Parallel tilting rotor unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a parallel tilting rotor unmanned aerial vehicle. Comprising a machine body, a balance rotor arm is arranged on the machine body, a first driving mechanism is arranged on the balance rotor arm, a first rotor is arranged at the output end of the first driving mechanism, the tilting rotor arm is fixedly connected with the machine body, and a second driving mechanism is arranged at the end of the tilting rotor arm. A second rotating wing is arranged at the output end of the second driving mechanism, and a tilting mechanism used for driving the second rotating wing to tilt is arranged at the end of the tilting rotor wing arm. According to the tilt rotor unmanned aerial vehicle, the tilt rotor arms are arranged on the tilt rotor unmanned aerial vehicle, the second rotating wings and the tilting mechanisms for driving the second rotating wings to tilt are arranged on the tilt rotor arms, and the second rotating wings tilt through the tilting mechanisms; therefore, the tilt-rotor unmanned aerial vehicle can realize flight state adjustment in different directions without greatly changing the state of the vehicle body during steering and turning flight, and the whole flight process is more stable.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, in particular to a parallel tilt-rotor unmanned aerial vehicle. Background Art

[0002] Multi-rotor drones have gradually entered people's lives, especially in the use of aerial photography. In order to facilitate aerial photography, it is necessary to flexibly adjust the flight status of the drone to achieve the purpose of tracking and shooting the target.

[0003] Chinese utility model CN219008149U discloses a rotary-wing UAV including a shell, a rapidly foldable arm, a flight control, a multi-pole power distribution assembly, a propeller, a power assembly, a landing gear assembly, and a power supply device. The multi-pole power distribution assembly is installed in the shell, the flight control is installed on the multi-pole power distribution assembly, one end of the rapidly foldable arm is installed on the shell, the other end of the rapidly foldable arm is installed with the power assembly, the propeller is installed on the power assembly, the landing gear assembly is installed on the shell, and the power supply device is used to provide power to the rotary-wing UAV.

[0004] The above patent can realize the take-off and landing of drones, but there are still some problems in the use process:

[0005] The above-mentioned UAV needs to change the rotation speed of each rotor during the process of moving forward, and rely on the lift difference generated by the rotation speed difference between each rotor to make the UAV have a certain inclination angle, so as to drive the UAV to move forward. This will cause the UAV to swing during the process of adjusting the rotation speed of each rotor, and the UAV has poor stability. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a parallel tilt-rotor UAV, which is used to improve the stability of the UAV during its movement.

[0007] The technical solution adopted by the present invention to solve its technical problem is a parallel tilt-rotor UAV, comprising a fuselage, a balancing rotor arm being arranged on the fuselage, a first driving mechanism being arranged on the balancing rotor arm, the output end of the first driving mechanism being arranged vertically, a first rotating wing being arranged on the output end of the first driving mechanism, and a tilt-rotor arm being fixedly connected to the fuselage, a second driving mechanism being arranged at the end of the tilt-rotor arm, a second rotating wing being arranged at the output end of the second driving mechanism, and a tilt mechanism for driving the second rotating wing to tilt being arranged at the end of the tilt-rotor arm.

[0008] Furthermore, the tilting mechanism includes a static platform, a dynamic platform is arranged above the static platform, the second driving mechanism is arranged above the dynamic platform, the center line of the second driving mechanism coincides with the center line of the dynamic platform, the upper surface of the static platform is hingedly provided with at least 3 branches arranged circumferentially along the axis of the second driving mechanism, each branch includes a screw rod, a sleeve and a hollow motor, the screw rod is hinged to the upper surface of the static platform, the sleeve is hinged to the lower surface of the dynamic platform and is used in conjunction with the screw rod, the hollow motor is coaxially provided at the bottom end of the sleeve, a nut is coaxially provided at the output end of the hollow motor, and the screw rod is threadedly connected to the nut.

[0009] Furthermore, the number of the balancing rotor arms is two and symmetrically arranged on both sides of the fuselage, and the number of the tilting rotor arms is four and symmetrically arranged on both sides of the balancing rotor arms.

[0010] Furthermore, each of the static platforms is provided with three screw rods, and the interior of the screw rods is hollow.

[0011] Furthermore, a constraint rod is provided between the moving platform and the static platform, the constraint rod is coaxial with the second driving mechanism, the upper end of the constraint rod is hinged to the moving platform through a spherical joint, and the lower end of the constraint rod is fixedly connected to the static platform.

[0012] Furthermore, the axes of the two first rotating wings and the four second rotating wings are cocircular.

[0013] Furthermore, a limit head is arranged at the top end of the screw rod, and the limit head is arranged inside the sleeve. A first limit block and a second limit block are arranged inside the sleeve, and the first limit block is arranged above the limit head, and the second limit block is arranged below the limit head.

[0014] Furthermore, it also includes a control system, which includes a controller. A rotation signal receiver is provided on the hollow motor, and the controller is communicatively connected with the rotation signal receiver.

[0015] Furthermore, a support frame is provided at the bottom of the body.

[0016] The beneficial effects of the present invention are as follows: the tilt-rotor UAV is provided with a tilt-rotor arm, a second rotor and a tilt mechanism for driving the second rotor to tilt are provided on the tilt-rotor arm, the second rotor is tilted by the tilt mechanism, and the tilt-rotor UAV can adjust the flight state in different directions without significantly changing the state of the fuselage when turning or turning. The overall flight process will be smoother, and the video data obtained by sensor equipment such as the camera carried on the UAV will also be smoother, making subsequent video data processing easier. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention;

[0018] Figure 2 is a schematic diagram of the tilting mechanism;

[0019] Figure 3 yes Figure 2 A cross-sectional view of

[0020] Figure 4 yes Figure 3 Enlarged view of point A in the middle.

[0021] Figure markings: 1-body; 2-balancing rotor arm; 3-first driving mechanism; 4-first rotating wing; 5-tilt rotor arm; 6-second driving mechanism; 7-second rotating wing; 8-tilt mechanism; 801-static platform; 802-moving platform; 803-screw; 804-sleeve; 805-hollow motor; 806-nut; 807-limit head; 808-first limit block; 809-second limit block; 810-branch chain; 9-support frame; 10-constraint rod; 11-spherical joint; 12-rotation signal receiver. DETAILED DESCRIPTION

[0022] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0023] like Figure 1 As shown, the present invention is a parallel tilt-rotor UAV, comprising an airframe 1, on which a balancing rotor arm 2 is provided, on which a first driving mechanism 3 is provided, the output end of the first driving mechanism 3 is vertically arranged, and a first rotary wing 4 is provided on the output end of the first driving mechanism 3, and further comprising a tilt-rotor arm 5, the tilt-rotor arm 5 is fixedly connected to the airframe 1, a second driving mechanism 6 is provided at the end of the tilt-rotor arm 5, a second rotary wing 7 is provided at the output end of the second driving mechanism 6, and a tilt mechanism 8 for driving the second rotary wing 7 to tilt is provided at the end of the tilt-rotor arm 5.

[0024] The balancing rotor arm 2 can be bolted to the body 1 or integrally formed. The first driving mechanism 3 is a servo motor. A circular first mounting platform is provided at the end of the balancing rotor arm 2. The first driving mechanism 3 is installed on the balancing rotor arm 2 by bolting. The first rotating wing 4 is driven to rotate by the first driving mechanism 3. The first rotating wing 4 can be in the form of two wings, three wings or four wings. The balancing rotor arm 2 can be one, vertically arranged in the middle of the body 1, similar to the form of a helicopter. The balancing rotor arm 2 is preferably provided with two, symmetrically arranged on both sides of the body 1. In order to ensure the stability of the first driving mechanism 3, the axis of the first driving mechanism 3 is vertical and coincides with the axis of the balancing rotor arm 2.

[0025] The tilt-rotor arm 5 is fixedly connected to the fuselage 1. The tilt-rotor arm 5 can be bolted to the fuselage 1 or can be integrally formed. A second driving mechanism 6 is provided at the end of the tilt-rotor arm 5. The second driving mechanism 6 is a servo motor. A circular second mounting platform is provided at the end of the tilt-rotor arm 5. The second driving mechanism 6 is mounted on the second mounting platform using a tilt mechanism 8. The second rotating wing 7 is driven to rotate by the second driving mechanism 6. The second rotating wing 7 can be in the form of two wings, three wings or four wings. There can be two tilt-rotor arms 5, which are respectively arranged on both sides of the balancing rotor arm 2. However, if the second rotating wing 7 on one of the tilt-rotor arms 5 is damaged, it will cause difficulty in moving forward and turning, and the stability is poor. Preferably, there are four tilt-rotor arms 5, which are symmetrically arranged on both sides of the balancing rotor arm 2. That is, there are two tilt-rotor arms 5 on both sides of the balancing rotor arm 2, and the four tilt-rotor arms 5 form an X configuration. The angle between the axis of the balancing rotor arm 2 and the adjacent tilt-rotor arm 5 is 60 degrees, and the angle between the axis of the tilt-rotor arm 5 on the same side of the balancing rotor arm 2 is also 60 degrees; the end of the tilt-rotor arm 5 is provided with a tilt mechanism 8 for driving the second rotary wing 7 to tilt. The tilt mechanism 8 can be a combination of a support rod and a telescopic mechanism, that is, a support rod is provided on the tilt-rotor arm 5, the lower end of the support rod is fixedly connected to the tilt-rotor arm 5, and the upper end is hinged to the second mounting platform. The telescopic mechanism can be an electric push rod, and the two ends of the electric push rod are respectively hinged to the tilt-rotor arm 5 and the second mounting platform. In this way, the tilting of the second rotary wing 7 is achieved.

[0026] Although the above embodiment can realize the tilting of the second rotary wing 7, the center height of the second rotary wing 7 will change. Figure 2As a preferred embodiment, the tilting mechanism 8 includes a static platform 801, a dynamic platform 802 is arranged above the static platform 801, the second driving mechanism 6 is arranged above the dynamic platform 802, the center line of the second driving mechanism 6 coincides with the center line of the dynamic platform 802, and the upper surface of the static platform 801 is provided with at least three branches 810 arranged circumferentially along the axis of the second driving mechanism 6, each branch 810 includes a screw rod 803, a sleeve 804 and a hollow motor 805, the screw rod 803 is hinged to the upper surface of the static platform 801, the sleeve 804 is hinged to the lower surface of the dynamic platform 802 and is used in conjunction with the screw rod 803, the hollow motor 805 is coaxially arranged at the bottom end of the sleeve 804, the output end of the hollow motor 805 is provided with a nut 806, and the screw rod 803 is threadedly connected to the nut 806.

[0027] The static platform 801 and the dynamic platform 802 are square, circular or equilateral triangles, the screw rod 803 is connected to the static platform 801 by a Hooke's hinge, the sleeve 804 is also connected to the dynamic platform 802 by a Hooke's hinge, the upper end of the screw rod 803 extends into the sleeve 804, and a hollow motor 805 is coaxially arranged at the lower end of the sleeve 804. The connection method of the hollow motor 805 and the sleeve 804 can be bolted, and a stop structure is arranged on the stator of the hollow motor 805 to position the sleeve 804 so that the sleeve 804 and the hollow motor 805 are coaxial, and then the sleeve 804 and the stator of the hollow motor 805 are connected by bolts. ; The middle part of the hollow motor 805 has a cavity for the screw rod 803 to pass through, and the cavity is coaxial with the cavity of the sleeve 804. The output end of the hollow motor 805 is provided with a nut 806, which is coaxially arranged with the hollow motor 805 and threadedly connected with the screw rod 803. The rotation of the output end of the hollow motor 805 drives the nut 806 to rotate, so that the screw rod 803 can move up and down relative to the sleeve 804, and finally the moving platform 802 can be tilted. The static platform 801 and the moving platform 802 are connected by at least three branch chains 810 to form a parallel structure, so that the moving platform 802 can be tilted at multiple angles, and then the second rotary wing 7 can be tilted at multiple angles.

[0028] In order to ensure the diversity of the tilting of the dynamic platform 802 and reduce the weight of the entire drone, further, see Figure 2 Each of the static platforms 801 is provided with three screw rods 803, and the screw rods 803 are hollow inside. The three screw rods 803 are arranged circumferentially along the axis of the second driving mechanism 6, and the three screw rods 803 are arranged in an equilateral triangle.

[0029] For further information, see Figure 3A constraint rod 10 is provided between the moving platform 802 and the static platform 801. The constraint rod 10 is coaxial with the second driving mechanism 6. The upper end of the constraint rod 10 is hinged to the moving platform 802 through a spherical joint 11, and the lower end of the constraint rod 10 is fixedly connected to the static platform 801. When the moving platform 802 rotates, the second driving mechanism 6 installed on the moving platform 802 will also rotate by the same angle. Since the center position of the lower end of the second driving mechanism 6 is connected to the upper end of the constraint rod 108 through the spherical joint 11, the center of the moving platform 802 remains unchanged.

[0030] In order to ensure the stability of the UAV's flight attitude, further, the axes of the two first rotors 4 and the four second rotors 7 are cocircular.

[0031] In order to limit the movement of the screw rod 803, further see Figure 4 The top of the screw rod 803 is provided with a limit head 807, and the limit head 807 is arranged inside the sleeve 804. The sleeve 804 is provided with a first limit block 808 and a second limit block 809, and the first limit block 808 is arranged above the limit head 807, and the second limit block 809 is arranged below the limit head 807. The first limit block 808 and the second limit block 809 are both annular, or the first limit block 808 is cylindrical, and the second limit block 809 is annular, and the limit head 807 passes through the second limit block 809 and enters the positioning space formed by the first limit block 808, the second limit block 809 and the sleeve 804, so that the limit head 807 can only move up and down in the limit space. This arrangement makes it easy to control the tilting angle of the second rotary wing 7, and will not cause the second rotary wing 7 to hit the fuselage 1 due to a large tilting angle.

[0032] In order to be able to control the tilt angle of the second rotary wing 7, further refer to Figure 4 , and also includes a control system, the control system includes a controller, a rotation signal receiver 12 is provided on the hollow motor 805, and the controller is in communication connection with the rotation signal receiver 12. When the drone needs to move forward, the controller sends a rotation signal to the rotation signal receiver 12, and the rotation signal receiver 12 controls the hollow motor 805 to rotate, thereby realizing the up and down movement of the screw rod 803 relative to the sleeve 804, and finally realizing the tilting of the second rotary wing 7 on the moving platform 802. At this time, the second rotary wing 7 only provides a vertical component force and a force in the forward direction.

[0033] In order to prevent the machine body 1 from directly contacting the ground when placed, further see Figure 1 A support frame 9 is provided at the bottom of the body 1.

[0034] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A parallel tilt-rotor UAV, comprising a body (1), the body (1) being provided with a balancing rotor arm (2), the balancing rotor arm (2) being provided with a first driving mechanism (3), the output end of the first driving mechanism (3) being arranged vertically, the output end of the first driving mechanism (3) being provided with a first rotating wing (4), characterized in that: The invention also comprises a tilt-rotor arm (5), wherein the tilt-rotor arm (5) is fixedly connected to the body (1), a second driving mechanism (6) is arranged at the end of the tilt-rotor arm (5), a second rotary wing (7) is arranged at the output end of the second driving mechanism (6), and a tilt mechanism (8) for driving the second rotary wing (7) to tilt is arranged at the end of the tilt-rotor arm (5).

2. A parallel tilt-rotor UAV according to claim 1, characterized in that: The tilting mechanism (8) comprises a static platform (801), a dynamic platform (802) is arranged above the static platform (801), the second driving mechanism (6) is arranged above the dynamic platform (802), the center line of the second driving mechanism (6) coincides with the center line of the dynamic platform (802), and at least three branch chains (810) arranged circumferentially along the axis of the second driving mechanism (6) are arranged on the upper surface of the static platform (801), each branch chain (810) comprises a screw rod (803), a sleeve (804) and a hollow motor (805), wherein the screw rod (803) is hinged to the upper surface of the static platform (801), the sleeve (804) is hinged to the lower surface of the dynamic platform (802) and is used in conjunction with the screw rod (803), the hollow motor (805) is coaxially arranged at the bottom end of the sleeve (804), a nut (806) is arranged at the output end of the hollow motor (805), and the screw rod (803) is threadedly connected to the nut (806).

3. A parallel tilt-rotor UAV as claimed in claim 2, characterized in that: The number of the balancing rotor arms (2) is two and symmetrically arranged on both sides of the body (1); the number of the tilting rotor arms (5) is four and symmetrically arranged on both sides of the balancing rotor arms (2).

4. A parallel tilt-rotor UAV as claimed in claim 3, characterized in that: Three screw rods (803) are arranged on each of the static platforms (801), and the interior of the screw rods (803) is hollow.

5. A parallel tilt-rotor UAV according to claim 4, characterized in that: A constraint rod (10) is provided between the moving platform (802) and the static platform (801); the constraint rod (10) is coaxial with the second driving mechanism (6); the upper end of the constraint rod (10) is hinged to the moving platform (802) via a spherical joint (11); and the lower end of the constraint rod (10) is fixedly connected to the static platform (801).

6. The parallel tilt-rotor UAV according to claim 3, characterized in that: The axes of the two first rotating wings (4) and the four second rotating wings (7) are cocircular.

7. The parallel tilt-rotor UAV according to claim 2, characterized in that: A limit head (807) is arranged at the top end of the screw rod (803), and the limit head (807) is arranged inside the sleeve (804). A first limit block (808) and a second limit block (809) are arranged inside the sleeve (804), and the first limit block (808) is arranged above the limit head (807), and the second limit block (809) is arranged below the limit head (807).

8. The parallel tilt-rotor UAV according to claim 2, characterized in that: It also includes a control system, which includes a controller. A rotation signal receiver (12) is provided on the hollow motor (805), and the controller is communicatively connected to the rotation signal receiver (12).

9. The parallel tilt-rotor UAV according to claim 1, characterized in that: A support frame (9) is provided at the bottom of the machine body (1).

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