Seesaw type three-rotor unmanned aerial vehicle
By designing a seesaw tri-rotor drone, using technical means such as cross body structure and center of gravity adjustment mechanism, the problem of rotor coupling and center of gravity matching of the triple-rotor drone is solved, and higher flight stability and control are achieved Accuracy.
Patent Information
- Application Number
- CN202411606086.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-12
- Publication Date
- 2025-02-14
AI Technical Summary
Due to the difficulty of coupling the rotors and matching the center of gravity of the three-rotor drones, the control complexity and flight stability are poor.
Design a seesaw tri-rotor UAV with a cross-type body structure, including a center of gravity adjustment mechanism, main lift rotor, negative lift rotor and negative lift rotor steering mechanism. Through the synergy of these components, pitch, roll and heading are achieved. Decoupling of control.
It effectively reduces the control difficulty of the tri-rotor drone, improves flight stability and control accuracy, simplifies control logic, and ensures that the drone maintains a stable attitude under various flight conditions.
Smart Images
Figure CN119429246A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a seesaw type three-rotor unmanned aerial vehicle. Background Art
[0002] Quad-rotor drones have been widely used in many fields due to their simple structure, flexible operation, vertical take-off and landing, and other advantages. They are the most common type of existing technology. Although the quad-rotor design provides higher flight stability and control flexibility, it also brings the problem of high cost. The more rotors there are, the higher the cost of key components such as motors, electric regulators, and rotors.
[0003] In order to overcome the cost problem, three-rotor drones, as a solution with a reduced number of rotors, have significant cost advantages. However, this simplification also brings new technical challenges in maintaining flight stability and control accuracy of drones.
[0004] For tri-rotor drones, due to their structural characteristics and flight principles, the control of pitch, roll and heading often has a certain coupling relationship. That is, the control action in one direction may affect the control effect in other directions. This coupling relationship increases the complexity and difficulty of control.
[0005] The flight stability of a three-rotor drone depends largely on the position of its center of gravity. Due to the complex and compact structure of a three-rotor drone, it is usually very difficult to adjust its center of gravity. In addition, the center of gravity of a three-rotor drone is closely related to the coupling relationship between the rotors. When the center of gravity changes, the relative position and angle relationship between the rotors may change, further exacerbating the coupling effect between the rotors and making it more difficult to coordinate the center of gravity. Summary of the invention
[0006] The present invention provides a seesaw type three-rotor UAV, which solves the problems of mutual coupling of rotors and difficulty in center of gravity coordination of the three-rotor UAV in the related art.
[0007] In order to achieve the above objectives, this application adopts the following technical solutions:
[0008] Provided is a seesaw type three-rotor drone, comprising:
[0009] The cross-shaped body is used to form the main support structure of the UAV; the cross-shaped body includes a first arm, a second arm, a third arm and a fourth arm which are integrally formed and have axes intersecting at one point;
[0010] The end of the first arm is provided with a center of gravity adjustment mechanism for dynamically adjusting the center of gravity position of the body; the end of the second arm is provided with a first main lift rotor for providing lift; the end of the fourth arm is provided with a second main lift rotor for cooperating with the first main lift rotor to provide lift; the end of the third arm is provided with a negative lift rotor and a negative lift rotor steering mechanism for providing pulling force, and cooperating with the center of gravity adjustment mechanism, the first main lift rotor and the second main lift rotor to control the pitch and heading of the UAV;
[0011] Among them, the second arm and the first main lift rotor and the fourth arm and the second main lift rotor are symmetrically arranged with the intersection of the axes as the center, and the equivalent lift centers of the first main lift rotor and the second main lift rotor form a seesaw fulcrum; the center of gravity adjustment mechanism and the equivalent lift center of the negative lift rotor and the seesaw fulcrum are located in the same vertical plane.
[0012] In a first possible implementation, the center of gravity adjustment mechanism includes a rocker-pressure balance body, a connecting rod, and a balance body adjuster, and the balance body adjuster realizes six-degree-of-freedom motion adjustment of the center of gravity of the rocker-pressure balance body.
[0013] Based on the first possible implementation, in a second possible implementation, the rocker-pressure balance body is configured as a sphere with a set weight, the balance body adjuster is configured as a joint with at least two degrees of freedom, the rocker-pressure balance body is fixedly connected to one end of the connecting rod, and the other end of the connecting rod is hingedly connected to the balance body adjuster, so that the rocker-pressure balance body and the connecting rod have vertical degrees of freedom; the balance body adjuster is rotatably connected to the end of the first arm, so that the rocker-pressure balance body and the connecting rod have axial degrees of freedom.
[0014] Based on any possible implementation method, in a third possible implementation method, the end of the second arm is also provided with a first main lift rotor steering mechanism used in conjunction with the first main lift rotor; the end of the fourth arm is also provided with a second main lift rotor steering mechanism used in conjunction with the second main lift rotor.
[0015] Based on any possible implementation, in a fourth possible implementation, the cross-shaped body is configured as a rigid frame structure.
[0016] Based on any possible implementation, in a fifth possible implementation, a tripod is provided on one side of the cross-shaped body close to the ground, and the tripod includes two arc-shaped plates arranged back to back, which are used to directly contact the ground to form a stable landing support.
[0017] The three-rotor drone of the present application has a reduced number of rotors, a simpler structure, reduced number and complexity of mechanical parts, reduced design and manufacturing difficulty, and lower overall cost. The decoupling of the pitch, roll and heading control of the three-rotor drone is achieved by designing a center of gravity adjustment mechanism, a negative lift rotor and a negative lift rotor steering mechanism, which effectively reduces the control difficulty of the three-rotor drone. Each control channel can be adjusted independently, which reduces the complexity of the control system and improves the control accuracy; it can effectively deal with the center of gravity shift caused by attitude changes, load changes, etc. during flight, simplifies the control logic, and ensures that the drone can maintain a stable attitude under various flight conditions through precise center of gravity control, thereby improving flight stability and safety. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 A stereoscopic diagram of a seesaw-type three-rotor drone provided in an embodiment of the present application.
[0019] Reference numerals:
[0020] A cross-shaped body 1; a first arm 11, a second arm 12, a third arm 13; a fourth arm 14; a seesaw balance body 21; a connecting rod 22; a balance body regulator 23; a first main lift rotor 3; a second main lift rotor 4; a negative lift rotor 5; a negative lift rotor steering mechanism 6; a seesaw fulcrum 7; a first main lift rotor steering mechanism 8; a second main lift rotor steering mechanism 9; and a tripod 10. DETAILED DESCRIPTION
[0021] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose, the technical solutions in the embodiments of the present application are clearly described. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present application.
[0022] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.
[0023] The description of the method flow in the specification of the present application and the steps of the flowchart in the drawings of the present specification do not have to be strictly executed according to the step numbers, and the method steps can be executed in a different order. Moreover, some steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps.
[0024] The seesaw-type three-rotor drone provided in the embodiment of the present application is described in detail below in conjunction with the accompanying drawings and preferred embodiments.
[0025] First, the application scenarios of the seesaw-type three-rotor drone in the embodiment of the present application are described in detail.
[0026] Compared with quad-rotor or multi-rotor designs, the most notable feature of tri-rotor drones is the reduction in the number of rotors, which directly leads to cost reduction. However, this simplification also increases the complexity of the design accordingly, because it is more challenging to maintain flight stability. Specifically, tri-rotor drones have more stringent requirements on the precise control of the center of gravity of the body and the high degree of coordination between the rotors. These factors together constitute the technical difficulties in the design and manufacturing process, making the research and development and production thresholds of tri-rotor drones relatively high.
[0027] The problems of mutual coupling of the rotors and the difficulty in coordinating the center of gravity of three-rotor UAVs are determined by their structural characteristics and flight principles. In order to overcome the problems of mutual coupling of the rotors and the difficulty in coordinating the center of gravity of three-rotor UAVs, the present application provides a seesaw-type three-rotor UAV, which aims to design a three-rotor UAV using a negative lift rotor and a center of gravity adjustment mechanism, optimizes the control logic through structural design, realizes the decoupling of the pitch, roll and heading control of the three-rotor UAV, reduces the control difficulty, and improves the flight stability and control accuracy.
[0028] See also Figure 1 , the present application embodiment provides a seesaw type three-rotor drone, such as Figure 1 As shown, the recommended method of the embodiment of the present application includes:
[0029] The cross-shaped body 1 is used to form the main support structure of the drone; the cross-shaped body 1 includes a first arm 11, a second arm 12, a third arm 13 and a fourth arm 14 which are integrally formed and have axes intersecting at one point;
[0030] A center of gravity adjustment mechanism is provided at the end of the first arm 11 for dynamically adjusting the center of gravity position of the body; a first main lift rotor 3 is provided at the end of the second arm 12 for providing lift; a second main lift rotor 4 is provided at the end of the fourth arm 14 for cooperating with the first main lift rotor 3 to provide lift; a negative lift rotor 5 and a negative lift rotor steering mechanism 6 are provided at the end of the third arm 13 for providing pulling force and cooperating with the center of gravity adjustment mechanism, the first main lift rotor 3 and the second main lift rotor 4 to control the pitch and heading of the UAV;
[0031] Among them, the second arm 12 and the first main lift rotor 3 and the fourth arm 14 and the second main lift rotor 4 are symmetrically arranged with the intersection of the axes as the center, and the equivalent lift centers of the first main lift rotor 3 and the second main lift rotor 4 form a seesaw fulcrum 7; the center of gravity adjustment mechanism and the equivalent lift center of the negative lift rotor 5 and the seesaw fulcrum 7 are located in the same vertical plane.
[0032] Furthermore, the center of gravity adjustment mechanism includes a rocker-pressure balance body 21, a connecting rod 22, and a balance body regulator 23. The rocker-pressure balance body 21 can be configured as a sphere with a set weight, and the balance body regulator 23 is configured as a joint with at least two degrees of freedom. The rocker-pressure balance body 21 is fixedly connected to one end of the connecting rod 22, and the other end of the connecting rod 22 is hingedly connected to the balance body regulator 23, so that the rocker-pressure balance body 21 and the connecting rod 22 have vertical degrees of freedom; the balance body regulator 23 is rotatably connected to the end of the first arm 11, so that the rocker-pressure balance body 21 and the connecting rod 22 have axial degrees of freedom. In other words, the balance body regulator 23 can realize six degrees of freedom of motion adjustment of the center of gravity of the rocker-pressure balance body 21.
[0033] In the specific implementation process, the balance body regulator 23 is defined as the nose of the aircraft, the negative lift rotor 5 is defined as the tail of the aircraft, and the viewing angle is from the tail to the nose of the aircraft.
[0034] When the three-rotor drone of the present application is in a balanced state, the lift of the first main lift rotor 3 (left rotor) and the second main lift rotor 4 (right rotor) are the same, so that the roll channel is balanced; the balance body regulator 23 adjusts the center of gravity of the seesaw balance body 21 to produce a seesaw balance effect relative to the seesaw fulcrum 7 and the negative lift rotor 5, thereby achieving pitch channel balance; the negative lift rotor steering mechanism 6 controls the pulling direction of the negative lift rotor 5 vertically downward, thereby achieving heading channel balance.
[0035] The three-rotor drone of the present application produces a pitching action process: the balance body regulator 23 moves the center of gravity of the rocker-pressure balance body 21 forward, and at the same time reduces the rotation speed of the negative lift rotor 5, so that the drone makes a head-down action; the balance body regulator 23 moves the center of gravity of the rocker-pressure balance body 21 backward, and at the same time increases the rotation speed of the negative lift rotor 5, so that the drone makes a head-up action.
[0036] The three-rotor UAV of the present application generates a rolling action process: increasing the rotation speed of the first main lift rotor 3 (left rotor) and reducing the rotation speed of the second main lift rotor 4 (right rotor), and the three-rotor UAV makes a rolling action to the right; reducing the rotation speed of the first main lift rotor 3 (left rotor) and increasing the rotation speed of the second main lift rotor 4 (right rotor), and the three-rotor UAV makes a rolling action to the left.
[0037] The heading change action process of the three-rotor UAV of the present application is as follows: the negative lift rotor steering mechanism 6 rotates the negative lift rotor 5 to the right, and the three-rotor UAV will make a clockwise heading movement; the negative lift rotor steering mechanism 6 rotates the negative lift rotor 5 to the left, and the three-rotor UAV will make a counterclockwise heading movement.
[0038] In some possible implementations, a first main lift rotor steering mechanism 8 used in conjunction with the first main lift rotor 3 is further provided at the end of the second arm 12; a second main lift rotor steering mechanism 9 used in conjunction with the second main lift rotor 4 is further provided at the end of the fourth arm 14. By respectively controlling the lift directions of the first main lift rotor 3 and the second main lift rotor 4, more flexible flight control is achieved.
[0039] In some possible implementations, the cross-shaped body 1 is configured as a rigid frame structure and is made of light and high-strength material.
[0040] In some possible implementations, a tripod 10 is disposed on one side of the cross-shaped body 1 close to the ground. The tripod 10 includes two arc-shaped plates disposed back to back and configured to directly contact the ground to form a stable landing support.
[0041] Based on the above technical solution, this application has the following technical effects and advantages:
[0042] The three-rotor drone of the present application has a reduced number of rotors, a simpler structure, reduced number and complexity of mechanical parts, reduced difficulty in design and manufacturing, and lower overall cost.
[0043] The present application realizes the decoupling of the pitch, roll and heading control of the three-rotor UAV by designing the rocker-pressure balance body 21, the balance body regulator 23, the negative lift rotor 5 and the negative lift rotor steering mechanism 6, effectively reducing the control difficulty of the three-rotor UAV. Each control channel can be adjusted independently, reducing the complexity of the control system and improving the control accuracy.
[0044] The present application realizes dynamic adjustment of the center of gravity of the rocker-pressure balance body 21 through the balance body regulator 23, which can effectively cope with the center of gravity shift caused by posture changes, load changes, etc. during flight, simplifies the control logic, and ensures that the UAV can maintain a stable posture under various flight conditions through precise center of gravity control, thereby improving flight stability and safety.
[0045] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.
[0046] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.
Claims
1. A seesaw type three-rotor drone, characterized in that: include: The cross-shaped body is used to form the main support structure of the UAV; the cross-shaped body includes a first arm, a second arm, a third arm and a fourth arm which are integrally formed and have axes intersecting at one point; The end of the first arm is provided with a center of gravity adjustment mechanism for dynamically adjusting the center of gravity position of the body; the end of the second arm is provided with a first main lift rotor for providing lift; the end of the fourth arm is provided with a second main lift rotor for cooperating with the first main lift rotor to provide lift; the end of the third arm is provided with a negative lift rotor and a negative lift rotor steering mechanism for providing pulling force, and cooperating with the center of gravity adjustment mechanism, the first main lift rotor and the second main lift rotor to control the pitch and heading of the UAV; Among them, the second arm and the first main lift rotor and the fourth arm and the second main lift rotor are symmetrically arranged with the intersection of the axes as the center, and the equivalent lift centers of the first main lift rotor and the second main lift rotor form a seesaw fulcrum; the center of gravity adjustment mechanism and the equivalent lift center of the negative lift rotor and the seesaw fulcrum are located in the same vertical plane.
2. The seesaw type three-rotor drone according to claim 1, characterized in that: The center of gravity adjustment mechanism comprises a rocker-pressure balance body, a connecting rod and a balance body adjuster, and the balance body adjuster realizes six-degree-of-freedom motion adjustment of the center of gravity of the rocker-pressure balance body.
3. The seesaw type three-rotor drone according to claim 2, characterized in that: The rocker-pressure balance body is configured as a sphere with a set weight, and the balance body regulator is configured as a joint with at least two degrees of freedom. The rocker-pressure balance body is fixedly connected to one end of the connecting rod, and the other end of the connecting rod is hingedly connected to the balance body regulator, so that the rocker-pressure balance body and the connecting rod have vertical degrees of freedom; the balance body regulator is rotatably connected to the end of the first arm, so that the rocker-pressure balance body and the connecting rod have axial degrees of freedom.
4. The seesaw type three-rotor drone according to any one of claims 1 to 3, characterized in that: The end of the second arm is also provided with a first main lift rotor steering mechanism used in conjunction with the first main lift rotor; the end of the fourth arm is also provided with a second main lift rotor steering mechanism used in conjunction with the second main lift rotor.
5. The seesaw type three-rotor drone according to any one of claims 1 to 3, characterized in that: The cross-shaped body is configured as a rigid frame structure.
6. The seesaw type three-rotor drone according to any one of claims 1 to 3, characterized in that: A tripod is arranged on one side of the cross-shaped body close to the ground. The tripod includes two arc-shaped plates arranged back to back and used for directly contacting the ground to form a stable landing support.