A six-rotor unmanned aerial vehicle capable of achieving full-attitude flight

Abstract

The present invention discloses a six-rotor unmanned aerial vehicle capable of achieving full-attitude flight, which includes a main rotor group, a ring-frame fuselage, auxiliary rotors and a landing gear. The main rotor group includes a main rotor shaft and two main rotors with opposite rotation directions. The two motors corresponding to the two main rotors are respectively installed on the main rotor shaft in an axis-to-axis form. The ring-frame fuselage includes three ring frames of different sizes. The middle ring frame two is connected to the innermost ring frame one and the outermost ring frame three through two pairs of mutually perpendicular round holes respectively. Another pair of vertically arranged round holes on the ring frame one are used for fixedly installing both ends of the main rotor shaft. A plurality of platforms are evenly distributed on the outer circumference of the ring frame three. Arms for installing the auxiliary rotors are arranged on the outside of the platforms. The landing gear is installed at the bottom of the platforms. This six-rotor unmanned aerial vehicle can maintain any attitude angle and keep flying while ensuring maneuverability, can adapt to various special environments, achieve body concealment, and improve the concealment of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a six-rotor unmanned aerial vehicle capable of achieving full-attitude flight. Background Art

[0002] Unmanned aerial vehicles applied to low-altitude penetration have high requirements for maneuverability and concealment. When encountering sudden situations or being in complex environments, they not only need to be able to quickly move to avoid obstacles and advance, but also need to change their postures according to environmental conditions and maintain the fuselage hidden in the environment at the corresponding postures. At present, the improvement of unmanned aerial vehicles mainly focuses on the improvement of maneuverability, and less attention is paid to attitude control.

[0003] Traditional unmanned aerial vehicles can be divided into single-rotor unmanned helicopters with tail rotors and multi-rotor unmanned aerial vehicles. The single-rotor unmanned helicopter with a tail rotor changes the lift direction by tilting the rotor disk through cyclic pitch change, but the degree of change in the lift direction is limited. The rotation axes of the rotors of the multi-rotor unmanned aerial vehicle are fixed at a certain angle with the fuselage and remain unchanged, and the lift directions of the rotors always remain unchanged. When in a large attitude angle flight state, the unmanned aerial vehicle often uses maneuvering actions to return the fuselage to a small attitude state to maintain the flight state. If in a large attitude angle state for a long time, the rotors cannot provide enough lift to maintain the current flight state, and the airframe is prone to losing control. Due to the inability to maintain a large attitude angle flight state for a long time, when dealing with complex external environments, traditional unmanned aerial vehicles cannot maintain in certain specific postures to hide the airframe behind a bunker, and the concealment is poor. Summary of the Invention

[0004] The purpose of the present invention is to provide a six-rotor unmanned aerial vehicle capable of achieving full-attitude flight, so as to solve the problems existing in the above-mentioned prior art. While ensuring maneuverability, it can maintain at any attitude angle and keep the flight state, can adapt to various special environments, realize the concealment of the fuselage, and improve the concealment of the unmanned aerial vehicle.

[0005] To achieve the above purpose, the present invention provides the following solution: The present invention provides a six-rotor unmanned aerial vehicle capable of achieving full-attitude flight, including a main rotor group, a ring-frame fuselage, auxiliary rotors, and a landing gear.

[0006] The main rotor group includes a main rotor shaft and two main rotors with the same specifications and opposite rotation directions. The two motors corresponding to the two main rotors are respectively installed on the main rotor shaft in an axis-to-axis form; the ring-frame fuselage includes three ring frames of different sizes. The middle ring frame two is connected to the innermost ring frame one and the outermost ring frame three respectively through two pairs of mutually perpendicular round holes; the other pair of vertically arranged round holes on the ring frame one are respectively fixedly connected to the two ends of the main rotor shaft; a plurality of platforms are evenly distributed on the outer circumference of the ring frame three, and arms for installing the auxiliary rotors are arranged on the outer sides of the platforms; the landing gear is installed at the bottom of the platforms.

[0007] In one embodiment, four circular holes are circumferentially and evenly distributed on the first ring frame. One pair of symmetrically arranged circular holes are connected to both ends of the main rotor shaft through slip rings, and the other pair of symmetrically arranged circular holes are connected to a pair of symmetrically arranged circular holes on the second ring frame through slip rings.

[0008] In one embodiment, the other pair of symmetrically arranged circular holes on the second ring frame are connected to a pair of symmetrically arranged circular holes on the third ring frame through slip rings.

[0009] In one embodiment, the auxiliary rotor includes blades, an engine, and a circular mounting plate. The radius of the blades is smaller than that of the main rotor. The blades are mounted on the engine, the engine is fixedly connected to the circular mounting plate, and the circular mounting plate is connected to the arm through a bearing provided inside.

[0010] In one embodiment, the number of the platforms is four. Each of the four auxiliary rotors is equipped with a set of battery and a control panel. The batteries and control panels for driving the respective auxiliary rotors are respectively mounted on the respective platforms.

[0011] In one embodiment, the four landing gears are fixed to the bottom of each platform through bolts and nuts.

[0012] In one embodiment, the battery and control panel of the main rotor group are mounted on the surface of the third ring frame together with the auxiliary rotors.

[0013] The present invention has achieved the following beneficial technical effects compared with the prior art:

[0014] 1. By using a balance ring frame structure and taking the axis of the innermost ring frame as the rotor rotation axis, the direction of the rotation axis is always kept unchanged, and the fuselage can maintain the flight state at any attitude angle.

[0015] 2. By using slip rings as the connectors between the rotation axis and the ring frames and between the ring frames, for connecting the motor on the main rotor shaft and the battery arranged on the outer fuselage after assembly, the wiring is not affected by the rotation of the ring frames.

[0016] The present invention provides a six-rotor unmanned aerial vehicle capable of achieving full-attitude flight, which makes up for the deficiencies in the mobility and stealth of unmanned aerial vehicles applied to low-altitude penetration. While ensuring mobility, it eliminates the limitations of unmanned aerial vehicles in controlling the attitude, solves the problems that unmanned aerial vehicles cannot maintain the flight state with a large attitude angle for a long time and cannot remain hidden in a complex environment in any attitude, and broadens the application prospects of unmanned aerial vehicles in low-altitude penetration. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic diagram of the overall structure of a six-rotor unmanned aerial vehicle;

[0019] Figure 2 It is a structural composition diagram of the main rotor group;

[0020] Figure 3 It is a structural composition diagram of the ring-frame type fuselage;

[0021] Figure 4 It is a structural composition diagram of the auxiliary rotor;

[0022] Figure 5 It is a schematic diagram of the installation position of the landing gear;

[0023] Among them, 1 is the main rotor group; 11 is the main rotor shaft; 12 is the main rotor; 13 is the motor;

[0024] 2 is the ring-frame type fuselage; 21 is the first ring frame; 22 is the second ring frame; 23 is the third ring frame; 24 is the slip ring;

[0025] 3 is the auxiliary rotor; 31 is the blade; 32 is the engine; 33 is the circular mounting plate; 34 is the bearing;

[0026] 4 is the landing gear. Detailed implementation manners

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0028] The purpose of the present invention is to provide a six-rotor unmanned aerial vehicle capable of achieving full-attitude flight, which makes up for the deficiencies in the mobility and concealment of unmanned aerial vehicles applied to low-altitude penetration. While ensuring mobility, it eliminates the limitations of unmanned aerial vehicles in controlling the attitude, solves the problems that unmanned aerial vehicles cannot maintain a large attitude angle flight state for a long time and cannot maintain any attitude to hide in complex environments, and broadens the application prospects of unmanned aerial vehicles in low-altitude penetration.

[0029] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the drawings and specific implementation manners.

[0030] As Figures 1 - 5 shown, the present invention provides a six-rotor unmanned aerial vehicle capable of achieving full-attitude flight, including a main rotor group 1, a ring-frame fuselage 2, auxiliary rotors 3, and landing gears 4.

[0031] As Figure 2 shown, the main rotor group 1 adopts a coaxial double-rotor structure and uses two main rotors 12 with the same specifications and opposite rotation directions. The two motors 13 corresponding to the two main rotors 12 are respectively installed on the main rotor shaft 11 in an axis-to-axis form.

[0032] As Figure 3 shown, the ring-frame fuselage 2 is composed of three ring frames of different sizes. The innermost and smallest ring frame one 21 is connected to the main rotor shaft 11 through a slip ring 24 in a pair of symmetrically arranged circular holes. The middle ring frame two 22 is connected to the inner and outer ring frames respectively through two pairs of mutually perpendicular circular holes. Four platforms for arranging the batteries and control panels of the auxiliary rotors 3 are designed on the outermost and largest ring frame three 23, and arms for installing the auxiliary rotors 3 are arranged on the outer sides of the platforms. Corresponding circular holes are provided in the three ring frames, and the three ring frames are connected by slip rings 24 in the corresponding circular holes, forming a balanced ring frame shape with mutually perpendicular pivot axes.

[0033] As Figure 4 shown, the auxiliary rotors 3 adopt blades 31 with a radius slightly smaller than that of the main rotors 12, and are directly installed on the engines 32. The engines 32 are fixedly connected to a circular mounting plate 33. The circular mounting plate 33 is connected to the arm of the outermost ring frame three 23 through a bearing 34 provided inside. Each of the four auxiliary rotors 3 is equipped with a set of battery and control panel and is installed on the platform of the ring frame three 23. The battery and control panel of the main rotor group 1 are respectively installed on the other side of the ring frame platform. The four landing gears 4 are fixed on the same side by bolts and nuts.

[0034] The balance ring frame is a set of three balance ring frames composed of pivot axes perpendicular to each other, which can keep the axis of rotation of the object on the innermost ring frame unchanged. Therefore, the direction of the main rotor shaft 11 of the main rotor group 1 provided on the innermost ring frame 21 can remain unchanged. The main rotor group 1 generates lift through motor drive, enabling the UAV to take off and maintain a flight state. The four auxiliary rotors 3 on the outside of the fuselage are respectively controlled by their respective control panels to adjust the angles of the rotation axes of the auxiliary rotors 3 so that they turn respectively. The lift forces in different directions generated by the four auxiliary rotors 3 adjust the fuselage to the required attitude. The lift forces generated by the four auxiliary rotors 3 can change the angles between the three ring frames and the initial state, enabling the fuselage to be in any attitude angle. At the same time, the auxiliary rotors 3 provide lateral forces for the flight of the fuselage, enabling the fuselage to fly in any direction and along the required trajectory. During the flight of the UAV, at any attitude angle, the main rotor shaft 11 can always remain in the vertical direction unchanged and always provide upward lift for the fuselage. Since the UAV is always subject to upward lift, at any attitude angle, the fuselage can maintain a normal flight state.

[0035] In this embodiment, considering the lift efficiency provided by the main rotor group 1 inside the ring frame, the battery and control panel of the main rotor group 1 are installed on the surface of the third ring frame 23 together with the auxiliary rotors 3. To facilitate the wiring of the battery and control panel, a slip ring 24 is selected as the connecting component between the ring frame and the main rotor shaft 11 and between the ring frames. The slip ring 24 leads out wires through the stator and rotor parts respectively to connect the power supply and terminal electrical appliances of the fixed structure and the rotating structure, and rotates accordingly, capable of connecting and transporting energy and signals for the rotating body. After connecting the wires into the ring frame through the slip ring 24, they are routed along the edge of the ring frame until they are connected to the main rotor motor.

[0036] When a traditional unmanned aerial vehicle (UAV) is in a large attitude angle flight state, the deflection angle of the main rotor shaft in the vertical direction is too large, and it cannot provide enough lift to maintain the flight state of the vehicle at a large attitude angle. When the vehicle encounters a narrow gap, theoretically, the fuselage can be adjusted to a "vertical" attitude and then fly forward through the gap. However, since the rotor cannot provide enough lift in this state, flight cannot be achieved. Since the UAV of the present invention adopts a balance gimbal structure, at any attitude angle, the main rotor shaft 11 that provides lift always maintains a constant direction, so the lift direction always remains unchanged, and sufficient lift can be provided for the fuselage to maintain the flight state. During flight, the four auxiliary rotors 3 whose rotor shafts can each turn can provide a lateral force for the fuselage to change the flight attitude and adjust the fuselage to any required attitude. Since the fuselage is always subjected to a lift force with a constant direction, the aircraft body can continue to fly in any attitude angle flight state. When encountering a complex flight environment, such as a narrow gap or a steep slope, the fuselage can be adjusted to a suitable flight attitude to fly over the obstacle. Since the aircraft has strong maneuverability, it can adjust its attitude and route in a timely manner in the face of emergencies; and because it can maintain various flight attitude states, the aircraft can adjust its attitude and hide under various shelters. Therefore, it has great application prospects in the field of low-altitude penetration.

[0037] It should be noted that for those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention, and any reference signs in the claims should not be regarded as limiting the claims involved.

[0038] Specific examples are used in the present invention to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A six-rotor unmanned aerial vehicle capable of achieving full-attitude flight, characterized in that: It includes a main rotor group, a gimbal-type fuselage, auxiliary rotors, and landing gears. The main rotor group includes a main rotor shaft and two main rotors with the same specifications and opposite rotation directions. Two motors corresponding to the two main rotors are respectively installed on the main rotor shaft in an axis-to-axis form; the gimbal-type fuselage includes three gimbals of different sizes. The middle gimbal two is connected to the innermost gimbal one and the outermost gimbal three respectively through two pairs of mutually perpendicular round holes; the two ends of the main rotor shaft are respectively fixedly connected to another pair of vertically arranged round holes on the gimbal one; a plurality of platforms are evenly distributed on the outer circumference of the gimbal three, and arms for installing the auxiliary rotors are arranged on the outside of the platforms; the landing gears are installed at the bottom of the platforms. Four round holes are evenly distributed in the circumferential direction of the gimbal one. One pair of symmetrically arranged round holes is connected to the two ends of the main rotor shaft through slip rings, and another pair of symmetrically arranged round holes is connected to a pair of symmetrically arranged round holes on the gimbal two through slip rings; another pair of symmetrically arranged round holes on the gimbal two is connected to a pair of symmetrically arranged round holes on the gimbal three through slip rings. The number of the platforms is four. Each of the four auxiliary rotors is equipped with a set of battery and control panel. The batteries and control panels for driving the respective auxiliary rotors are respectively installed on the respective platforms.

2. The six-rotor unmanned aerial vehicle capable of achieving full-attitude flight according to claim 1, wherein: The auxiliary rotor includes a blade, an engine, and a circular mounting plate. The radius of the blade is smaller than that of the main rotor. The blade is installed on the engine, the engine is fixedly connected to the circular mounting plate, and the circular mounting plate is connected to the arm through a bearing arranged inside.

3. The six-rotor unmanned aerial vehicle capable of achieving full-attitude flight according to claim 1, wherein: The four landing gears are fixed to the bottom of each platform through bolts and nuts.

4. The six-rotor unmanned aerial vehicle capable of achieving full-attitude flight according to claim 1, characterized in that: The battery and control panel of the main rotor group are installed on the surface of the gimbal three together with the auxiliary rotors.

Images