Compact-layout tubular folding unmanned helicopter

Abstract

A compact layout folding unmanned helicopter is characterized in that a flight control module is responsible for stability of an aircraft in folding and unfolding processes, and flight control of the aircraft in different directions is realized through variable pitch control rotors and tail rotors; rotors of the power modules are driven by motors to rotate around hollow spindles to provide lift force for the aircraft, and tail rotors are driven by the motors to provide yaw moment. The sensor module is used for sensing information such as position, speed and attitude of the aircraft; the ejection module is used for loading the unmanned helicopter and ejecting the unmanned helicopter from a launch canister to realize rapid deployment so as to form all-directional coverage and efficient coping capacity to the surrounding environment; the load module can be provided with detection equipment, weapons, food, drugs and the like according to different requirements of flight missions. According to the unmanned helicopter, through flexible folding of the rotors and the tail rotors, storage of the tubular fuselage is achieved, and the storage and transportation cost of the unmanned helicopter is reduced; rapid catapult-assisted take-off can be achieved through the gunpowder launching device, and the rapid deployment capacity and maneuverability of the unmanned helicopter are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned helicopters, and in particular relates to a compact-layout tubular folding unmanned helicopter. Background Art

[0002] Compared with manned aircraft, unmanned helicopters have higher maneuverability, lower maintenance costs, and stronger environmental adaptability; compared with fixed-wing drones, they have the characteristics of vertical take-off and landing, hovering in the air, and flying in any direction. They are widely used in aerial photography, agricultural plant protection, logistics and transportation, reconnaissance and detection, combat strikes, etc. In combat, unmanned helicopters need to take off quickly to quickly adapt to the battlefield environment, and the rotors and tail rotors of unmanned helicopters will increase the size and space requirements, which will bring inconvenience to storage and transportation.

[0003] Therefore, a compact tubular folding unmanned helicopter is invented. The rotor and tail rotor of the tubular unmanned helicopter are folded and placed in a launching tube, which is then launched by gunpowder and transported to the target area. After the rotor and tail rotor are unfolded, relevant mission operations can be carried out in the designated area. Summary of the invention

[0004] In view of the technical problems mentioned in the above background, the purpose of the present invention is to provide a compact tubular folding unmanned helicopter. The double-folding layout of the rotor and the tail rotor solves the problem that the unmanned helicopter is large in size and difficult to store and transport. The gunpowder catapult take-off improves the take-off speed and battlefield adaptability of the unmanned helicopter.

[0005] To achieve the above objectives, the technical solution of the present invention is: A compact layout tubular folding unmanned helicopter, specifically comprising: Flight control module: used to control the flight status of the foldable unmanned helicopter; Power module: used to provide power for the foldable unmanned helicopter; Sensor module: used to sense the state parameters of the folding unmanned helicopter; Ejection module: used to launch the foldable unmanned helicopter; Payload module: used to attach the load using the foldable unmanned helicopter.

[0006] Preferably, the flight control module of the present invention comprises: an attitude control unit, an altitude control unit, a speed control unit, and a position control unit; the flight control module comprises: an attitude control unit, an altitude control unit, a speed control unit, and a position control unit; the attitude control unit is used to ensure the attitude stability of the unmanned helicopter, and ensure that the aircraft maintains the required direction during folding, unfolding, take-off, etc.; the altitude control unit is used to maintain the altitude of the unmanned helicopter, especially to ensure the stability of the altitude change of the aircraft during folding and unfolding; the speed control unit is used to control the flight speed of the unmanned helicopter, so as to ensure that the speed of the aircraft changes smoothly during folding and unfolding, and stable and fast flight during the execution of the mission; the position control unit is used to ensure the position stability and trajectory planning flight capability of the unmanned helicopter during flight; Preferably, the power module of the present invention comprises: a rotor, a tail rotor, a rotor motor, a tail rotor motor, a pitch-changing mechanism and a hollow main shaft; the rotor motor and the tail rotor motor are respectively fixed below the hollow main shaft and on the left side of the tail beam, the rotor and the tail rotor are respectively fixed above the hollow main shaft and on the left side of the tail rotor motor, the rotor motor and the tail rotor motor can respectively drive the rotor and the tail rotor to rotate around the hollow main shaft and the tail rotor shaft, the pitch-changing mechanism is connected to the lower end of the rotor, and the pitch-changing control of the rotor is achieved through the pitch-changing pull rod; the rotor and the tail rotor are provided with a torsion spring folding mechanism, the rotor can be folded downward, and the tail rotor tail beam can be folded upward, so that it is easy to carry and catapult take-off; Preferably, the sensor module of the present invention comprises: a GPS receiver, an accelerometer, a gyroscope, a magnetometer, a laser altimeter, and a pitot tube; the GPS receiver, accelerometer, gyroscope, and magnetometer are integrated in a combined navigator, which is installed on the top of the propeller hub and is used to measure the position, speed, and attitude information of the unmanned helicopter in real time; the laser altimeter is installed under the fuselage and is used to measure the relative height of the unmanned helicopter to ensure its safe take-off and landing; the pitot tube is installed in the middle of the fuselage and faces forward, and is used to measure the speed of the unmanned helicopter relative to the air when flying to ensure its stable flight speed; Preferably, the ejection module of the present invention comprises: a launch tube and gunpowder; the gunpowder in the launch tube is used as a power source, and the tubular folding unmanned helicopter is ejected from the tube at high speed when taking off, giving it a large initial velocity and precise flight direction, which can greatly improve the deployment capability of the aircraft; Preferably, the payload module of the present invention can be loaded with different mission payloads according to the difference of flight missions. The bottom of the fuselage has a power supply interface for powering detection equipment such as cameras, and is connected to the flight control system through a communication data link.

[0007] Preferably, the rotor blades of the present invention are connected to the hub via a blade clamp and a torsion spring, so that the rotor can be folded downward and close to the tubular body to reduce the size of the unmanned helicopter; the tail boom of the tail rotor is connected to the body via a torsion spring, so that the tail boom of the tail rotor can be folded upward to reduce the size of the unmanned helicopter.

[0008] Preferably, the tubular folding unmanned helicopter of the present invention can be launched from a launching tube by gunpowder, so that the aircraft can take off at high speed and be deployed quickly.

[0009] Preferably, the tubular folding unmanned helicopter of the present invention can select different loads to be mounted according to mission requirements to achieve multi-scenario application.

[0010] The beneficial effects of the present invention are: A compact tubular folding unmanned helicopter can reduce the size of the fuselage by folding the rotor and tail rotor, thereby reducing storage and transportation costs. It has a compact layout and can be folded and placed in a launch tube. It uses gunpowder ejection to transport it to the target area, and can achieve high-speed take-off and rapid deployment. The mounted payload can be flexibly configured according to the mission to achieve multi-scenario application. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic diagram of the full machine deployment model of the present invention; Figure 2 This is a schematic diagram of the folding model of the whole machine of the present invention; Figure 3 This is a schematic diagram of the initial state of ejection of the present invention; Figure 4 It is a schematic diagram of the ejection process of the present invention; Figure 5 It is a schematic diagram of the propeller hub of the present invention; Figure 6 It is a schematic diagram of the tubular fuselage and foldable tail rotor of the present invention.

[0012] Among them, 1. blade, 2. blade clamp, 3. pitch shaft support, 4. dual rotor fixing seat, 5. GPS equipment, 6. tail rotor, 7. rotor shaft, 8. hollow column, 9. tail rotor support arm, 10. flange, 11. rotor motor, 12. fuselage motor tail rotor support arm connecting frame, 13. tubular fuselage, 14. tail rotor motor, 15. tail rotor motor support, 16. ejection tube, 17 is an airtight chamber, 18. ejection initial state, 1 9. Ejection execution status, 20. Ejection completion status, 21. Pitch rocker, 22. Ball head buckle, 23. Double rotor connecting rod, 24. Pitch control arm, 25. Pitch connecting rod, 26. Servo connecting rod, 27. Rotating tilt plate, 28. Fixed tilt plate, 29. Servo, 30. Servo clamp, 31. Servo rocker arm, 32. Flight control computer, 33. Receiver equipment, 34. Combined navigator, 35. Data transmission equipment. DETAILED DESCRIPTION

[0013] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. 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.

[0014] The technical solution provided by the embodiments of the present invention is described in detail below with reference to the accompanying drawings.

[0015] See also Figures 1 to 6 As shown, a compact layout tubular folding unmanned helicopter according to an embodiment of the present invention comprises: Flight control module: used to control the flight status of the foldable unmanned helicopter; Power module: used to provide power for the foldable unmanned helicopter; Sensor module: used to sense the state parameters of the folding unmanned helicopter; Ejection module: used to launch the foldable unmanned helicopter; Payload module: used to attach the load using the foldable unmanned helicopter.

[0016] like Figure 5 , Figure 6 As shown, the flight control module of the present invention mainly includes: a servo rocker arm 31, a servo connecting rod 26, a ball head buckle 22, and a flight control computer 32. The signal line is connected to the flight control computer through a hollow column 8. The servo 29 is installed between the servo clamps 30 and is connected to the servo rocker arm 31. It can control the swing of the servo rocker arm 31 after receiving the control signal transmitted by the flight control computer 32. The rocker arm is connected to the servo pull rod 26 through the ball head buckle 22, and can pull the servo pull rod 26 to control the tilt of the fixed tilt plate 28 to achieve the lateral and longitudinal torque conversion movement of the UAV; the rotor motor 11 is installed on the fuselage motor tail rotor arm connecting frame 12 and is connected to the rotor shaft 7 through the flange 10; the flight control computer 32 is installed on the upper plate of the tubular fuselage 13, and calculates the state signal fed back by the signal line to generate instructions and transmit them to the servo 29 and the rotor motor 11; the data transmission device 35 and the receiver device 33 are installed on the upper plate of the tubular fuselage 13, and are used to receive ground station signals and remote control signals, and then the flight control computer 32 transmits the control signals to the rotor motor 11 and the servo 29.

[0017] like Figure 1As shown, the power module of the present invention, the rotor motor 11 of the power module is fixed on the fuselage motor tail rotor arm connecting frame 12, the rotor shaft 7 is bolted to the rotor motor 11 through the flange 10, the steering gear clamp 30 is connected to the rotor shaft 7 with a bearing, the steering gear clamp 30 is connected to the rotating swash plate 27 through a ball joint bearing, the rotor shaft 7 is bolted to the double rotor fixing seat 4, the rotor shaft 7 drives the torque shaft support 3 to rotate, the rotor shaft 7 and the torque shaft support 3 are bolted to the shaft and the bearing, the torque shaft support 3 and the torque rocker arm 21 are bolted to the torque rocker arm 21, the torque rocker arm 21 is connected to the rotating swash plate 27 through the ball head buckle 22 and the double rotor connecting rod 23, so as to realize the periodic pitch change motion of the blade 1, and the double rotor fixing seat 4 is connected to the rotating swash plate 27 through the pitch change control arm 24 and the pitch change connecting rod 25. The pitch shaft support 3 is connected to the blade clamp 2 by shaft and bearing bolts, and folding 90° is achieved by torsion spring. The tail rotor power system includes a tail rotor motor 14, a tail rotor 6, a tail rotor motor support 15 and a tail rotor arm 9. The tail rotor arm 9 is connected to the fuselage motor tail rotor arm connecting frame 12 by shaft, bearing and torsion spring, and can be folded 90°. The motor support 15 and the tail rotor arm 9 are connected by bolts, and the tail rotor motor support 15 and the tail rotor motor 14 are connected by bolt holes. The tail rotor arm 9 is a hollow shaft, and the signal line and the power line can pass through the tail rotor arm 9 to connect to the flight control computer 32.

[0018] like Figure 5 , Figure 6 As shown, the hardware module of the present invention, the GPS device 5, the receiver device 33, the data transmission device 35, the integrated navigator 34 and the flight control computer 32 of the hardware module are installed on the upper plate of the tubular fuselage 13 and are fastened together by bolts.

[0019] like Figure 1 , 2 As shown in FIGS. 3 and 4 , in the ejection module of the present invention, the tubular fuselage 13 can be installed in the launching tube 16 of the ejection module, and the gunpowder or ejection device is placed in the airtight chamber 17 to provide take-off power to the unmanned helicopter.

[0020] The implementation process of the present invention is divided into three parts: Figure 4 As shown in the left side view, the compact layout tubular folding unmanned helicopter is placed in the ejection tube with an existing ejection mechanism or ejection explosive, and the ejection device is ready to be activated. At this time, the compact layout tubular folding unmanned helicopter is in a folded state, with the double rotors folded and the tail rotor parts folded. The inner wall of the ejection tube provides the reaction force generated by the balanced torsion spring. The ejection mechanism is activated, and the compact layout tubular folding unmanned helicopter pops out of the ejection tube. Figure 4 As shown in the middle position view, since the ejection tube no longer provides the reaction force generated by the balancing torsion spring, the compactly arranged tubular folding unmanned helicopter's twin rotors and tail rotor are unfolded. At this time, the flight control system controls the motor to drive the rotor shaft to rotate, and the tail rotor motor starts at the same time. Figure 4 As shown in the right side view, the compact tubular folding unmanned helicopter leaves the ejection tube and flies according to the set mission.

Claims

1. A compact layout tubular folding unmanned helicopter, characterized in that: Specifically include: Flight control module: used to control the flight status of the foldable unmanned helicopter; Power module: used to provide power for the foldable unmanned helicopter; Sensor module: used to sense the state parameters of the folding unmanned helicopter; Ejection module: used to launch the foldable unmanned helicopter; Payload module: used to attach the load using the foldable unmanned helicopter.

2. A compact layout tubular folding unmanned helicopter according to claim 1, characterized in that: The flight control module includes an attitude control unit, an altitude control unit, a speed control unit, and a position control unit; The attitude control unit is used to ensure the attitude stability of the unmanned helicopter and ensure that the aircraft maintains the required direction during folding, unfolding, and take-off; An altitude control unit is used to maintain the altitude of the unmanned helicopter, especially to ensure the stability of the altitude change of the aircraft during folding and unfolding; The speed control unit is used to control the flight speed of the unmanned helicopter to ensure smooth speed changes during folding and unfolding of the aircraft, and stable and fast flight during mission execution; The position control unit is used to ensure the position stability and trajectory planning flight capability of the unmanned helicopter during flight.

3. The compact layout tubular folding unmanned helicopter according to claim 1, characterized in that: The power module includes a rotor, a tail rotor, a rotor motor, a tail rotor motor, a pitch-changing mechanism and a hollow main shaft; The rotor is connected to the propeller clamp through a torsion spring, and the propeller clamp is fixed to the propeller hub. When stored, the rotor is folded down close to the fuselage through the torsion spring to reduce the size of the fuselage; The tail rotor is connected to the tail boom, which is connected to the fuselage via a torsion spring. When stored, the tail boom can be folded up close to the fuselage via the torsion spring to reduce the size of the fuselage. The rotor motor is used to drive the rotor to rotate and provide lift for the aircraft; The tail rotor motor is used to drive the tail rotor to rotate, and the force generated by the tail rotor is used to balance the anti-torque; The pitch-changing mechanism is used to change the rotor's collective pitch, lateral cyclic pitch, and longitudinal cyclic pitch to achieve vertical, lateral, and longitudinal control of the unmanned helicopter; The upper and lower ends of the hollow main shaft are respectively connected to the rotor and the motor to ensure that the motor drives the rotor to rotate stably.

4. The compact layout tubular folding unmanned helicopter according to claim 1, characterized in that: The sensor module includes a GPS receiver, an accelerometer, a gyroscope, a laser altimeter, and a pitot tube; The GPS receiver is used to obtain the global positioning system signal and provide accurate positioning information of the unmanned helicopter; The accelerometer is used to measure the linear acceleration of the unmanned helicopter and to calculate the acceleration and lateral and longitudinal attitude angles of the aircraft; The gyroscope is used to measure the angular velocity of the unmanned helicopter and provide information on the attitude change of the aircraft; The magnetometer is used to detect the earth's magnetic field and provide heading information for the unmanned helicopter; The laser altimeter is used to detect the relative height of the unmanned helicopter and provide the distance of the drone relative to the ground.

5. The compact layout tubular folding unmanned helicopter according to claim 1, characterized in that: The ejection module includes a launch tube and gunpowder; the launch tube is used to load the tubular body, and the gunpowder is used to provide kinetic energy for the unmanned helicopter to launch and take off, giving the aircraft a larger initial take-off speed and precise flight direction, enabling the aircraft to quickly reach the target area and adapt to the battlefield environment.

6. The compact layout tubular folding unmanned helicopter according to claim 1, characterized in that: The payload module adjusts the payload type and installation position according to mission requirements; when carrying detection equipment, the unmanned helicopter is used to perform detection missions; when carrying weapons, the unmanned helicopter is used to perform fixed-point strike missions; when carrying food and medicines, the unmanned helicopter is used to perform transportation and rescue missions.

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