Tail rudder operated rotor flying robot

Abstract

The invention relates the tail rudder rotor flight robot, comprising body, rotor, rotor driver, three tail rudders, tail rudder controller, three tail rudder drivers, attitude sensor and power source. The rotor driver is directly fixed on body, and the output of it is connected with rotor. The tail rudder controller and three tail rudder drivers is installed under body, the tail rudder controller auto produces the tail rudder driver order according to the information of attitude sensor and the order of operation crews, on the output end of three tail rudder drivers there are tail rudder, the attitude sensor is installed in the center of body, and the power source is installed on the two sides of body. The invention has the advantages of high automation, simple structure, and light additional weight. The tail rudder can utilize the downwash air flow coursed by rotary-vane turning, replacing the auto inclinator, and realizing the new pattern flight mode without tail paddle.

Description

technical field [0001] The invention relates to a device in the technical field of robots, in particular to a rudder-controlled rotor flying robot. Background technique [0002] Most of the existing rotary-wing flying robots adopt the helicopter structure, which has a very adverse effect on the miniaturization of its own size. The rotor control mechanism of a manned helicopter is very complicated, especially its core component - the structure of the automatic tilter is even more complicated. For general unmanned helicopters, due to the limited load capacity and relatively simple structure, certain simplifications have been made on the rotor control mechanism. The load capacity of the micro-miniature flying robot is very small, and even needs to be measured in grams. It is still difficult to fully achieve the design goal only by further simplifying it and simply shrinking the rotor control mechanism. When designing the control mechanism of a micro-rotor flying robot, the co...

AI Technical Summary

Problems solved by technology

This method has a simple structure and light additional weight, which solves the shortcomings caused by the use of automatic tilters. However, there is a problem that the actual control effect depends on the characteristics of the motor. The mechanical constants and electrical constants of each motor are not the same, resulting in The hysteresis effect of the method is inconsistent, and there are uncertain factors in the flight control based on this method

At the same time, the elastomer structure used in this method also exacerbates this uncertainty

In addition, although the existing four-rotor evenly distributed two-two inverted structure flying robot has also got rid of the automatic tilter, it has the disadvantages of miniaturization and high energy consumption.

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