A launch-oriented coaxial counter-rotating unmanned aerial vehicle structure

Abstract

The application discloses a coaxial counter-rotating unmanned aerial vehicle structure for launching and flying in the form of a projectile, which comprises a frame, a base, a driving assembly, a steering mechanism, a ejection mechanism, and a rotor and a balance bar; the base is fixedly connected with a projectile shell at the bottom and is used for fixing electronic devices; the ejection mechanism is connected with the base, the ejection mechanism is connected with a ejectable part, and the ejection mechanism drives the ejectable part to move when the ejection mechanism is actuated; the ejectable part comprises the frame, the driving assembly and the steering mechanism; the frame is used for bearing the driving assembly and the steering mechanism; the driving assembly is used for providing power to make the upper and lower rotors rotate to provide lift; and the steering mechanism is used for adjusting the pitch of the blades. The coaxial counter-rotating unmanned aerial vehicle structure provided by the application can be compressed into a projectile structure for launching and flying in the form of a projectile and can be unfolded at a target position, so that the risk of being detected, intercepted and attacked is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of coaxial counter-rotating aircraft structure, in particular to a launch-oriented coaxial counter-rotating unmanned aerial vehicle structure. BACKGROUND

[0002] At present, due to the small volume, the micro unmanned aerial vehicle is widely used in air monitoring, detection, long-distance target identification and communication relay. Among them, the rotor micro unmanned aerial vehicle is widely used in complex urban environment and close observation due to its hovering flight capability, but due to the limited flight speed of the existing rotor micro aerial vehicle, it is easy to be detected, intercepted and attacked during take-off and flight, so a micro rotor unmanned aerial vehicle capable of being compressed into a bullet structure, quickly reaching the designated location by launching, and not easy to be detected, intercepted and attacked is needed.

[0003] The existing unmanned aerial vehicle capable of converting into a bullet structure is mostly a fixed-wing structure, which does not have the ability to hover and observe, and the rotor unmanned aerial vehicle with hovering capability is mainly a multi-rotor and helicopter structure. The helicopter structure is not easy to be modified and compressed into a bullet structure due to its long fuselage and tail rotor, and in the multi-rotor structure, the disc plane cannot have a large angle with the ground, which leads to the difficulty of keeping balance during the expansion of the multi-rotor structure. SUMMARY

[0004] The purpose of the present application is to overcome the shortcomings of the existing products, provide a launch-oriented coaxial counter-rotating unmanned aerial vehicle structure, which can be launched and flown in the form of a bullet, and the unmanned aerial vehicle using the structure can be launched and flown in the form of a bullet to quickly reach the target position after expansion, while reducing the risk of being detected, intercepted and attacked.

[0005] The purpose of the present application is achieved by a launch-oriented coaxial counter-rotating unmanned aerial vehicle structure, comprising a rotor and a balance rod, further comprising a frame, a base, a driving assembly, a steering mechanism and a ejection mechanism; the base is fixedly connected to the bottom of the bullet shell and is used to fix the electronic device; the ejection mechanism is connected to the base, and the ejection mechanism is connected to the ejectable part, and the ejection mechanism drives the ejectable part to move; the ejectable part comprises a frame, a driving assembly and a steering mechanism; the frame is used to carry the driving assembly and the steering mechanism; the driving assembly is used to provide power to make the upper and lower rotors rotate to provide lift; the steering mechanism is used to adjust the pitch of the blades.

[0006] Further, the frame is divided into an upper frame and a lower frame, and the upper and lower frames are fixedly connected by a support column.

[0007] Further, the driving assembly comprises an upper rotor driving mechanism and a lower rotor driving mechanism; the upper rotor driving mechanism is used to drive the upper rotor to rotate; the lower rotor driving mechanism is used to drive the lower rotor to rotate.

[0008] Further, the rotor comprises an upper rotor and a lower rotor.

[0009] Further, the upper rotor driving mechanism comprises a first motor, a first gear, a second gear, an inner shaft, an upper rotor hub; the first motor is fixedly connected to the upper layer of the frame, and the output end is fixedly connected with the first gear; the first gear is engaged with the second gear; the second gear is fixedly connected with the inner shaft; the upper rotor hub is fixedly connected with the inner shaft; the upper rotor hub is hingedly connected with the upper rotor through a hinge.

[0010] Further, the lower rotor driving mechanism comprises a second motor, a third gear, a fourth gear, an outer gear shaft, a lower rotor hub; the second motor is fixedly connected to the upper layer of the frame, and the output end is fixedly connected with the third gear; the third gear is engaged with the fourth gear; the fourth gear is fixedly connected with the outer shaft; the outer shaft is sleeved outside the inner shaft; the outer shaft is fixedly connected with the lower hub; the lower rotor is hingedly connected with the lower hub through a hinge.

[0011] Further, the steering mechanism comprises: a rudder frame fixedly connected above the upper layer of the frame, a first steering engine, a second steering engine and a third steering engine installed on the rudder frame, and an inclined disc installed on the outer shaft; the output ends of the three steering engines are fixedly connected with steering arms; the steering arms and ball head connecting rods are hingedly connected; the ball head connecting rods are also connected with three corners of the lower part of the inclined disc; the upper part of the inclined disc is connected with the lower hub through the ball head connecting rods.

[0012] Further, the pop-up mechanism comprises a connecting piece arranged below the frame, two guide rails and springs arranged above the base, and a fourth steering engine arranged above the base.

[0013] Further, a fixed ring is arranged at the lowermost part of the inner shaft, and a boss is arranged at the lowermost part of the outer shaft.

[0014] Further, the end of the guide rail is a boss, which is used to prevent the pop-up part from being completely separated from the base part.

[0015] Compared with the prior art, the beneficial effects of the present application are:

[0016] Due to the adoption of the above technical scheme, the unmanned aerial vehicle structure can be folded into a pop-up type by the pop-up mechanism, the rotor folding hinge and the driving mechanism, and the unmanned aerial vehicle can be launched to fly to the target position in the form of a projectile, and then unfolded, thereby reducing the risk of being detected, intercepted and attacked. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is the overall appearance diagram of the present application;

[0018] Figure 2 is the folding internal diagram of the present application;

[0019] Figure 3 This is a diagram showing the unfolded posture of the present invention;

[0020] Figure 4 This is a diagram of the internal structure of the present invention;

[0021] Figure 5 This is a structural diagram of the frame of the present invention;

[0022] Figure 6 This is a structural diagram of the foldable blade of the present invention;

[0023] Figure 7 This is a structural diagram of the driving component of the present invention;

[0024] Figure 8 This is a structural diagram of the gear transmission assembly of the present invention;

[0025] Figure 9 This is a structural diagram of the steering mechanism of the present invention;

[0026] Figure 10 This is a structural diagram of the pop-out mechanism of the present invention.

[0027] Reference numerals: 1-Frame; 11-Upper frame; 12-Lower frame; 13-Support; 21-Base; 22-Elastic shell; 3-Drive mechanism; 31-First motor; 32-Second motor; 33-First gear 1; 34-Third gear 2; 35-Second gear 3; 36-Fourth gear 4; 37-Inner shaft; 38-Outer shaft; 39-Upper rotor hub; 310-Lower rotor hub; 311-Deep groove ball bearing 1; 312-Deep groove ball bearing 2; 313-Angular contact bearing 1; 314-Angular contact bearing 1 315 - Upper rotor; 316 - Lower rotor; 317 - Fixed ring; 4 - Steering mechanism; 41 - Servo mount; 42 - First servo; 43 - Second servo; 44 - Third servo; 45 - Swashplate; 46 - Ball joint; 47 - Servo arm; 48 - Lower rotor clip; 5 - Ejection mechanism; 51 - Connector; 52 - Fourth servo; 53 - Guide rail; 54 - Servo arm; 55 - Spring; 6 - Hinge mechanism; 61 - First hinge plate; 62 - Second hinge plate; 63 - Baffle; 7 - Balance bar. Detailed Implementation

[0028] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0029] See Figure 4This embodiment provides a coaxial counter-rotating unmanned aerial vehicle (UAV) structure for launch and takeoff, including a frame 1, a base 21, a drive assembly 3, a steering mechanism 4, an ejection mechanism 5, and rotors 6. The base 21 is located at the bottom and fixedly connected to a projectile-shaped housing 22. The ejection mechanism 5 is connected to the upper part of the base 21, and an ejectable portion, including the frame 1, drive assembly 3, and steering mechanism 4, is located above the ejection mechanism 5. The base 21 is used to fix electronic components, such as flight control chips, electronic speed controllers, cameras, and batteries. The frame 1 supports the drive assembly 3 and steering mechanism 4. The drive assembly 3 provides power to rotate the upper and lower rotors, providing lift. The steering mechanism 4 adjusts the rotor blade pitch.

[0030] See Figure 2 and Figure 4 The base 21 is an integral unit and is fixedly connected to the shell 22. The upper end is connected to the frame 1 through the pop-out mechanism 5. The middle and lower parts are used to carry electronic devices such as batteries, flight control chips, electronic speed controllers, and camera modules.

[0031] See Figure 5 The frame 1 consists of two layers: an upper frame 11 and a lower frame 12, which are fixedly connected by a support column 13. The frame 1 is used to support the drive assembly 3 and the steering mechanism 4.

[0032] See Figure 6 The rotor consists of an upper rotor 315 and a lower rotor 316, both of which are foldable. The upper rotor 315 has a hinge mechanism at its root. A first hinge plate 61 is connected to the root of the upper rotor, and a second hinge plate 62 is connected to the upper rotor hub 39. This hinge mechanism enables the rotor to fold. The lower rotor 316 also has a hinge mechanism at its root, which is hinged to the lower rotor hub 310 via a hinge member. Initially, the blades are folded and internally housed within the spring-shaped housing 22. When the pop-out portion pops out, the drive assembly activates, causing the upper rotor 315 and lower rotor 316 to rotate and unfold.

[0033] See Figure 7 The drive component 3 includes an upper rotor drive mechanism and a lower rotor drive mechanism.

[0034] The upper rotor drive mechanism includes a first motor 31, a first gear 33, a second gear 35, an inner shaft 37, and an upper rotor hub 39. The main body of the first motor 31 is fixed to the upper layer 11 of the frame, and its output end passes downward through a through hole in the upper layer 11 of the frame and is fixedly connected to the gear 33. The gear 33 meshes with the gear 35, and the gear 35 and the inner shaft 37 are connected by screws and nuts to achieve axial and circumferential fixation. When the gear 35 rotates, it drives the inner shaft 37 to rotate. The upper rotor 315 and the balance bar 7 are both fixed to the top of the inner shaft 37 through the upper rotor hub 39. When the first motor 31 drives the gear 33 to rotate, under the transmission of the gear 33, the gear 35, and the inner shaft 37, the first motor 31 drives the upper rotor 315 to rotate.

[0035] The lower rotor drive mechanism includes: a second motor 32, a third gear 34, a fourth gear 36, an external gear shaft 36, and a lower rotor hub 310. The main body of the second motor 32 is fixed on the upper layer 11 of the frame, and its output end passes downward through a through hole provided on the upper layer 11 of the frame and is fixedly connected to the third gear 34. The third gear 34 meshes with the fourth gear 36. The fourth gear 36 and the external shaft 38 are circumferentially fixed by the D-shaped shaft end face and the set screw. The lower rotor 316 is fixed on the external shaft 38 by the lower rotor hub 310. When the second motor 32 drives the gear 34 to rotate, under the transmission of the gear 34, the gear 36 and the external shaft 38, the second motor 32 drives the lower rotor 316 to rotate.

[0036] See Figure 8 The inner shaft 37 is radially limited by a deep groove ball bearing 311 located on top of the outer shaft 38 and an angular contact bearing 313 fixed to the lower layer 12 of the frame. A retaining ring 317 is provided at the bottom of the inner shaft 37. The angular contact bearing 313 fixed to the lower layer 12 of the frame is located above the retaining ring 317. The inner shaft 37 is axially limited by the retaining ring 317.

[0037] Secondly, the outer shaft 38 is radially fixed by a deep groove ball bearing 312 located above the servo frame 41 and an angular contact bearing 314 fixed to the upper layer 11 of the frame. The outer shaft 38 has a boss at the bottom, through which the outer shaft 38 is axially limited.

[0038] See Figure 9The steering mechanism 4 includes: a servo frame 41 fixed above the upper layer 11 of the frame; a first servo 42, a second servo 43, and a third servo 44 mounted on the servo frame 41; and a swashplate 45 mounted on the outer shaft 38. The output ends of the three servos are respectively fixed to servo arms 47. The servo arms 47 and ball joints 46 are ball-jointed. Similarly, the ball joints 46 are connected to the three corners of the lower stator of the swashplate 45. The upper mover of the swashplate 45 is also connected to the lower rotor hub 310 through the ball joints 46.

[0039] When the control servo drives the servo arm 47 to rotate, it drives the ball joint link 46 to move. The upper end of the ball joint link 46 then drives the swashplate 45 to rise or fall at one angle. By adjusting the rotation angle of the three servos, the height of the three angles of the swashplate 45 can be changed. The lower rotor blade clamp 48 contains bearings. When the height of the swashplate changes, it will drive the ball joint link 49 to rise or fall together. In turn, the upper end of the ball joint link drives the blade clamp 48 to rotate. The rotation of the blade clamp causes the rotor 316 to deflect, thus changing the pitch of the rotor 316. This allows the servo to control the blade pitch of the rotor 316.

[0040] See Figure 10 The ejection mechanism 5 includes: a connector 51 located below the frame 1, two guide rails 53 and a spring 55 located above the base 21, and a fourth servo motor 52 located above the base 21. Initially, the projectile-shaped head is placed downwards, the rotor is manually folded, and then the ejectable part is pressed downwards. The spring 55 is compressed along the guide rails 53. When pressed to the bottom, the fourth servo motor 52 is controlled to rotate at a certain angle, locking the connector 51. At this point, the ejection mechanism 5 is locked to the frame 1. When the fourth servo motor 52 is controlled to disconnect its arm from the connector 51, the frame 1, under the elastic force of the spring 55, causes the entire ejectable part to eject upwards along the guide rails 53 to the end of the guide rails 53. The end of the guide rail 53 has a boss to prevent the ejectable part from completely separating from the base 21.

[0041] See Figure 6 The stabilizer bar 7 is a rod-shaped component with counterweights at both ends, fixed above the upper rotor 315. During rotor rotation, it rotates in the same direction as the upper rotor 315, becoming a single-degree-of-freedom gyroscope relative to the fuselage. It possesses the characteristic of a gyroscope: its axis of rotation remains fixed in space, and its rotational center maintains its predetermined direction of motion even as the center of rotation moves. Based on this characteristic, it can prevent large, instantaneous displacements of the aircraft, thus providing some wind resistance.

[0042] This launch-oriented coaxial counter-rotor UAV structure initially requires folding the rotor to align it parallel to the central axis of the projectile structure. The ejectable portion is then pressed downwards, compressing the spring 55 in the ejection mechanism 5. After the ejectable portion descends to a certain height, the servo 52 controlling the ejection mechanism 5 locks the frame 1 and base 21 together. At this point, the entire structure is compressed and retracted into the projectile shell, forming a launch-oriented projectile device. The compressed projectile device can be launched to a designated location in the air via the launch device. After the projectile device passes its highest point, the ejection mechanism 5 pushes the ejectable portion from inside the projectile device to its end at an appropriate time, exposing the rotor structure to the outside. Simultaneously, the motor is activated, driving component 3 to operate and start the rotor rotation. Under the influence of centrifugal force and air resistance, the folded rotor gradually unfolds. Driven by the lift generated by the rotor rotation and air resistance, the speed of the entire projectile device gradually decreases, eventually hovering stably in the air. The steering mechanism 4 is then controlled to control the overall flight direction.

[0043] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and detail without departing from the scope defined by the claims of the present invention.

[0044] It should be noted that the terms "upper", "lower", "left", "right", "inner", and "outer" used in this invention are only for illustrative purposes with reference to the accompanying drawings and are not intended to be limiting terms.

Claims

1. A launch-oriented coaxial counter-rotating unmanned aerial vehicle (UAV) structure, comprising a rotor (6) and a stabilizer bar (7), characterized in that, It also includes a frame (1), a base (21), a drive assembly (3), a steering mechanism (4), and a pop-out mechanism (5); the base (21) is located at the bottom and is fixedly connected to the spring-shaped shell (22) and is used to fix electronic devices; the pop-out mechanism (5) is connected to the base (21), and the pop-out mechanism (5) is connected to the pop-out part. When the pop-out mechanism (5) is activated, it drives the pop-out part to move; the pop-out part includes the frame (1), the drive assembly (3), and the steering mechanism (4); the frame (1) is used to support the drive assembly (3) and the steering mechanism (4); the drive assembly (3) is used to provide power to make the upper and lower rotors rotate to provide lift; the steering mechanism (4) is used to adjust the blade pitch; The frame (1) is divided into an upper frame (11) and a lower frame (12), and the two layers are fixedly connected by a support column (13); The drive assembly (3) includes an upper rotor drive mechanism and a lower rotor drive mechanism; the upper rotor drive mechanism is used to drive the upper rotor (315) to rotate; the lower rotor drive mechanism is used to drive the lower rotor (316) to rotate; The rotor includes an upper rotor (315) and a lower rotor (316); A retaining ring is provided at the bottom of the inner shaft (37) of the upper rotor drive mechanism, and a boss is provided at the bottom of the outer shaft (38) of the upper rotor drive mechanism; The steering mechanism (4) includes: a servo frame (41) fixed above the upper layer (11) of the frame, a first servo (42), a second servo (43) and a third servo (44) mounted on the servo frame (41), and a swashplate (45) mounted on the outer shaft (38); the output ends of the three servos are respectively fixed to the servo arm (47), the servo arm (47) and the ball joint (46) are ball-jointed, the ball joint (46) is also connected to the three corners of the lower stator of the swashplate (45), and the upper mover of the swashplate (45) is also connected to the lower rotor hub (310) through the ball joint (46); The pop-out mechanism (5) includes a connector (51) located below the frame (1), two guide rails (53) and a spring (55) located above the base (21), and a fourth servo (52) located above the base (21); The end of the guide rail (53) is a boss to prevent the pop-out part from completely separating from the base (21).

2. The launch-oriented coaxial counter-rotating unmanned aerial vehicle structure according to claim 1, characterized in that, The upper rotor drive mechanism includes a first motor (31), a first gear (33), a second gear (35), an inner shaft (37), and an upper rotor hub (39). The first motor (31) is fixedly connected to the upper frame (11), and its output end is fixedly connected to the first gear (33). The first gear (33) meshes with the second gear (35), and the second gear (35) is fixedly connected to the inner shaft (37). The upper rotor hub (39) is fixedly connected to the inner shaft (37), and the upper rotor hub (39) is hinged to the upper rotor (315) through a hinge.

3. The launch-oriented coaxial counter-rotating unmanned aerial vehicle structure according to claim 1, characterized in that, The lower rotor drive mechanism includes a second motor (32), a third gear (34), a fourth gear (36), an outer shaft (38), and a lower rotor hub (310). The second motor (32) is fixedly connected to the upper frame (11), and its output end is fixedly connected to the third gear (34). The third gear (34) meshes with the fourth gear (36). The fourth gear (36) is fixedly connected to the outer shaft (38). The outer shaft (38) is sleeved outside the inner shaft (37). The outer shaft (38) is fixedly connected to the lower rotor hub (310). The lower rotor (316) and the lower rotor hub (310) are hinged together by a hinge.

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