Modular rotor system and universal multi-rotor system

Abstract

The invention provides a modular rotor system and a universal multi-rotor system, and the modular rotor system comprises: a body having a track; the mounting seat is mounted in a track of the machine body; the load measurement intercommunication module is used for measuring the load of the rotor modules, realizing intercommunication and driving signal release among the modules, realizing distributed solution and mutually coordinating motor output parameters; one end of the support arm is connected with the mounting seat; the rotor wing is connected with the other end of the support arm; modularized installation and maintenance of the rotors are achieved, unified supply is achieved, economical efficiency is improved, and meanwhile an adjustable bearing system is designed to form a universal multi-rotor system.

Description

Technical Field

[0001] The present application belongs to the technical field of modular aircraft and multi-rotor aircraft, and specifically relates to a modular rotor system and a universal multi-rotor system. Background Art

[0002] Multi-rotor drones are easy to use and have a wide range of applications. However, the rotors of current multi-rotor drones are not universal and cannot be replaced with standard-sized tires like cars, so their maintainability and economy are poor. In addition, when a motor of a common quad-rotor drone fails, the center of gravity cannot be balanced, causing the drone to crash. Therefore, there are problems such as poor universality, high difficulty in replacing and maintaining rotors, and high risk of motor failure.

[0003] At present, multi-rotor UAV products are all drones with a fixed number of rotors. The most common is the quad-rotor UAV, whose rotors and drive motors are fixedly installed on the fuselage, making replacement inconvenient. At the same time, the UAV lacks scalability, and cannot adjust the lift of the entire machine according to the size of the transported load, that is, adjust the number of rotors, and cannot make the transport weight range of the UAV wider. What's more serious is that when a drive motor or rotor fails, the originally balanced quadrilateral load-bearing mode becomes a half-triangular load-bearing mode. The original center of gravity of the entire machine is on one side of the triangle, and it is difficult to establish a new balance. When the motor overload capacity is limited, it is very easy to lose balance, resulting in a crash and secondary damage to the ground. Summary of the invention

[0004] Purpose of the invention: With the development of UAV design technology and new materials, the rotor can be installed and maintained in a modular manner, with unified supply and improved economy by designing a universal load-bearing / power supply / communication interface. At the same time, an adjustable load-bearing system is designed to form a universal multi-rotor system, which is convenient for adjusting the configuration according to the load magnitude, and the use of a universal rotor module is convenient for changing the magnitude of the aircraft; further, the universal rotor module will judge the danger according to the emergency situation of rotor failure, adjust the position distribution of the rotor in time, re-establish the balance of the entire UAV, and resolve the crash risk of traditional multi-rotor UAVs.

[0005] In a first aspect, the present application provides a modular rotor system, the modular rotor system comprising:

[0006] a body, having a track;

[0007] A mounting seat, mounted in the track of the machine body;

[0008] Load measurement interconnection module, used to measure the load of the rotor module and realize the interconnection and drive signal release between modules, and realize distributed solution and coordinate the motor output parameters;

[0009] A support arm, one end of which is connected to the mounting seat;

[0010] The rotor is connected to the other end of the support arm.

[0011] Preferably, the modular rotor system further comprises:

[0012] The position adjustment mechanism is used to adjust the position of the mounting seat in the track of the machine body.

[0013] Preferably, the modular rotor system further comprises:

[0014] The motor is used to drive the rotor to rotate.

[0015] Preferably, the modular rotor system further comprises:

[0016] A power supply module is connected to the motor, and the power supply module is used to supply power to the motor.

[0017] Preferably, the rotor comprises a plurality of blades, and the blades can be folded above the support arm and locked.

[0018] Preferably, the rotor comprises a universal rotor module;

[0019] Among them, the universal rotor module carries out information coordination through interactive communication. The information coordination mode is carried out through the self-testing load of the rotor module and the interconnection between modules. The module grouping confirmation is realized through the mutual communication and coordination of the self-testing load of the rotor module, and the collaborative configuration analysis is carried out. The load weight and position analysis is carried out according to the analysis results, and the optimal load distribution is realized according to the solution.

[0020] Preferably, when a universal rotor module fails, the blades of the failed rotor are folded onto the arm and locked through mutual coordination and resolution between modules, and the relative positions of the rotor modules are readjusted through the position adjustment mechanism to achieve a new balance.

[0021] In a second aspect, the present application also provides a universal multi-rotor system, wherein the universal multi-rotor system includes the modular rotor system as described above.

[0022] This application has the following technical effects:

[0023] The present invention enables modular installation and maintenance of rotors, unifies replenishment, and improves economy, and designs an adjustable bearing system to form a universal multi-rotor system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a modular rotor system configuration diagram provided in an embodiment of the present application;

[0025] Figure 2 This is a modular rotor body installation docking diagram provided in an embodiment of the present application;

[0026] Figure 3 This is a diagram of a general multi-rotor drone provided in an embodiment of the present application;

[0027] Figure 4 This is a schematic diagram of a general multi-rotor UAV self-processing of a rotor failure provided by an embodiment of the present application;

[0028] Figure 5 This is a flowchart of handling failure of a rotor of a general multi-rotor UAV provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] See also Figure 1-Figure 5 The present application provides a modular rotor system, the modular rotor system comprising:

[0030] a body, having a track;

[0031] A mounting seat, mounted in the track of the machine body;

[0032] Load measurement interconnection module, used to measure the load of the rotor module and realize the interconnection and drive signal release between modules, and realize distributed solution and coordinate the motor output parameters;

[0033] A support arm, one end of which is connected to the mounting seat;

[0034] The rotor is connected to the other end of the support arm.

[0035] Wherein, the modular rotor system further comprises:

[0036] The position adjustment mechanism is used to adjust the position of the mounting seat in the track of the machine body.

[0037] Wherein, the modular rotor system further comprises:

[0038] The motor is used to drive the rotor to rotate.

[0039] Wherein, the modular rotor system further comprises:

[0040] A power supply module is connected to the motor, and the power supply module is used to supply power to the motor.

[0041] Wherein, the rotor includes a plurality of blades, and the blades can be folded above the support arm and locked.

[0042] Wherein, the rotor comprises a universal rotor module;

[0043] Among them, the universal rotor module carries out information coordination through interactive communication. The information coordination mode is carried out through the self-testing load of the rotor module and the interconnection between modules. The module grouping confirmation is realized through the mutual communication and coordination of the self-testing load of the rotor module, and the collaborative configuration analysis is carried out. The load weight and position analysis is carried out according to the analysis results, and the optimal load distribution is realized according to the solution.

[0044] Among them, when a general rotor module fails, the blades of the faulty rotor are folded onto the arm and locked through mutual coordination and solution between modules, and the relative positions of the rotor modules are readjusted through the position adjustment mechanism to achieve a new balance.

[0045] The present invention enables modular installation and maintenance of rotors, unifies replenishment, and improves economy, and designs an adjustable bearing system to form a universal multi-rotor system.

[0046] In other embodiments of the present application, the present application also provides a universal multi-rotor system, and the universal multi-rotor system includes the modular rotor system as described above.

[0047] The present invention enables modular installation and maintenance of rotors, unifies replenishment, and improves economy, and designs an adjustable bearing system to form a universal multi-rotor system.

[0048] In other embodiments of this application, please refer to Figure 1 The present invention proposes a modular rotor system and a universal multi-rotor system, including a rotor 1, a motor 2, a support arm 3, a mounting seat 4, a body 5, a position adjustment mechanism 6, a load measurement interconnection module 7, and a power supply module 8.

[0049] Among them, the rotor 1 of the universal rotor module is connected to the mounting seat 4 through the support arm 3, and the mounting seat 4 is installed in the track 51 of the fuselage 5. The installation position adjustment along the track of the fuselage 5 is generated through the position adjustment mechanism 6 and the outer side of the track of the fuselage 5. The load of the rotor module is measured through the load measurement interconnection module 7, and the mutual connection and drive signal release between modules are realized, and distributed solution can be realized, and the motor output parameters can be coordinated with each other.

[0050] The blades of the rotor 1 can be folded above the support arm 3 and locked.

[0051] Furthermore, the universal rotor module can carry out information coordination through interactive communication. The information coordination mode can be carried out through the rotor module self-testing load and the interconnection between modules. The module grouping confirmation is realized through the mutual communication and coordination of the rotor module self-testing load, and the collaborative configuration analysis is carried out. The load weight and position analysis is carried out according to the analysis results, and the optimal load distribution is realized according to the solution.

[0052] Furthermore, when a general rotor module fails, the blades of the failed rotor can be folded onto the arm and locked through mutual coordination and resolution between modules, and the relative positions of the rotor modules can be readjusted through the position adjustment mechanism 6 to achieve a new balance. Compared with a fixed rotor position, the load can be evenly distributed, and it is not easy for the surrounding rotors to be overloaded or even crashed due to a rotor failure.

[0053] At the same time, the rotor position can be adjusted according to the offset of the center of gravity after loading to achieve uniform distribution of the load, thereby improving the UAV carrying effect.

[0054] In other embodiments of the present application, the present application provides a modular rotor system and a universal multi-rotor system, wherein the modular rotor system includes: a fuselage having a track; a mounting seat installed in the track of the fuselage; a load measurement interconnection module for measuring the load of the rotor module and realizing mutual interconnection and drive signal release between modules, and realizing distributed solution and mutual coordination of motor output parameters; an arm, one end of which is connected to the mounting seat; and a rotor connected to the other end of the arm.

[0055] The present invention enables modular installation and maintenance of rotors, unifies replenishment, and improves economy, and designs an adjustable bearing system to form a universal multi-rotor system.

[0056] In other embodiments of the present application, the present invention proposes a modular rotor system and a universal multi-rotor system, including a rotor 1, a drive motor 2, a support arm 3, a mounting seat 4, a body 5, a position adjustment device 6, a load measurement interconnection module 7, and a power transmission module 8. The edge of the body 5 has a circular mounting track 51 opposite to each other, the mounting seat 4 of the modular rotor is installed on the track 51, and a power supply ring 58 is provided on the inner side of 51 corresponding to the power transmission module 8.

[0057] The rotor 1 of the universal rotor module is installed on the driving motor 2, and the rotor 1 has the function of folding the blades to the attachment of the support arm 3 for locking and storage through the driving mechanism; the rotor 1 and the driving motor 2 are installed on the support arm 3 and are connected to the mounting seat 4 through the support arm 3, and the mounting seat 4 is installed in the mounting track 51 of the body 5 in a chimeric manner, and the mounting seat 4 contacts the outer side of the circular mounting track 51 of the body 5 through the position adjustment device 6; the position adjustment device 6 can drive the mounting seat 4 to produce a circumferential position adjustment along the track of the body 5; the load measurement interconnection module 7 is installed at the pressure-bearing position directly opposite the mounting track 51, and detects the pressure load and bending moment load of the rotor module through the upper and lower measurement sensors, and can realize the mutual connection between modules and the communication with the body 5; the power transmission module 8 is in contact with the power supply ring 58 of the body 5 to realize the transmission of power from the body to the driving motor.

[0058] Furthermore, the universal rotor module can carry out information coordination through the unified scheduling of the fuselage. The information coordination mode can be carried out through the self-testing load of the rotor module and the interconnection between the module and the fuselage. The module grouping can be confirmed through the installation orientation of the rotor module and the communication coordination of the measured load. The rotor module grouping configuration can be confirmed, and the phase arrangement error correction analysis of the rotor rotation direction can be performed to remind the user to confirm the installation position and readjust it.

[0059] Furthermore, the fuselage performs load weight and position analysis based on the load measurements of each rotor module. In the event that the load center of gravity deviates from the fuselage center, the load can be calculated based on the load conditions, and the rotor position can be adjusted to achieve optimal load distribution, so that the overall rotor module is loaded evenly and the lift center and center of gravity remain consistent.

[0060] Furthermore, when a rotor module fails, the blades of the faulty rotor can be folded onto the arm and locked through coordination between the fuselage and the rotor module, and the relative positions of the rotor modules can be readjusted through the position adjustment device, and the peripheral rotors can be adjusted toward the circumferential position of the faulty rotor to achieve rebalancing of the load of the entire UAV, and the user can be notified of the special situation of a rotor failure encountered by the UAV, and the fault has been successfully resolved. At the same time, the estimated available flight time is updated so that the user can handle it flexibly according to the situation. Compared with fixed rotor positions, the modular rotors and universal multi-rotor UAVs of the present invention can reconfigure the load-bearing capacity of the rotors, and are not prone to overload or even crash of peripheral rotors due to a rotor failure, thereby protecting the safety of the UAV and the ground.

[0061] The present invention realizes modular installation and maintenance of rotors, unifies rotor modules, and improves manufacturing economy; at the same time, an adjustable load-bearing system is designed to form a universal multi-rotor system, which is convenient for configuration adjustment according to the load magnitude, and the use of universal rotor modules is convenient for changing the magnitude of the aircraft; further, the universal rotor module will judge the danger according to the emergency situation of rotor failure, adjust the position distribution of the rotor in time, re-establish the balance of the entire UAV, and eliminate the crash risk of traditional multi-rotor UAVs.

Claims

1. A modular rotor system, characterized in that: The modular rotor system comprises: a body, having a track; A mounting seat, mounted in the track of the machine body; Load measurement interconnection module, used to measure the load of the rotor module and realize the interconnection and drive signal release between modules, and realize distributed solution and coordinate the motor output parameters; A support arm, one end of which is connected to the mounting seat; A rotor is connected to the other end of the support arm.

2. The modular rotor system according to claim 1, characterized in that: The modular rotor system further comprises: The position adjustment mechanism is used to adjust the position of the mounting seat in the track of the machine body.

3. The modular rotor system according to claim 1, characterized in that: The modular rotor system further comprises: The motor is used to drive the rotor to rotate.

4. The modular rotor system according to claim 3, characterized in that: The modular rotor system further comprises: A power supply module is connected to the motor, and the power supply module is used to supply power to the motor.

5. The modular rotor system according to claim 1, characterized in that: The rotor includes a plurality of blades, and the blades can be folded above the support arm and locked.

6. The modular rotor system according to claim 5, characterized in that: The rotor includes a universal rotor module; Among them, the universal rotor module carries out information coordination through interactive communication. The information coordination mode is carried out through the self-testing load of the rotor module and the interconnection between modules. The module grouping confirmation is realized through the mutual communication and coordination of the self-testing load of the rotor module, and the collaborative configuration analysis is carried out. The load weight and position analysis is carried out according to the analysis results, and the optimal load distribution is realized according to the solution.

7. The modular rotor system according to claim 6, characterized in that: When a universal rotor module fails, the blades of the faulty rotor are folded onto the arm and locked through mutual coordination and resolution between modules, and the relative positions of the rotor modules are readjusted through the position adjustment mechanism to achieve a new balance.

8. A universal multi-rotor system, characterized in that: The universal multi-rotor system includes a modular rotor system as described in any one of claims 1-7.

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