A highly wind-resistant multi-rotor drone

Abstract

The present invention relates to the field of unmanned aerial vehicles, and discloses a highly wind-resistant multi-rotor unmanned aerial vehicle, comprising a fuselage and an arm bracket arrayed on the side of the fuselage, wherein a motor 1 is arranged at the end of each arm bracket, and a propeller part is installed on the output shaft of the motor 1, so as to drive the propeller part to change the inclination angle through a servo, and when the unmanned aerial vehicle encounters a strong crosswind, the corresponding propeller and the rotation angle of the propeller part are changed to improve the resistance of the unmanned aerial vehicle to the crosswind, thereby improving the stability of the unmanned aerial vehicle when encountering a strong crosswind during flight, changing the thrust vector direction, and thus generating a compensation force opposite to the wind pressure direction. This dynamic adjustment mechanism enables the unmanned aerial vehicle to maintain a stable track under strong crosswind conditions, and effectively avoids the track deviation problem caused by the fixed thrust direction of traditional unmanned aerial vehicles.

Description

Technical Field

[0001] The invention relates to the field of unmanned aerial vehicles, in particular to a highly wind-resistant multi-rotor unmanned aerial vehicle. Background Art

[0002] With the rapid development of drone technology, multi-rotor drones have been widely used in agriculture, aerial photography, environmental monitoring, traffic monitoring and other fields due to their advantages such as easy operation, stable flight and strong adaptability. However, in complex and changing environments, especially in windy weather, the flight stability and safety of drones face severe challenges. When encountering strong side winds during flight, drones are prone to fly away from the original path, and are prone to tilt and fall due to strong winds during flight. Therefore, it is of great significance to develop multi-rotor drones with high wind resistance. Summary of the invention

[0003] The present invention provides a highly wind-resistant multi-rotor UAV, which overcomes the deficiencies described in the background technology.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] A highly wind-resistant multi-rotor drone comprises a fuselage and four propellers distributed around the fuselage, each propeller being connected to the fuselage through an arm bracket, and the four propellers being connected to the fuselage through the arm bracket to form a cross-shaped structure;

[0006] The power propeller unit includes a blade, a motor 1, a mounting block, a steering gear and a swing arm. The blade is mounted on the output shaft of the motor 1, the motor 1 is mounted on the output shaft of the steering gear through the swing arm, and the steering gear is mounted on the arm bracket through the mounting block.

[0007] The fuselage is provided with a fuselage shell, a shock absorbing device and a balancing device shell in sequence from top to bottom. The shock absorbing device is arranged in the fuselage shell and connected to the balancing device shell. The balancing device shell is symmetrically provided with balancing devices for maintaining the flight balance of the UAV. Each balancing device includes a second motor, a turntable, a third motor, a linear rail, and a counterweight slider. The turntable is installed on the output shaft of the second motor. The third motor and the linear rail are both arranged on the surface of the turntable. The third motor is arranged close to the linear rail, and a lead screw connected to the linear rail for rotation is arranged on the output shaft of the third motor. The counterweight slider is slidably arranged on the surface of the linear rail, the lead screw passes through the counterweight slider, and the lead screw and the counterweight slider form a threaded connection;

[0008] The screw rod extends through the central axis of the turntable, so that the distance between the counterweight slider and the middle of the turntable can be adjusted by driving the screw rod through the motor to change the centrifugal force generated when the turntable rotates.

[0009] A preferred technical solution is that the shock absorbing device is a hollow structure, and a counterweight block is arranged in the middle of the inner end of the shock absorbing device, and the counterweight block is connected to the inner side of the shock absorbing device through a connecting piece arranged on its surface;

[0010] The thickness of the surface of the shock absorbing device gradually increases from the edge to the middle.

[0011] A preferred technical solution, the connecting member includes springs arranged on the upper and lower sides of the counterweight, the springs are arranged in a rotating array, there is a gap between the left and right adjacent springs, and the springs are connected to the inner side of the shock absorbing device in an inclined shape;

[0012] The outer diameter of the spring gradually increases from both sides to the middle;

[0013] There is an angle between the upper and lower adjacent springs, and the upper and lower adjacent springs are staggered. When the balancing device works to generate centrifugal force and form vibration, the vibration is transmitted to the counterweight through the spring.

[0014] A preferred technical solution, wherein a plurality of movable grooves 1 are provided on the surface of the fuselage shell, each arm bracket is embedded in the movable groove 1 through a connecting block provided at the end thereof, and is connected through a pin that passes through the fuselage shell and the connecting block in sequence, there is a movable spacing between the connecting block and the movable groove 1, and a clamp is further provided on the surface of the fuselage shell near the connecting block, a movable connecting shaft corresponding to the clamp is provided at the end of the arm bracket, and a movable groove 2 for the movement of the movable connecting shaft is provided on the surface of the clamp, the movable connecting shaft passes through the movable groove 2, and the diameter of the end of the movable connecting shaft is greater than the width of the movable groove 2.

[0015] Compared with the prior art, this technical solution has the following advantages:

[0016] When the drone encounters strong crosswinds, the wind pressure sensor is used to change the rotation angle of the corresponding propeller and power propeller according to the size of the detected wind pressure signal to improve the drone's resistance to crosswinds, thereby improving the stability of the drone when encountering strong crosswinds during flight, changing the thrust vector direction, and thus generating a compensation force opposite to the wind pressure direction. This dynamic adjustment mechanism enables the drone to maintain a stable track under strong crosswind conditions, effectively avoiding the track deviation problem caused by the fixed thrust direction of traditional drones. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0018] Figure 1 This is an overall diagram of the present invention.

[0019] Figure 2 This is a schematic diagram of the fuselage.

[0020] Figure 3It is a schematic diagram of the connection between the arm bracket and the fuselage shell.

[0021] Figure 4 This is a schematic diagram of the propeller unit.

[0022] Figure 5 This is a schematic diagram of the fuselage disassembly.

[0023] Figure 6 This is a schematic diagram of a half-section of the fuselage.

[0024] Figure 7 Schematic diagram of the balancing device.

[0025] In the figure: fuselage 1, fuselage shell 11, shock absorbing device 12, balancing device shell 13, balancing device 14;

[0026] Clamp 111, movable groove 112, latch 113;

[0027] Counterweight 121, spring 122;

[0028] Motor 2 141, turntable 142, motor 3 143, screw rod 1431, linear rail 144, counterweight slider 145;

[0029] Arm bracket 2, movable connecting shaft 21, connecting block 22;

[0030] The power propeller part 3, the blades 31, the motor 32, the mounting block 33, the steering gear 34, and the swing arm 35. DETAILED DESCRIPTION

[0031] like Figures 1 to 7 As shown, it includes a fuselage 1 and four propeller parts 3 distributed around the fuselage 1, each propeller part 3 is connected to the fuselage 1 through an arm bracket 2, and the four propeller parts 3 are connected to the fuselage 1 through the arm bracket 2 to form a cross-shaped structure;

[0032] The power propeller part 3 includes a blade 31, a motor 32, a mounting block 33, a steering gear 34 and a swing arm 35. The blade 31 is mounted on the output shaft of the motor 32, the motor 32 is mounted on the output shaft of the steering gear 34 through the swing arm 35, and the steering gear 34 is mounted on the arm bracket 2 through the mounting block 33. When encountering a crosswind, the steering gear 34 can change the swing direction of the blade 31 mounted on the swing arm 35 to make it face the opposite direction of the crosswind. By changing the direction of the blade 31, the stability of the UAV during flight is maintained;

[0033] As mentioned above, the key point is that the structure of the UAV in this embodiment can enable the aircraft to obtain acceleration to resist headwind without tilting (obtained by the tilt servo rotating to change the direction of force), and the aircraft not tilting is an important factor in the aircraft's wind resistance, that is, the aircraft's windward surface is small and the wind resistance is small.

[0034] The detailed working principle is as follows:

[0035] Blade direction adjustment:

[0036] When the UAV encounters a crosswind, the flight control system will control the rotation of the servo 34 according to the wind pressure signal detected by the wind pressure sensor. The rotation of the servo 34 drives the swing arm 35 to move, thereby changing the overall direction of the motor 32 and the blade 31. By precisely controlling the rotation angle of the servo 34, the blade 31 can be directed in the opposite direction of the crosswind, thereby generating a thrust that offsets the crosswind thrust.

[0037] Anti-crosswind effect:

[0038] Reduce the windward surface: By adjusting the direction of the blades so that they face the opposite direction of the side wind, the drone can effectively reduce the area of ​​the windward surface without tilting the fuselage. This reduces wind resistance and helps improve the flight stability and wind resistance of the drone.

[0039] Generate offset thrust: When the blades face the opposite direction of the side wind, the thrust generated by the rotation of the blades will offset the side wind thrust. This offsetting effect reduces the impact of the side wind on the flight trajectory of the drone, allowing the drone to maintain a stable flight state in a strong side wind environment.

[0040] Improve flight efficiency: Since the blade direction adjustment reduces wind resistance and generates offset thrust, the flight efficiency of the drone is improved. This means that the drone can achieve a higher flight speed and a longer flight distance under the same power output.

[0041] Furthermore, the fuselage 1 is provided with a fuselage shell 11, a shock absorbing device 12 and a balancing device shell 13 in sequence from top to bottom. The shock absorbing device 12 is arranged in the fuselage shell 11 and is connected to the balancing device shell 13. The balancing device shell 13 is symmetrically provided with balancing devices 14 for maintaining the flight balance of the drone. Each balancing device 14 includes a second motor 141, a turntable 142, a third motor 143, a linear rail 144, and a counterweight slider 145. The turntable 142 is installed on the output shaft of the second motor 141. , motor three 143 and linear rail 144 are both arranged on the surface of turntable 142, motor three 143 is arranged close to linear rail 144, and a screw rod 1431 connected to the linear rail 144 is arranged on the output shaft of motor three 143, and the counterweight slider 145 is slidably arranged on the surface of the linear rail 144, screw rod 1431 passes through the counterweight slider 145, and screw rod 1431 and counterweight slider 145 form a threaded connection. As known above, motor two 141 is responsible for driving the turntable 142 to rotate, and this rotation action is the basis of balance adjustment. Motor three 143 and linear rail 144 are installed on the surface of turntable 142, and motor three is responsible for driving screw rod 1431 to rotate. Screw rod 1431 and counterweight slider 145 are connected by threads, so when the screw rod rotates, the counterweight slider will slide on the linear rail 144, changing its distance from the center of the turntable. The change in this distance directly affects the centrifugal force generated when the turntable rotates. When the counterweight slider is close to the edge of the turntable, the centrifugal force generated at this time is large because the centrifugal force is proportional to the radius; on the contrary, when the counterweight slider is close to the center of the turntable, the centrifugal force is small. By accurately controlling the rotation direction and angle of the motor 3 143, the position of the counterweight slider can be accurately adjusted, thereby controlling the size and direction of the centrifugal force.

[0042] Furthermore, the screw rod 1431 extends through the central axis of the rotating disk 142, so that the motor 3 143 drives the screw rod 1431 to adjust the distance between the counterweight slider 145 and the middle of the rotating disk 142 to change the centrifugal force generated when the rotating disk 142 rotates;

[0043] In a strong wind environment, the drone is prone to tilt or deviate from the original path due to the wind. At this time, the balancing device 14 plays its unique role. By adjusting the position of the counterweight slider, the overall weight distribution of the drone can be changed, generating a torque opposite to the tilting direction, helping the drone to restore balance and then drive the motor three 143 to rotate and adjust the position of the counterweight slider on the linear track 144. In this way, the drone can restore balance in a short time and maintain a stable flight state.

[0044] The shock absorbing device 12 is a hollow structure. This design not only reduces the overall weight of the drone, but also improves the flexibility and adaptability of its structure. The hollow part can provide space for the installation of other components, making the design of the drone more compact. A counterweight block 121 is provided in the middle of the inner end of the shock absorbing device 12. The counterweight block 121 is connected to the inner side of the shock absorbing device 12 through a connector provided on its surface. The thickness of the surface of the shock absorbing device 12 gradually increases from the edge to the middle. This thickness gradient design can effectively disperse and absorb vibration energy. When the drone encounters vibration during flight, the thicker middle area can better resist and absorb vibration, while the thinner edge area can flexibly adapt to vibration, thereby improving the stability and seismic resistance of the drone.

[0045] Furthermore, the connecting member includes springs 122 disposed on the upper and lower sides of the counterweight 121, wherein the springs 122 are disposed in a rotating array, a gap exists between two adjacent springs 122 on the left and right sides, and the springs 122 are connected to the inner side of the shock absorbing device 12 in an inclined shape;

[0046] The outer diameter of the spring 122 gradually increases from both sides to the middle; there is an angle between the upper and lower adjacent springs 122, and the upper and lower adjacent springs 122 are staggered. When the balancing device 14 works to generate centrifugal force and form vibration, the vibration is transmitted to the counterweight 121 through the spring 122;

[0047] The counterweight 121 has a certain mass and is located in the middle of the shock absorbing device 12. This mass distribution helps to stabilize the center of gravity of the UAV and improve the flight stability. When the UAV encounters vibration, the vibration will be transmitted to the counterweight 121 through the spring 122. Since the counterweight has a large mass, it can absorb and disperse the vibration energy, thereby reducing the impact of the vibration on other parts of the UAV. During the flight of the UAV, the counterweight 121 can also be dynamically adjusted according to the flight status of the UAV and changes in the external environment to maintain the balance and stability of the UAV.

[0048] Furthermore, in order to further improve the flexibility of the drone of the present invention, a plurality of movable grooves 112 are arranged on the surface of the fuselage shell 11 of the present invention, and each arm bracket 2 is embedded in the movable groove 112 through a connecting block 22 arranged at its end, and is connected by a latch 113 that passes through the fuselage shell 11 and the connecting block 22 in sequence, and there is a movable spacing between the connecting block 22 and the movable groove 112, and a clamp 111 is also arranged on the surface of the fuselage shell 11 near the connecting block 22, and an movable connecting shaft 21 corresponding to the clamp 111 is arranged at the end of the arm bracket 2, and an movable groove 2 for the movable connecting shaft 21 to move is arranged on the surface of the clamp 111, and the movable connecting shaft 21 passes through the movable groove 2, and the diameter of the end of the movable connecting shaft 21 is greater than the width of the movable groove 2;

[0049] When encountering strong winds or the UAV tilts during flight, the clamp 111 and the movable groove 1 can be used to provide a certain movable space for the arm bracket 2, so that the arm bracket 2 can swing to a certain extent when subjected to force, thereby preventing the UAV body from being too heavy, thereby improving the flight flexibility of the UAV.

[0050] The above description is only a preferred embodiment of the present invention, and therefore cannot be used to limit the scope of the present invention. That is, equivalent changes and modifications made according to the patent scope of the present invention and the contents of the specification should still fall within the scope of the present invention.

Claims

1. A highly wind-resistant multi-rotor drone, characterized in that: It comprises a fuselage (1), and four propeller parts (3) distributed around the fuselage (1), each propeller part (3) being connected to the fuselage (1) via an arm bracket (2), and the four propeller parts (3) being connected to the fuselage (1) via the arm bracket (2) to form a cross-shaped structure; The power propeller part (3) comprises a propeller blade (31), a motor (32), a mounting block (33), a steering gear (34) and a swing arm (35); the propeller blade (31) is mounted on the output shaft of the motor (32); the motor (32) is mounted on the output shaft of the steering gear (34) via the swing arm (35); and the steering gear (34) is mounted on the arm bracket (2) via the mounting block (33); The fuselage (1) is provided with a fuselage shell (11), a shock absorbing device (12) and a balancing device shell (13) in order from top to bottom. The shock absorbing device (12) is arranged in the fuselage shell (11) and is connected to the balancing device shell (13). Balancing devices (14) for maintaining the flight balance of the unmanned aerial vehicle are symmetrically arranged in the balancing device shell (13). Each balancing device (14) comprises a second motor (141), a turntable (142), a third motor (143), a linear rail (144), and a counterweight slider (145). The turntable (142) is installed on the output shaft of the second motor (141), the third motor (143) and the linear rail (144) are both arranged on the surface of the turntable (142), the third motor (143) is arranged close to the linear rail (144), and a screw rod (1431) rotatably connected to the linear rail (144) is arranged on the output shaft of the third motor (143), the counterweight slider (145) is slidably arranged on the surface of the linear rail (144), the screw rod (1431) passes through the counterweight slider (145), and the screw rod (1431) and the counterweight slider (145) form a threaded connection; The screw rod (1431) extends through the central axis of the rotating disk (142), so that the distance between the counterweight slider (145) and the middle of the rotating disk (142) can be adjusted by driving the screw rod (1431) through the motor 3 (143) to change the centrifugal force generated when the rotating disk (142) rotates.

2. The highly wind-resistant multi-rotor UAV according to claim 1, characterized in that: The shock absorbing device (12) is a hollow structure, and a counterweight block (121) is arranged in the middle of the inner end of the shock absorbing device (12), and the counterweight block (121) is connected to the inner side of the shock absorbing device (12) via a connecting piece arranged on its surface; The thickness of the surface of the shock absorbing device (12) gradually increases from the edge to the middle.

3. The highly wind-resistant multi-rotor UAV according to claim 2, characterized in that: The connecting member comprises springs (122) disposed on upper and lower sides of the counterweight (121), the springs (122) being disposed in a rotating array, a gap being present between two adjacent springs (122) on the left and right, and the springs (122) being connected to the inner side of the shock absorbing device (12) in an inclined manner; The outer diameter of the spring (122) gradually increases from both sides to the middle; An angle is formed between the upper and lower adjacent springs (122), and the upper and lower adjacent springs (122) are staggered. When the balancing device (14) works to generate centrifugal force and vibration, the vibration is transmitted to the counterweight (121) through the springs (122).

4. The highly wind-resistant multi-rotor UAV according to claim 3, characterized in that: The surface of the fuselage shell (11) is provided with a plurality of movable grooves (112); each arm bracket (2) is embedded in the movable groove (112) through a connecting block (22) provided at the end thereof, and is connected to the fuselage shell (11) and the connecting block (22) in sequence through a latch (113); a movable spacing exists between the connecting block (22) and the movable groove (112); a clamp (111) is further provided on the surface of the fuselage shell (11) near the connecting block (22); a movable connecting shaft (21) corresponding to the clamp (111) is provided at the end of the arm bracket (2); a movable groove (2) for the movable connecting shaft (21) to move is provided on the surface of the clamp (111); the movable connecting shaft (21) passes through the movable groove (2), and the diameter of the end of the movable connecting shaft (21) is greater than the width of the movable groove (2).

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