A unmanned aerial vehicle co-rotating wing mechanism

Abstract

The application discloses a unmanned aerial vehicle wing in-line rotor structure, based on a crank slider mechanism and a four-bar mechanism design, with a locking function, belonging to the technical field of unmanned aerial vehicles, and is a key structure for optimizing the conversion of a vertical take-off and landing unmanned aerial vehicle from a vertical take-off and landing state to a horizontal flight state; the in-line rotor structure comprises a motor sleeve installed on a rotor motor, a four-bar mechanism for realizing the in-line rotor function, a crank slider mechanism for realizing the locking function, a structure driving rudder, and a motor and a rotor; the overall structure is installed on a carbon tube of the unmanned aerial vehicle; the rudder and the mechanism are fixed by a rudder frame installed on the carbon tube; and the motor and the rotor are fixed by a motor seat installed on the carbon tube. The unmanned aerial vehicle wing in-line rotor structure drives the motor sleeve to rotate the rotor to a position parallel to the fuselage through the in-line rotor mechanism, and fixes the rotor through the locking mechanism, so that the air resistance of the vertical take-off and landing unmanned aerial vehicle when converting to horizontal flight is reduced, and the reliability and stability of the vertical take-off and landing unmanned aerial vehicle are improved.

Description

Technical Field

[0001] This invention relates to the design of a rotator mechanical structure, belonging to the field of aircraft structural design, and particularly to the design of a rotator structure for a compound layout vertical take-off and landing unmanned aerial vehicle. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are relatively inexpensive, avoid the risk of injury to pilots, and can perform many tasks that manned aircraft cannot, making them a promising candidate for application. Among them, vertical takeoff and landing (VTOL) UAVs, compared to conventional fixed-wing aircraft, possess vertical takeoff and landing capabilities, requiring less space for takeoff and landing; and compared to traditional helicopters, they offer greater speed and range than fixed-wing aircraft. Summary of the Invention

[0003] According to one aspect of the present invention, a co-rotor structure for a UAV wing based on a crank-slider mechanism is provided, characterized in that it comprises:

[0004] The clockwise rotor mechanism comprises a four-bar linkage and a crank-slider mechanism.

[0005] A rotor is a flat, airfoil-shaped lifting body that generates lift by being driven to rotate by a motor located at the bottom of the rotor. The rotor is connected to the motor.

[0006] The motor base is a cube, with one side being a square and the other side being a semi-cylindrical shape;

[0007] The lower part of the motor base is a cube with a semi-circular cylindrical ring as its main body.

[0008] The carbon fiber tube, motor, and rotor are securely fixed to the carbon fiber tube via an upper and lower motor mount. The upper and lower motor mounts are mutually fixed to each other.

[0009] The motor sleeve, which has a gear-like shape, is fixed to the motor with screws and is used to assist the co-rotor.

[0010] A four-bar linkage, consisting of a joystick, a lever, and a crank, is used to achieve the co-rotor function. The joystick is linear and connects to the servo motor via screws, providing the system's driving force. The lever is a three-segment broken line shape, used to adjust the rotor angle by moving a motor sleeve. The crank is L-shaped and connects the co-rotor mechanism and the locking mechanism, enabling cooperation between the mechanisms. The joystick, lever, and crank are connected by brass sleeves and screws, forming a rotating pair.

[0011] A servo motor is used to provide driving force to the joystick, causing it to rotate clockwise.

[0012] The servo mount integrates the functions of a servo mounting bracket and linear motion limiter. It includes a crank-slider mechanism with cranks, connecting rods, and a pin for locking. The driving force is provided by the rocker arm and transmitted to the crank through a four-bar linkage. The connecting rod has a shape similar to the lowercase letter "l". The pin is generally cylindrical and can only move linearly under the restriction of the servo mount. The head of the pin has a shape that mates with the motor sleeve to achieve the locking function. The crank, connecting rod, and pin are fixed together by copper sleeves and screws to form a rotating pair. Attached Figure Description

[0013] Figures 1-3 The overall external structure of the drone's cyclotron mechanism is shown.

[0014] Figure 4 A top view showing the overall structure of the drone's cyclotron mechanism.

[0015] Figure 5 This is a schematic diagram of the main functional components such as the joystick (8).

[0016] Figures 6-9 The display shows the status of each component of the gyroplane mechanism at different stages of operation.

[0017] Figure 10 The image shows an overall view of the drone with its rotors exposed.

[0018] Figure 11 The image shows an overall view of the drone with its rotors retracted and parallel to the fuselage. Detailed Implementation

[0019] Existing vertical takeoff and landing (VTOL) drones experience rotor malfunction and stop rotating randomly after switching to fixed-wing flight, causing significant drag and posing safety hazards. To address this issue, this invention proposes a unidirectional rotor structure for the drone wing based on a crank-slider mechanism. This structure keeps the rotor parallel to the fuselage after the switch, effectively solving these problems.

[0020] The mechanical structure of this invention mainly performs the functions of mechanically controlling the rotor angle and mechanically locking the rotor position. This structure has the following characteristics: 1) Purely mechanical control, with high stability and reliability; 2) Simple to use and easy to operate; 3) Precise rotor angle control, suitable for various situations requiring specific rotor angles; 4) Low requirements for operating environment and assembly.

[0021] To address the problems of poor reliability and safety, high control system requirements, inaccurate rotor positioning, and inability to synchronize multiple rotors in existing corotor systems, a mechanical structure with high reliability, safety, and controllability is needed to achieve simultaneous corotation of multiple rotors. This mechanism should be simple in structure, quick to install, and able to effectively fulfill the corotation requirements.

[0022] This invention is achieved through the rational design, combination, adjustment, assembly, and debugging of the crank-slider mechanism and the four-bar linkage.

[0023] The embodiments of the present invention are described below with reference to the accompanying drawings.

[0024] According to an embodiment of the present invention, the UAV wing cycloidal structure based on a crank-slider mechanism adopts:

[0025] 1) Overall layout of the cyclotron mechanism,

[0026] The clockwise rotor mechanism employs a four-bar linkage and a crank-slider mechanism, such as... Figures 1 to 3 As shown, the rotor (7) is a flat lifting body with an airfoil. The rotor (7) is driven to rotate by a motor (5) located at the lower part of the rotor (7) to provide lift. The rotor (7) and the motor (5) are connected by screws. The upper motor mount (3) is a cube with one side being square and the other side being a semi-cylindrical shape; the lower motor mount (2) is a cube with a semi-cylindrical ring as its main body. The motor (5) and the rotor (7) are fixed to the carbon tube (1) by the upper motor mount (3) and the lower motor mount (2). The upper motor mount (3) and the lower motor mount (2) are fixed together by screws. A motor sleeve (4) is installed on the motor (5) to assist the rotor. The motor sleeve (4) is gear-like in shape and is fixed to the motor (5) by screws.

[0027] The servo mount (12) has a special shape, which combines the servo mount and linear motion limiter, reducing assembly difficulty and improving stability and reliability.

[0028] 2) Design of the cyclotron mechanism

[0029] Figure 4 A top view of the overall structure of the UAV's cyclotron mechanism is shown. The rocker arm (8), lever (9), and crank (11) constitute the cyclotron mechanism. The crank (11), connecting rod (10), and pin (13) constitute the locking mechanism. The two mechanical structures are fixed to the carbon tube (1) via a servo mount (6) and, together with the motor sleeve (4), achieve the cyclotron function. All components are connected by screws and copper sleeves to form rotating pairs and fixed connections.

[0030] Figure 5 This is a simplified schematic diagram of the main functional components, where the joystick (8) is powered by a servo motor (6). Figure 4 ) provides driving force, rotates clockwise, and drives the entire system to work. The pin (13) moves in a straight line.

[0031] The four-bar linkage includes a rocker arm (8), a lever (9), and a crank arm (11) to achieve the co-rotor function. The rocker arm (8) is straight and is connected to the servo motor (6) by screws, providing the system's driving force. The lever (9) is a three-segment broken line shape, which adjusts the rotor angle by moving the motor sleeve (4). The crank arm (11) is L-shaped and connects the co-rotor mechanism and the locking mechanism to achieve the cooperation between the mechanisms. The rocker arm (8), lever (9), and crank arm (11) are connected by a copper sleeve and screws to form a rotating pair.

[0032] 3) Locking mechanism design

[0033] The crank-slider mechanism includes a crank (11), a connecting rod (10), and a pin (13) for locking. The driving force is provided by the rocker arm (8) and transmitted to the crank (11) via a four-bar linkage. The connecting rod (10) is shaped like a lowercase letter 'l'. The pin (13) is restricted to linear movement by the servo mount (12) and has a cylindrical structure. The pin head is specially designed to fit precisely with the motor sleeve (4) to achieve the locking function. The crank (11), connecting rod (10), and pin (13) are fixed together by a copper sleeve and screws, forming a rotating pair.

[0034] Figures 6-9 The status of each component of the gyro mechanism at different stages of operation is displayed sequentially. Figure 6 To start the cyclotron mechanism, the lever (9) just touches the motor sleeve (4); Figure 7 To align the rotor with the rotor mechanism, lever (9) drives motor sleeve (4) to rotate until the rotor rotates to the same position as the carbon tube; Figure 8 To lock the rotor mechanism to the position where the rotor is locked, the ejector pin (13) is pressed deep into the motor sleeve to lock the rotor's rotation; Figure 9 With the rotor mechanism in the open state, the lever (9) and the ejector pin (13) move to a position where they do not interfere with the motor sleeve at all, so that the motor can run smoothly and normally.

[0035] Figure 10 The image shows the overall configuration of the UAV with its rotor exposed, sequentially displaying the vertical tail (21), wings (22), tail fin (23), rotor (24) of this invention, landing gear (25), fuselage (26), and rotor cover rod (27). In this figure, the rotor (24) of this invention is not parallel to the direction of the rotor cover rod (27) and is in an exposed state.

[0036] Figure 11The image shows the drone in a state where the rotor (24) is retracted, the rotor (24) is parallel to the rotor cover rod (27), and the drone is ready to be retracted.

[0037] Beneficial effects

[0038] The advantages of this invention include:

[0039] 1) The mechanical structure adopts a four-bar linkage and a crank-slider linkage, and the control principle and structure are relatively simple.

[0040] 2) The cyclotron mechanism adopts a purely mechanical structure design, which improves the efficiency of the cyclotron and makes it more reliable and stable;

[0041] 3) The locking mechanism, combined with the motor sleeve structure, effectively prevents instability that may occur during the co-rotation process.

[0042] Somatodynamic process:

[0043] During the co-rotor process, the motor sleeve is fixed to the motor through the motor sleeve fixing hole (33). After the co-rotor starts, the servo motor (6) drives the rocker arm (8) to rotate, causing the lever (9) to move the co-rotor lever teeth (31) on the motor sleeve (4), driving the motor (5) and rotor (7) to rotate (e.g.) Figure 6 Rotate to Figure 7 Position, lever (9) separates from motor sleeve (4). If the rotor is not aligned at this time, the servo motor (6) continues to move; if it is already aligned, the servo motor (6) continues to move until... Figure 8 After reaching the desired position, the movement stops, and the ejector pin (13) penetrates into the motor locking groove (32) of the motor sleeve (4), pressing against the locking limit tooth (34) within the motor sleeve (4) to complete the locking. When the motor (5) needs to be used, the servo motor (6) moves to the desired position. Figure 9 Position, ejector pin (13) exits the slot of motor sleeve (34) and does not interfere with motor sleeve (4), motor (5) runs normally.

[0044] Example 1: Composite layout for vertical takeoff and landing and horizontal flight conversion

[0045] When a hybrid vertical takeoff and landing (VTOL) drone transitions from VTOL to level flight, the rotor ceases operation. Thanks to a co-rotor mechanism, the rotor is adjusted to be parallel to the fuselage during the transition, minimizing aerodynamic drag after the transition. Once the co-rotor is in place, a locking mechanism secures the rotor position to prevent interference from airflow.

Claims

1. A crank-slider mechanism based unmanned aerial vehicle wing contra-rotating wing structure, characterized in that The utility model relates to a kind of unmanned aerial vehicle wing structure, including: The mechanism of following rotor has four-bar mechanism and crank slider mechanism, Rotor (7) is a flat lift body with airfoil, and rotor (7) is rotated to provide lift by motor (5) arranged in the lower part of rotor (7), and rotor (7) is connected with motor (5), Motor seat upper seat (3) is a cube, and one side is square and the other side is semicircular cylinder; Motor seat lower seat (2) is a cube with semicircular cylinder ring as main body, Carbon tube (1), motor (5) and rotor (7) are fixed on carbon tube (1) by motor seat upper seat (3) and lower seat (2) together, and motor seat upper seat (3) and lower seat (2) are fixed with each other, Motor cover (4) has following rotor lever teeth (31) and locking limiting teeth (34), and is fixed on motor (5) by screw, to assist following rotor, Four-bar mechanism including rocker (8), lever (9) and crank (11) is used to realize the function of following rotor, wherein: rocker (8) is linear, connected with rudder (6) by screw, to provide system driving force;Lever (9) is three-section broken line, and the angle of rotor is adjusted by lever (9) by driving motor cover (4);Crank (11) is in capital letter L shape, connects following rotor mechanism and locking mechanism, to realize the cooperation between mechanisms;Rocker (8), lever (9) and crank (11) are connected by copper sleeve and screw, to form rotary pair, Rudder (6) is used to provide driving force for rocker (8), to make rocker (8) rotate clockwise, Rudder frame (12) integrates the functions of rudder fixing frame and linear motion limiting, Crank slider mechanism including crank (11), connecting rod (10) and thimble (13) is used to realize locking function, wherein: driving force is provided by rocker (8), and is transmitted to crank (11) by four-bar mechanism;Connecting rod (10) has lower case letter l shape;Thimble (13) is generally cylindrical structure, which can only carry out linear motion under the limitation of rudder frame (12), and the head of thimble has shape matched with motor cover (4), so as to realize locking function;Crank (11), connecting rod (10) and thimble (13) are fixed by copper sleeve and screw, to form rotary pair.

2. The unmanned aerial vehicle wing structure according to claim 1, wherein: In the process of following rotor, motor cover is fixed on motor by motor cover fixing hole (33), after following rotor starts, rudder (6) drives rocker (8) to rotate, so that lever (9) drives following rotor lever teeth (31) on motor cover (4), drives motor (5) and rotor (7) to rotate to the position that rotor is consistent with carbon tube, lever (9) is separated from motor cover (4), if rotor is not rotated to the angle that carbon tube is parallel at this time, rudder (6) continues to move;If rotor has been rotated to the angle that carbon tube is parallel, rudder (6) continues to move to the position that rotor is locked, and then stops moving, in the position that rotor is locked, thimble (13) is inserted into motor locking groove (32) in motor cover (4), and thimble (13) is inserted into motor locking groove (32) in motor cover (4), so as to complete locking, When the motor (5) needs to be used, the steering gear (6) moves to a position that makes the opening of the co-rotating rotor mechanism, in which the ejector pin (13) exits the motor lock groove (32) of the motor, does not act on the motor sleeve (4), and makes the motor (5) run normally.

3. The unmanned aerial vehicle wing co-rotating rotor structure according to claim 1, characterized in that: When the vertical take-off and landing unmanned aerial vehicle equipped with the unmanned aerial vehicle wing co-rotating rotor structure is converted from the vertical take-off and landing state to the horizontal flight state, the rotor stops working, and during the conversion from the vertical take-off and landing state to the horizontal flight state, the rotor is adjusted to the parallel position with the fuselage by the unmanned aerial vehicle wing co-rotating rotor structure, so that the unmanned aerial vehicle obtains the minimum aerodynamic resistance after conversion.

4. The unmanned aerial vehicle wing co-rotating rotor structure according to claim 1, characterized in that: The rotor (7) and the motor (5) are connected by screws, The upper seat (3) and the lower seat (2) of the motor are fixed to each other by screws.

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