Working method of the anti-crash rotor guide device of tandem twin-rotor UAV

Abstract

The present invention provides a working method of a tandem type double-rotor UAV anti-crash rotor rail device. When the signal collected by the sensor device is abnormal, the rotor structure fault at the abnormal collection point is judged; the rotor rail system is started, the rotor base self-locking device on the side where the fault occurs is closed, and the rotor is moved along the horizontal rail to the vicinity of the engine through the rail; the rail electromagnetic reversing switch is started, and the rotor is moved downward along the vertical rail to the lower edge of the main beam; the rotor self-locking device on one side of the normal flight state is closed, and it is moved to the vicinity of the engine through the horizontal rail, and the middle self-locking device is opened. The present invention can not only be applied to the anti-crash of UAV rotor faults, but also can be used in severe weather, such as typhoons and other environments that are extremely unfavorable to flight, by adjusting the rotor position to change the force on the body, so as to achieve balance.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicle protection devices, and in particular to a working method of a tandem type double-rotor unmanned aerial vehicle crash prevention rotor guide device. Background Art

[0002] The tandem twin-rotor unmanned helicopter has a rotor tower at the front and rear of the fuselage, and two rotors are installed on the two towers respectively. The two rotors are exactly the same, but rotate in opposite directions, and their reaction torques can balance each other. The outstanding advantage of this type of helicopter structure is that the longitudinal center of gravity range is large, so the fuselage can be designed to be relatively large. It is more suitable for medium and large helicopters.

[0003] When a tandem twin-rotor drone fails, the unbalanced force will cause the drone to lose balance and crash. The traditional method is to use a parachute, but in low-altitude flight, the parachute has little effect on the drone's descent, causing the drone to suffer significant damage when it lands. Summary of the invention

[0004] In order to solve the problems of the prior art, the present invention provides a working method for a tandem twin-rotor UAV crash prevention rotor guide device, which can not only be used to prevent the UAV from crashing due to rotor failure, but also can achieve balance by adjusting the rotor position to change the force on the fuselage in severe weather conditions such as typhoons that are extremely unfavorable to flight.

[0005] The invention provides a tandem type double-rotor UAV crash prevention rotor rail device, comprising a main beam, a rotor structure, a rotor rail device, a self-locking device, and a sensor device.

[0006] The rotor guide rail device comprises a horizontal guide rail and a vertical guide rail arranged on the inner wall of the main beam, and a guide rail electromagnetic direction-changing switch is arranged between the horizontal guide rail and the vertical guide rail.

[0007] The rotor structure is distributed at the front and rear ends of the main beam through a rotor guide rail device. The rotor structure includes a rotor base and a reducer fixed on the rotor base. The reducer is connected to the rotor through a rotating shaft. An engine is fixed to the middle of the main beam, and the engine is respectively connected to the reducers at the front and rear ends of the main beam through a retractable universal shaft; the rotor base is installed on the rotor guide rail device, moves horizontally or vertically along the rotor guide rail device, and is locked by a self-locking device.

[0008] Further improvement, the sensing device includes a laser measurement system and a rotor speed magnetic measurement sensor, and the sensing device is connected to a rotor speed signal processor. The laser measurement system includes a small helium-neon laser and an E312 digital frequency meter, the digital frequency meter is fixed on the top of the rotor, at 45 degrees to the rotation axis, and the helium-neon laser is installed on the main beam, and its angle corresponds to the laser. The rotor speed magnetic measurement sensor includes two magnetic coils, which are respectively installed on two reducer housings.

[0009] Further improvement, the rotor rail and the ball bearings installed on the rotor base are made of high-strength titanium alloy material

[0010] Further improvement, the rotor speed signal processor is installed inside the body

[0011] As a further improvement, the rotor guide rail direction changing switch is an electromagnetic switch, and the separation and engagement are controlled by the flight control system.

[0012] As a further improvement, the rotor speed magnetic measurement sensor needs to rely on the sound wheel in the reducer to work.

[0013] A working method of a tandem type dual-rotor UAV crash prevention rotor rail device comprises the following steps:

[0014] 1) When the signal collected by the sensor device is abnormal, the rotor structure fault at the abnormal collection point is determined;

[0015] 2) Start the rotor rail system, close the self-locking device of the rotor base on the side where the fault occurs, and move the rotor along the horizontal rail to the vicinity of the engine through the rail;

[0016] 3) Start the electromagnetic direction-changing switch of the guide rail to move the rotor downward along the vertical guide rail to the lower edge of the main beam;

[0017] 4) In normal flight conditions, the rotor self-locking device on one side is closed, moved to the vicinity of the engine through the horizontal guide rail, and the middle self-locking device is opened.

[0018] The beneficial effects of the present invention are:

[0019] 1. The rotor rail system can protect the safety of the fuselage to the greatest extent. This system can not only be used to prevent the crash of the drone rotor failure, but also can change the force on the fuselage by adjusting the rotor position in severe weather conditions such as typhoons, which are extremely unfavorable to flight, so as to achieve balance.

[0020] 2. When the rotor structure is concentrated, it is staggered up and down to prevent interference caused by the two rotors being concentrated in the middle of the fuselage. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 An overall view of the main structure of the tandem twin rotor

[0023] Figure 2 Overall view of the rotor rail crash prevention system activated in case of rotor failure

[0024] Figure 3 Schematic diagram of electromagnetic direction-changing switch for guide rails

[0025] In the figure, 1-main beam, 2-self-locking device, 3-reducer, 4-rotating shaft, 5-engine, 6-E312 digital frequency meter, 7-small helium-neon laser, 8-retractable universal shaft, 9-guide rail, 10-rotor base, 11-guide rail electromagnetic change-of-direction switch. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] The present invention provides a tandem type double-rotor UAV anti-crash rotor rail device, such as Figure 1 As shown, it includes a main beam 1, a rotor structure, a rotor guide device, a self-locking device 2, and a sensor device.

[0028] The rotor guide rail device is a guide rail 9 arranged on the inner wall of the main beam, including a horizontal guide rail and a vertical guide rail, and a guide rail electromagnetic reversing switch 11 is arranged between the horizontal guide rail and the vertical guide rail.

[0029] The rotor structure is distributed at the front and rear ends of the main beam through a rotor guide rail device. The rotor structure includes a rotor base 10 and a reducer 3 fixed on the rotor base. The reducer 3 is connected to the rotor through a rotating shaft 4. An engine 5 is fixed in the middle of the main beam. The engine 5 is respectively connected to the reducer 3 at the front and rear ends of the main beam through a retractable universal shaft 8; the rotor base is installed on the rotor guide rail device, moves horizontally or vertically along the rotor guide rail device, and is locked by a self-locking device 2.

[0030] Further improvement, the sensing device includes a laser measurement system and a rotor speed magnetic measurement sensor, and the sensing device is connected to a rotor speed signal processor. The laser measurement system includes a small helium-neon laser 7 and an E312 digital frequency meter 6, the digital frequency meter is fixed on the top of the rotor, at 45 degrees to the rotation axis, and the helium-neon laser is installed on the main beam, and its angle corresponds to the laser. The rotor speed magnetic measurement sensor includes two magnetic coils, which are respectively installed on two reducer housings.

[0031] Further improvement, the rotor rail and the ball bearings installed on the rotor base are made of high-strength titanium alloy material

[0032] Further improvement, the rotor speed signal processor is installed inside the body

[0033] As a further improvement, the rotor guide rail direction changing switch is an electromagnetic switch, and the separation and engagement are controlled by the flight control system.

[0034] As a further improvement, the rotor speed magnetic measurement sensor needs to rely on the sound wheel in the reducer to work.

[0035] When the rotor on one side of the drone fails, in order to maintain the force balance of the fuselage, the center of gravity needs to be concentrated in the middle part. Therefore, guide rail devices are installed on the rotors on both sides during the design, and the rotors on both sides are moved to the middle part of the fuselage through the guide rails to achieve force balance.

[0036] like Figure 2 The working method of the present invention is as follows: when the UAV flies abnormally, the flight abnormality type is determined and the fault unit is identified. When the two rotor speed detection systems of the UAV transmit signals to the rotor speed signal processor and the flight control system determines that the rotor speed has dropped sharply or stopped rotating, the rotor rail system is started. The self-locking device of the rotor base on the side where the fault occurs is closed, and the rotor is moved along the horizontal rail to the vicinity of the engine through the rail, and the electromagnetic reversing switch of the rail is started to move the rotor down along the vertical rail to the lower edge of the main beam, such as Figure 3 As shown, the purpose of this design is to prevent interference caused by the two rotors being concentrated in the middle of the fuselage.

[0037] In normal flight conditions, the rotor self-locking device on one side is closed, moved to the vicinity of the engine through the horizontal guide rail, and the middle self-locking device is opened.

[0038] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, the above is only a preferred embodiment of the present invention. Since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field is within the technical scope disclosed by the present invention. For ordinary technicians in the technical field, changes or replacements that can be easily thought of should be covered within the protection scope of the present invention without departing from the principle of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A working method of a tandem twin-rotor UAV crash prevention rotor rail device, characterized in that: The adopted tandem twin-rotor UAV crash prevention rotor rail device includes a main beam, a rotor structure, a rotor rail device, a self-locking device, and a sensor device; The rotor guide rail device is a horizontal guide rail and a vertical guide rail arranged on the inner wall of the main beam, and a guide rail electromagnetic direction-changing switch is arranged between the horizontal guide rail and the vertical guide rail; The rotor structure is distributed at the front and rear ends of the main beam through a rotor guide device. The rotor structure includes a rotor base and a reducer fixed on the rotor base. The reducer is connected to the rotor through a rotating shaft. An engine is fixed to the middle of the main beam. The engine is connected to the reducers at the front and rear ends of the main beam through a retractable universal shaft. The rotor base is installed on the rotor guide device, moves horizontally or vertically along the rotor guide device, and is locked by a self-locking device. The working method includes the following steps: 1) When the signal collected by the sensor device is abnormal, the rotor structure fault at the abnormal collection point is determined; 2) Start the rotor rail system, close the self-locking device of the rotor base on the side where the fault occurs, and move the rotor along the horizontal rail to the vicinity of the engine through the rail; 3) Start the electromagnetic direction-changing switch of the guide rail to move the rotor downward along the vertical guide rail to the lower edge of the main beam; 4) In normal flight conditions, the rotor self-locking device on one side is closed, moved to the vicinity of the engine through the horizontal guide rail, and the middle self-locking device is opened.

2. The working method of the tandem twin-rotor UAV crash prevention rotor rail device according to claim 1 is characterized in that: The sensor device comprises a laser measurement system and a rotor speed magnetic measurement sensor, and the sensor device is connected with a rotor speed signal processor.

3. The working method of the tandem twin-rotor UAV anti-crash rotor rail device according to claim 2 is characterized in that: The laser measurement system includes a helium-neon laser and a digital frequency meter. The digital frequency meter is fixed on the top of the rotor and is 45 degrees to the rotation axis. The helium-neon laser is installed on the main beam and its angle corresponds to the laser.

4. The working method of the tandem twin-rotor UAV anti-crash rotor rail device according to claim 2 is characterized in that: The rotor speed magnetic measurement sensor comprises two magnetic coils which are respectively mounted on two reducer housings.

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