maintain, and are easy to popularize and promote.

[0003] In the field of civilian unmanned aerial vehicles, multi-rotor unmanned aerial vehicles are widely used in research and development. These configurations are widely used in general scenarios such as agricultural plant protection, mapping, security monitoring, inspection, general logistics, etc. However, the current multi-rotor unmanned aerial vehicles use multi-rotors to provide power, which has low energy utilization efficiency and poor load capacity. SUMMARY

[0004] The present application relates to the field of aircraft technology, in particular to a master-slave multi-rotor unmanned aircraft.

[0005] To achieve the above-mentioned purpose, the present application provides a master-slave multi-rotor unmanned aircraft, which comprises a control system and a battery; further comprising a structural assembly;

[0006] The structural assembly comprises a tetrahedral shell, a coaxial reverse double motor, two main rotors, three branch pipes, three driving mechanisms, and three slave rotors.

[0007] The control system is arranged inside the tetrahedron shell; the battery is arranged inside the tetrahedron shell; the coaxial reverse double motor is fixedly arranged inside the tetrahedron shell; two main rotors are arranged at the output ends of the coaxial reverse double motor respectively, the coaxial reverse double motor is used for driving the two main rotors to rotate, and the rotating directions of the two main rotors are opposite; three branch pipes are fixedly arranged at the side edges of the tetrahedron shell respectively; one driving mechanism is arranged on each branch pipe; one slave rotor is arranged on each driving mechanism; the driving mechanism is used for driving the slave rotor to rotate and adjusting the direction of the slave rotor.

[0008] The structure assembly further comprises three landing gears.

[0009] The three landing gears are fixedly arranged at the bottom of the tetrahedron shell.

[0010] The structure assembly further comprises three rectangular flaps and three first adjusting mechanisms.

[0011] The three rectangular flaps are rotatably arranged at the side edges of the tetrahedron shell respectively; the three first adjusting mechanisms are arranged on the three landing gears respectively and are used for rotating and adjusting the three rectangular flaps.

[0012] The first adjusting mechanism comprises a first steering engine, a rotating rod and a connecting rod.

[0013] The first steering engine is fixedly arranged at one side of the landing gear; the rotating rod is fixedly arranged at the output end of the first steering engine; one end of the connecting rod is rotatably connected with the rotating rod, and the other end of the connecting rod is rotatably connected with the rectangular flap and located at one side of the rectangular flap.

[0014] The structure assembly further comprises six rotating shafts, six polygonal flaps and three second adjusting mechanisms.

[0015] Two rotating shafts are rotatably arranged in each branch pipe; one polygonal flap is fixedly arranged on each rotating shaft; the three second adjusting mechanisms are arranged inside the tetrahedron shell respectively, each second adjusting mechanism is used for driving two rotating shafts in the same branch pipe to rotate, and the rotating directions of the two rotating shafts are opposite, so as to rotate and adjust two polygonal flaps.

[0016] The second adjusting mechanism comprises two first gears, a second steering engine and a second gear.

[0017] Two first gears are fixedly arranged on the two rotating shafts respectively, and the two first gears are in mesh with each other; the second steering engine is fixedly arranged inside the tetrahedron shell; an output end of the second steering engine is fixedly arranged with a second gear; the second gear is in mesh with one of the first gears.

[0018] The driving mechanism comprises a fixed frame, a rotating frame, a third steering engine and a driving motor.

[0019] The fixed frame is fixedly arranged on one side of the branch pipe; the rotating frame is rotatably arranged on one side of the fixed frame; the third steering engine is fixedly arranged in the fixed frame, and an output end of the third steering engine is fixedly connected with the rotating frame; the driving motor is fixedly arranged in the rotating frame, and an output end of the driving motor is fixedly connected with the slave rotor.

[0020] The main-slave multi-rotor unmanned aerial vehicle comprises a coaxial reverse double motor, a tetrahedron shell, a plurality of branch pipes, a plurality of driving mechanisms, a plurality of slave rotors, a plurality of main rotors and a plurality of steering engines. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced.

[0022] Figure 1 Fig. 1 is a structural schematic diagram of a main-slave multi-rotor unmanned aerial vehicle.

[0023] Figure 2 Fig. 2 is a partial enlarged view of detail A. Figure 1 Detail A is a partial enlarged view of detail A.

[0024] Figure 3 is another perspective view of a master-slave multi-rotor unmanned aerial vehicle of the present application.

[0025] Figure 4 is Figure 3 is a partial enlarged view of detail B.

[0026] Figure 5 is a sectional view of a master-slave multi-rotor unmanned aerial vehicle of the present application.

[0027] Figure 6 is another sectional view of a master-slave multi-rotor unmanned aerial vehicle of the present application.

[0028] Figure 7 is Figure 6 is a partial enlarged view of detail C.

[0029] 1 - control system, 2 - battery, 3 - tetrahedral shell, 4 - coaxial counter-rotating double motor, 5 - main rotor, 6 - branch pipe, 7 - driving mechanism, 8 - slave rotor, 9 - landing gear, 10 - rectangular flap, 11 - first adjusting mechanism, 12 - rotating shaft, 13 - polygonal flap, 14 - second adjusting mechanism, 71 - fixed frame, 72 - rotating frame, 73 - third steering engine, 74 - driving motor, 91 - support rod, 92 - damper, 93 - support rod, 94 - spring, 111 - first steering engine, 112 - rotating rod, 113 - connecting rod, 141 - first gear, 142 - second steering engine, 143 - second gear. DETAILED DESCRIPTION

[0030] Please refer to Figures 1-7 , wherein, Figure 1 is a perspective view of a master-slave multi-rotor unmanned aerial vehicle of the present application. Figure 2 is Figure 1 is a partial enlarged view of detail A. Figure 3 is another perspective view of a master-slave multi-rotor unmanned aerial vehicle of the present application. Figure 4 is Figure 3 is a partial enlarged view of detail B. Figure 5 is a sectional view of a master-slave multi-rotor unmanned aerial vehicle of the present application. Figure 6 is another sectional view of a master-slave multi-rotor unmanned aerial vehicle of the present application. Figure 7 is Figure 6 is a partial enlarged view of detail C.

[0031] The application provides a master-slave multi-rotor unmanned aerial vehicle, which comprises a control system 1 and a battery 2, and further comprises a structural assembly; the structural assembly comprises a tetrahedral shell 3, a coaxial reverse double motor 4, two main rotors 5, three branch pipes 6, three driving mechanisms 7 and three slave rotors 8; the structural assembly further comprises three landing gears 9; the structural assembly further comprises three rectangular flaps 10 and three first adjusting mechanisms 11; the first adjusting mechanism 11 comprises a first steering engine 111, a rotating rod 112 and a connecting rod 113; the structural assembly further comprises six rotating shafts 12, six polygonal flaps 13 and three second adjusting mechanisms 14; the second adjusting mechanism 14 comprises two first gears 141, a second steering engine 142 and a second gear 143; the driving mechanism 7 comprises a fixed frame 71, a rotating frame 72, a third steering engine 73 and a driving motor 74; the landing gear 9 comprises a supporting rod 91, a damper 92, a supporting rod 93 and a spring 94; the problems of low energy utilization efficiency and poor load capacity of the existing multi-rotor unmanned aerial vehicle are solved through the foregoing scheme.

[0032] For the specific embodiment, the control system 1 is used for controlling the operation of the whole master-slave multi-rotor unmanned aerial vehicle, the control system 1 collects height, inclination, acceleration, displacement and other data through corresponding sensors, and outputs control instructions in real time, so as to realize the flight control purpose. The battery 2 is used for power supply of the whole master-slave multi-rotor unmanned aerial vehicle.

[0033] Further, the control system 1 is arranged inside the tetrahedral shell 3; the battery 2 is arranged inside the tetrahedral shell 3; the coaxial reverse double motor 4 is fixedly arranged inside the tetrahedral shell 3; two main rotors 5 are arranged at the output ends of the coaxial reverse double motor 4 respectively, the coaxial reverse double motor 4 is used for driving the two main rotors 5 to rotate, and the rotating directions of the two main rotors 5 are opposite; three branch pipes 6 are fixedly arranged at the side edges of the tetrahedral shell 3 respectively; one driving mechanism 7 is arranged on each branch pipe 6; one slave rotor 8 is arranged on each driving mechanism 7; the driving mechanism 7 is used for driving the slave rotor 8 to rotate and adjusting the direction of the slave rotor 8.

[0034] In the embodiment, the coaxial reverse dual-motor 4 is used to drive two main rotors 5 to rotate in opposite directions, and the two main rotors 5 provide the overall ascending, descending and hovering force; the tetrahedral shell 3 is generally a tetrahedron, and the overall shape looks like four triangles combined, the bottom is generally an equilateral triangle, and each vertex of the equilateral triangle is provided with a branch pipe 6, the branch pipe 6 is installed with a slave rotor 8 through the driving mechanism 7, and the flight of the whole is controlled by controlling the vector sum generated by the rotation of the three slave rotors 8; when the vector sum is large, the whole body is tilted to form a helicopter variable pitch effect, and the unmanned aerial vehicle is mainly driven by the two main rotors 5 to move horizontally faster; when the vector sum is small, the whole body is driven to move horizontally slowly; when the vector sum is zero, the two main rotors 5 act simultaneously to keep the height of the whole body stable; the large main rotors 5 replace the traditional multi-rotor to provide the main lifting force, which can improve the efficiency and energy utilization level, and the load capacity is stronger than that of the multi-rotor; the combined triangle is used as the main structural form to ensure the structural stability and reliability under various stress conditions, and the use is more stable in complex scenes; three small slave rotors 8 are used to control the flight direction, attitude and stability; thereby solving the problems of low energy utilization efficiency and poor load capacity of the existing multi-rotor unmanned aerial vehicle.

[0035] Further, three landing gears 9 are fixedly arranged at the bottom of the tetrahedral shell 3.

[0036] In the embodiment, the three landing gears 9 support the whole body to ensure the stability of take-off and landing.

[0037] Further, three rectangular flaps 10 are rotatably arranged on the sides of the tetrahedral shell 3; three first adjusting mechanisms 11 are arranged on the three landing gears 9 respectively, and are used to rotate and adjust the three rectangular flaps 10.

[0038] In the embodiment, the three rectangular flaps 10 are rotatably arranged on the three sides of the equilateral triangle at the bottom of the tetrahedral shell 3, the first adjusting mechanism 11 is used to rotate and adjust the rectangular flaps 10, and the rotation angle range of the rectangular flaps 10 is 0-90 degrees; when taking off or landing, the rectangular flaps 10 are controlled to be in a vertical state to reduce the resistance; during the flight attitude control process, the angle of the rectangular flaps 10 is adjusted to assist the attitude control to save energy consumption; once the main rotors 5 fail, the body loses the ability, the rectangular flaps 10 are controlled to be in a horizontal state, the whole body is maintained in a gliding attitude to slow down, the emergency response time is increased, and the safety risk is reduced.

[0039] Further, the first steering engine 111 is fixedly arranged on one side of the landing gear 9; the rotating rod 112 is fixedly arranged on the output end of the first steering engine 111; one end of the connecting rod 113 is rotatably connected with the rotating rod 112, and the other end of the connecting rod 113 is rotatably connected with the rectangular flap 10 on one side of the rectangular flap 10.

[0040] In the embodiment, the first steering engine 111 drives the rotating rod 112 to rotate, and the rotating rod 112 drives the rectangular flap 10 to rotate through the connecting rod 113.

[0041] Further, two rotating shafts 12 are rotatably arranged in each of the branch pipes 6; one polygonal flap 13 is fixedly arranged on each of the rotating shafts 12; three second adjusting mechanisms 14 are arranged inside the tetrahedral shell 3, and each of the second adjusting mechanisms 14 is used to drive two rotating shafts 12 in the same branch pipe 6 to rotate in opposite directions, so as to adjust two polygonal flaps 13 to rotate.

[0042] In the embodiment, two rotating shafts 12 are rotatably arranged in the branch pipe 6, and a notch is formed in the branch pipe 6, and the protruding part of the side edge of the polygonal flap 13 passes through the notch and is fixedly connected with the rotating shaft 12, so that the rotating shaft 12 can drive the polygonal flap 13 to rotate outside the branch pipe 6, and the second adjusting mechanism 14 is used to drive two rotating shafts 12 to synchronously rotate, so that two polygonal flaps 13 synchronously rotate in opposite directions. The angle range of the polygonal flap 13 is 0-90 degrees, and the polygonal flap 13 is the same as the rectangular flap 10. When taking off or landing, the polygonal flap 13 is controlled to be in a vertical state to reduce the resistance; once the main rotor 5 fails and the aircraft loses the ability, the polygonal flap 13 is controlled to be in a horizontal state to maintain the overall gliding attitude to reduce the speed, increase the emergency response time, and reduce the safety risk; the polygonal flap 13 is used to fill the blank between two adjacent rectangular flaps 10, and when three rectangular flaps 10 and six polygonal flaps 13 are all in a horizontal state, a complete skirt is formed on the side edge of the tetrahedral shell 3.

[0043] Further, two first gears 141 are fixedly arranged on two rotating shafts 12 respectively, and the two first gears 141 are engaged with each other; the second steering engine 142 is fixedly arranged inside the tetrahedral shell 3; a second gear 143 is fixedly arranged on the output end of the second steering engine 142; and the second gear 143 is engaged with one of the first gears 141.

[0044] In the embodiment, the second gear 143 can mesh with any one of the two first gears 141, the second steering engine 142 drives the second gear 143 to rotate, the second gear 143 drives one of the first gears 141 to rotate, and the other first gear 141 rotates following the first gear 141, the rotating directions of the two first gears 141 are opposite, and the rotating directions of the two polygonal wings 13 are opposite.

[0045] Further, the fixed frame 71 is fixedly arranged on one side of the branch pipe 6, the rotating frame 72 is rotatably arranged on one side of the fixed frame 71, the third steering engine 73 is fixedly arranged in the fixed frame 71, the output end of the third steering engine 73 is fixedly connected with the rotating frame 72, and the driving motor 74 is fixedly arranged in the rotating frame 72, the output end of the driving motor 74 is fixedly connected with the rotor 8.

[0046] In the embodiment, the fixed frame 71 is fixed on the end of the branch pipe 6, the third steering engine 73 is fixedly arranged on the fixed frame 71, and the rotating frame 72 is rotatably arranged on the fixed frame 71, the rotating frame 72 is used for fixedly arranging the driving motor 74, the driving motor 74 is used for driving the rotor 8 to rotate, and the third steering engine 73 can drive the rotating frame 72 to rotate, so that the direction of the rotor 8 can be adjusted.

[0047] Further, the supporting rod 91 is fixedly connected with the tetrahedral shell 3 and the first steering engine 111, and is located at the bottom of the tetrahedral shell 3, the damper 92 is fixedly arranged at the bottom of the supporting rod 91, the supporting rod 93 is fixedly arranged at the bottom of the damper 92, and the spring 94 is sleeved on the damper 92.

[0048] In the embodiment, the supporting rod 91 is used for arranging the first steering engine 111, the damper 92 is arranged at the bottom, the supporting rod 93 is used for increasing the contact area with the ground, when the whole body lands, the damper 92 and the spring 94 cooperate to reduce the impact, so that the landing is stable, and the impact is reduced, when the whole body falls in a gliding attitude due to a fault, the damper 92 and the spring 94 also cooperate to reduce the impact, and damage is reduced as much as possible.

[0049] The master-slave multi-rotor unmanned aerial vehicle described in the embodiment, the control system 1 is used for controlling the operation of the whole master-slave multi-rotor unmanned aerial vehicle, the control system 1 collects height, inclination, acceleration, displacement and other data through corresponding sensors, and outputs control instructions in real time, so as to realize the flight control purpose. The storage battery 2 is used for power supply of the whole master-slave multi-rotor unmanned aerial vehicle. The coaxial counter-rotating double motor 4 is used for driving two main rotors 5 to rotate in opposite directions, and the two main rotors 5 provide the whole with lifting, descending and hovering force; the tetrahedral shell 3 is roughly a tetrahedron, and the overall appearance looks like four triangles combined, the bottom is roughly an equilateral triangle, and each vertex of the equilateral triangle is provided with a branch pipe 6, the branch pipe 6 is provided with a slave rotor 8 through the driving mechanism 7, and the flight of the whole is controlled by controlling the vector sum generated by the rotation of the three slave rotors 8; when the vector sum is large, the whole generates an inclination to form a helicopter variable pitch effect, mainly through the driving of the two main rotors 5 to realize the fast horizontal movement of the unmanned aerial vehicle; when the vector sum is small, the whole is driven to move slowly horizontally; when the vector sum is zero, the two main rotors 5 act simultaneously to keep the height of the whole stable attitude; the large size main rotor 5 replaces the traditional multi-rotor to provide the main lifting force, which can improve the efficiency and energy utilization level, and compared with the multi-rotor, the load capacity is stronger; the combined triangle is used as the main structural form to ensure the structural stability and reliability under various stress conditions, and the use is more stable in complex scenes; three small size slave rotors 8 are used to control the flight direction, attitude and stability; so as to solve the problems of low energy utilization efficiency and poor load capacity of the existing multi-rotor unmanned aerial vehicle. Compared with the existing multi-rotor unmanned aerial vehicle, the application has high energy utilization efficiency, can greatly improve the operation endurance time and increase the task load, and is suitable for heavy lifting, complex weather conditions, severe working environment and other complex scenes.

[0050] The above only discloses one or more preferred embodiments of the application, and cannot limit the scope of the application. Those skilled in the art can understand that the whole or part of the above-mentioned embodiments can be implemented, and equivalent changes made according to the claims of the application still belong to the scope covered by the application.

Claims

1. A master-slave multi-rotor unmanned aerial vehicle, comprising a control system and a battery; characterized in that: Also included are structural components; The structural assembly includes a tetrahedron shell, coaxial counter-rotating dual motors, two main rotors, three branch pipes, three drive mechanisms and three slave rotors; The control system is disposed inside the tetrahedron housing; the battery is disposed inside the tetrahedron housing; the coaxial inverse dual motor is fixedly disposed inside the tetrahedron housing; the two main rotors are respectively disposed at the output ends of the coaxial inverse dual motors, the coaxial inverse dual motors being used to drive the two main rotors to rotate, and the two main rotors rotate in opposite directions; the three branch pipes are respectively fixedly disposed on the sides of the tetrahedron housing; A driving mechanism is provided on each branch pipe; a slave rotor is provided on each driving mechanism; the driving mechanism is used to drive the slave rotor to rotate and adjust the direction of the slave rotor.

2. A master-slave multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: The structural assembly also includes three landing gears; The three landing gears are respectively fixedly arranged on the bottom of the tetrahedron shell.

3. A master-slave multi-rotor unmanned aerial vehicle according to claim 2, characterized in that: The structural assembly further includes three rectangular flaps and three first adjustment mechanisms; The three rectangular flaps are rotatably arranged on the sides of the tetrahedron shell respectively; the three first adjustment mechanisms are respectively arranged on the three landing gears, and are used for rotating and adjusting the three rectangular flaps.

4. A master-slave multi-rotor unmanned aerial vehicle according to claim 3, characterized in that: The first adjustment mechanism includes a first steering gear, a rotating rod and a connecting rod; The first servo is fixedly arranged on one side of the landing gear; the rotating rod is fixedly arranged on the output end of the first servo; one end of the connecting rod is rotatably connected to the rotating rod, and the other end of the connecting rod is rotatably connected to the rectangular flap and is located on one side of the rectangular flap.

5. The master-slave multi-rotor unmanned aerial vehicle according to claim 4, characterized in that: The structural assembly further includes six rotating shafts, six polygonal flaps and three second adjustment mechanisms; Two rotating shafts are rotatably arranged in each branch pipe; one polygonal flap is fixedly arranged on each rotating shaft; three second adjustment mechanisms are respectively arranged inside the tetrahedral shell, and each second adjustment mechanism is used to drive the two rotating shafts in the same branch pipe to rotate, and the two rotating shafts rotate in opposite directions, thereby rotating and adjusting the two polygonal flaps.

6. The master-slave multi-rotor unmanned aerial vehicle according to claim 5, characterized in that: The second adjustment mechanism includes two first gears, a second steering gear and a second gear; The two first gears are respectively fixed on the two rotating shafts, and the two first gears are meshed with each other; the second servo is fixed inside the tetrahedron shell; a second gear is fixed at the output end of the second servo; and the second gear is meshed with one of the first gears.

7. The master-slave multi-rotor unmanned aerial vehicle according to claim 6, characterized in that: The driving mechanism includes a fixed frame, a rotating frame, a third steering gear and a driving motor; The fixed frame is fixedly arranged on one side of the branch pipe; the rotating frame is rotatably arranged on one side of the fixed frame; the third servo is fixedly arranged in the fixed frame, and the output end of the third servo is fixedly connected to the rotating frame; the drive motor is fixedly arranged in the rotating frame, and the output end of the drive motor is fixedly connected to the slave rotor.

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