Dish-shaped coaxial dual-rotor unmanned aerial vehicle with combined layout

Abstract

The invention relates to the technical field of aviation, and discloses a dish-shaped coaxial dual-rotor unmanned aerial vehicle with a combined layout. Comprising a machine body, a cross-shaped support and a tilting coaxial reverse paddle mechanism. The tilting coaxial reverse propeller mechanism is located in the main duct, the tilting coaxial reverse propeller mechanism comprises a power mounting base, a steering engine and a rudder angle, the output end of the steering engine is connected with the power mounting base through the rudder angle, and the steering engine works to drive the power mounting base to tilt; a main motor A and a main motor B are respectively arranged at the top and the bottom of the power mounting base, and the rotating directions of the main motor A and the main motor B are opposite; auxiliary motors are arranged on the auxiliary supports and located in the auxiliary ducts, auxiliary propellers are arranged at the output ends of the auxiliary motors, and the rotation directions of the auxiliary motors distributed diagonally on the cross-shaped support are opposite; the propeller is installed in the duct, the whole unmanned aerial vehicle is in a dish shape, the coaxial reverse propeller mechanism tilts when the unmanned aerial vehicle flies forwards, the vehicle body is kept horizontal, the flight resistance is made to be minimum, and the efficiency is made to be highest.

Description

Technical Field

[0001] The present invention relates to the field of aviation technology, and particularly to a novel combined-layout disc-shaped coaxial dual-rotor unmanned aerial vehicle. Background Art

[0002] Rotor unmanned aerial vehicles have received increasing attention and research due to their ability to perform vertical takeoff and landing in narrow and variable terrains and their good hovering performance. Common rotor unmanned aerial vehicles include coaxial dual-rotor unmanned aerial vehicles and multi-rotor unmanned aerial vehicles.

[0003] The flight principle of coaxial dual-rotor unmanned aerial vehicles is similar to that of common helicopters. However, different from helicopters, the coaxial dual-rotor aerodynamic layout cancels the common tail rotor on helicopters and uses two coaxial propellers with the same diameter. Similar to helicopters, an inclined disk is used as a pitch-changing mechanism to control the pitch and roll degrees of freedom of the aircraft. Compared with multi-rotor unmanned aerial vehicles, coaxial dual-rotor unmanned aerial vehicles have higher flight efficiency, larger payloads, better noise reduction effects, and better stability. At the same time, compared with multi-rotor unmanned aerial vehicles, coaxial dual-rotor unmanned aerial vehicles also have higher manufacturing and maintenance costs due to their more complex mechanical structures, and their flight modes are relatively more complex than those of multi-rotors. Therefore, the flight control implementation is more difficult and the maneuverability is weaker.

[0004] Among multi-rotor unmanned aerial vehicles, the four-rotor unmanned aerial vehicle is relatively common. Compared with coaxial dual-rotor unmanned aerial vehicles, four-rotor unmanned aerial vehicles have higher maneuverability, more mature flight control, and lower manufacturing and maintenance costs. However, a four-rotor unmanned aerial vehicle itself is an underactuated system, with poor stability, vulnerable to airflow disturbance affecting its attitude in strong wind environments, low efficiency, short endurance, and not suitable for long-distance movement. Summary of the Invention

[0005] The purpose of the present invention is to solve the deficiencies in the prior art, provide a combined-layout disc-shaped unmanned aerial vehicle, integrate the advantages of coaxial dual-rotor unmanned aerial vehicles and four-rotor unmanned aerial vehicles, while reducing the interference of the external environment on the unmanned aerial vehicle and improving the stability and safety of the unmanned aerial vehicle.

[0006] To achieve the above object, the present invention is realized through the following technical solutions: A combined-layout disc-shaped coaxial double-rotor unmanned aerial vehicle, comprising a fuselage, a cross bracket, and a tilting coaxial contra-rotating propeller mechanism; a main duct is provided in the middle of the fuselage, and four auxiliary ducts are evenly distributed around the main duct; the cross bracket includes a main bracket and four auxiliary brackets, and the cross bracket is installed inside the fuselage; the tilting coaxial contra-rotating propeller mechanism is installed on the main bracket, the tilting coaxial contra-rotating propeller mechanism is located inside the main duct, the tilting coaxial contra-rotating propeller mechanism includes a power installation base, a servo motor, and a steering angle, the output end of the servo motor is connected to the power installation base through the steering angle, and the servo motor drives the power installation base to tilt when working; a main motor A is provided at the top of the power installation base, a main motor B is provided at the bottom of the power installation base, a main propeller A is provided at the output end of the main motor A, a main propeller B is provided at the output end of the main motor B, and the rotation directions of the main motor A and the main motor B are opposite; an auxiliary motor is provided on the auxiliary bracket, the auxiliary motor is located inside the auxiliary duct, an auxiliary propeller is provided at the output end of the auxiliary motor, and the rotation directions of the auxiliary motors distributed diagonally on the cross bracket are opposite.

[0007] Preferably, the fuselage is of a disc-shaped structure.

[0008] Preferably, the fuselage includes an upper fuselage and a lower fuselage. The upper fuselage is provided with a main duct hole A and four auxiliary duct holes A, and the four auxiliary duct holes A are evenly distributed around the main duct hole A. The lower fuselage is provided with a main duct hole B and four auxiliary duct holes B, and the four auxiliary duct holes B are evenly distributed around the main duct hole B. The main duct hole A and the main duct hole B form the main duct, and the auxiliary duct hole A and the auxiliary duct hole B form the auxiliary duct.

[0009] Preferably, an installation groove A is provided between the main duct hole A and the auxiliary duct hole A, and an installation groove B is provided between the main duct hole B and the auxiliary duct hole B. The installation groove A and the installation groove B are used for installing the cross bracket.

[0010] Preferably, the main bracket is provided with an installation hole and a positioning hole. The servo motor is installed in the installation hole, and the power installation base is located in the positioning hole.

[0011] Preferably, a rotating shaft is provided on one side of the power installation base away from the servo motor. The rotating shaft is rotatably connected to a fixed support, and the fixed support is connected to the main bracket.

[0012] Preferably, the power installation base is of a hollow rectangular block structure.

[0013] Preferably, the steering angle is of a cross structure, and a chamfer is provided on the outer edge of the steering angle.

[0014] Preferably, the cross bracket further includes a circular fixing bracket. A main bracket is arranged in the middle of the circular fixing bracket. Four sub-brackets are evenly distributed circumferentially on the circular fixing bracket. Motor seats are provided at the ends of the sub-brackets for installing sub-motors.

[0015] Preferably, an avionics system integration area, an energy cabin and multi-mission payloads are also provided inside the fuselage for installing a flight control system, a battery module and various mission payloads.

[0016] The present invention has the following beneficial effects: (1) It has excellent aerodynamic efficiency. The propellers are installed inside the duct, and the overall shape of the UAV is disc-shaped. When flying forward, the coaxial contra-rotating propeller mechanism tilts, and the fuselage remains horizontal, minimizing the flight resistance and maximizing the efficiency.

[0017] (2) It has excellent maneuverability and hovering efficiency. This combined layout combines the advantages of coaxial dual-rotor UAVs and multi-rotor UAVs, and also solves the problems of unstable fuselage during forward flight and large flight resistance. The main duct coaxial dual-rotors mainly provide lift during hovering, and the larger propeller disc area makes the hovering efficiency higher; the sub-ducts form a quad-rotor layout, mainly providing lift for adjusting the aircraft attitude, making the UAV have excellent maneuverability. When flying forward, the coaxial dual-rotors tilt to provide forward lift, ensuring the fuselage is horizontal and reducing the flight resistance during forward flight.

[0018] (3) It has excellent safety and stability. The propellers are entirely enclosed inside the duct, greatly reducing the interference of the external environment on the UAV, reducing the probability of propeller damage due to collisions and other emergencies. At the same time, this invention also reduces the probability of injury to personnel due to accidental collisions, etc.

[0019] (4) The control method is simpler. Since the coaxial dual-rotors in the main duct are fixed on the cross propeller bracket, and the tilt and maneuver of the aircraft are achieved through the sub-rotors, there is no need for complex operations such as torque variation like a helicopter. Therefore, compared with coaxial dual-rotor UAVs, this invention is easier in flight control.

[0020] (5) The dynamic adjustment of the flight attitude is achieved by tilting the coaxial contra-rotating propeller mechanism, ensuring that the aircraft always maintains the best aerodynamic configuration. Its disc-shaped cross-section forms a continuous lift surface in the horizontal plane, and the lift loss under crosswind conditions is reduced by more than 60% compared to traditional fixed wings. The ducted design not only improves the operation safety but also effectively reduces the radar cross-section. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the disc-shaped UAV with a combined layout of the present invention;

[0022] Figure 2 is Figure 1 exploded view;

[0023] Figure 3 is the front view of Figure 1 ;

[0024] Figure 4 is the top view of Figure 1 ;

[0025] Figure 5 is the structural schematic diagram of the cross support;

[0026] Figure 6 is the structural schematic diagram of the tilting coaxial contra-rotating propeller mechanism;

[0027] Figure 7 is the structural schematic diagram of the rudder angle;

[0028] Figure 8 is the structural schematic diagram of the fixed support;

[0029] In the figure: 1, fuselage; 1-1, upper fuselage; 1-2, lower fuselage; 2, cross support; 2-1, circular fixing frame; 2-2, main support; 2-3, sub support; 3, servo; 4, rudder angle; 5, power installation base; 6, fixed support; 7, installation groove B; 8, installation hole; 9, positioning hole; 10, rotating shaft; 11, motor base; 12, main duct; 13, sub duct. Specific implementation manner

[0030] In order to make the present invention easier to understand, the following further illustrates the present invention in conjunction with specific embodiments and drawings, without limiting the present invention in any way. These embodiments and drawings are only used to illustrate the present invention and not to limit the scope of the present invention. Without departing from the technical solution of the present invention, any modification or change that is easily implemented by those of ordinary skill in the art to the present invention will fall within the scope of the claims of the present invention.

[0031] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 , a combined layout disc-shaped coaxial double-rotor unmanned aerial vehicle includes a fuselage 1, a cross support 2, and a tilting coaxial contra-rotating propeller mechanism; the cross support 2 is installed inside the fuselage 1, and the tilting coaxial contra-rotating propeller mechanism is installed on the main support 2-2.

[0032] The fuselage 1 is of a dish-shaped structure. The fuselage 1 includes an upper fuselage 1-1 and a lower fuselage 1-2, and the upper fuselage 1-1 and the lower fuselage 1-2 are connected by screws. A main duct 12 is provided in the middle of the fuselage 1, and four auxiliary ducts 13 are evenly distributed around the main duct 12. Specifically, the upper fuselage 1-2 is provided with a main duct hole A, and four auxiliary duct holes A are evenly distributed around the main duct hole A. The lower fuselage 1-2 is provided with a main duct hole B, and four auxiliary duct holes B are evenly distributed around the main duct hole B. The main duct hole A and the main duct hole B form the main duct 12 for installing the main motor and the main propeller. The auxiliary duct hole A and the auxiliary duct hole B form the auxiliary duct 13 for installing the auxiliary motor and the auxiliary propeller. The propellers are integrally wrapped in the ducts, greatly reducing the interference of the external environment on the drone and having excellent safety and stability.

[0033] An avionics system integration area, an energy compartment and a multi-mission payload adaptation space are arranged inside the fuselage 1 for installing a flight control system, a battery module and various mission payloads.

[0034] The cross bracket 2 includes a circular fixing bracket 2-1, a main bracket 2-2 and four auxiliary brackets 2-3. The main bracket 2-2 is arranged in the middle of the circular fixing bracket 2-1, and the four auxiliary brackets 2-3 are evenly distributed around the circular fixing bracket 2-1. The end of the auxiliary bracket 2-3 is provided with a motor mount 11 for installing the auxiliary motor. The auxiliary brackets 2-3 should be symmetric about the nose direction and the vertical direction, which is easy to achieve flight trim. The output end of the auxiliary motor is provided with an auxiliary propeller. The rotation directions of the auxiliary motors diagonally distributed on the cross bracket 2 are opposite. An installation groove A is provided between the main duct hole A and the auxiliary duct hole A, and an installation groove B 7 is provided between the main duct hole B and the auxiliary duct hole B. The installation groove A and the installation groove B 7 form an installation groove for installing the cross bracket 2.

[0035] The tilting coaxial contra-rotating propeller mechanism includes a power installation base 5, a servo 3 and a rudder angle 4. The main bracket 2-2 is provided with a mounting hole 8 and a positioning hole 9. The servo 3 is installed in the mounting hole 8 and can be fixed by bolts or a card slot, which can be selected by those skilled in the art according to actual needs. The output end of the servo 3 is connected to one side of the power installation base 5 through the rudder angle 4. The rudder angle 4 is in a cross structure, and the outer edge of the rudder angle 4 is provided with a chamfer. The power installation base 5 is located in the positioning hole 9. When the servo 3 works, it drives the power installation base 5 to tilt. The power installation base 5 is a hollow rectangular block structure. A main motor A is provided at the upper end of the power installation base 5, and the output end of the main motor A is connected to the main propeller A. A main motor B is provided at the lower end of the power installation base 5, and the output end of the main motor B is connected to the main propeller B. The rotation directions of the main motor A and the main motor B are opposite; a rotating shaft is provided on the side of the power installation base away from the servo. The fixed support 6 includes a connecting block and a fixing block. The connecting block is in a triangular structure, and a hole is provided at the triangular end of the connecting block. The fixing block is provided with a bolt hole. The rotating shaft 11 is rotationally connected to the fixed support 6 through the hole, and the fixed support 6 is connected to the main bracket 2-2 through the bolt hole, and the fixed support keeps the tilting coaxial contra-rotating propeller mechanism stable.

[0036] In this embodiment, the whole machine is circular when viewed from above, with a diameter of 304 mm and a thickness of 70 mm. The upper and lower parts are respectively made by 3D printing, and the material is PLA;

[0037] The maximum diameter of the cross bracket is 236 mm, which is cut from a carbon fiber board with a thickness of 3 mm, and the arm width is 4 mm. The middle part of the main bracket is used to install the tilting coaxial contra-rotating propeller mechanism. The main bracket has two 2-mm holes for installing the fixed support. A positioning hole is provided in the middle part, with a size of 18 mm × 14 mm, which restricts the power installation base, that is, restricts the tilting angle of the rotor within the safe range of ±5°, to avoid unexpected contact between the rotor and the duct. An installation hole for fixing the servo is provided beside the positioning hole, with a size of 15 mm × 8.5 mm. The cross bracket extends with auxiliary brackets around it for installing auxiliary motors.

[0038] The tilting coaxial contra-rotating propeller mechanism is composed of a power installation base and a rudder mechanism. The power installation base has a size of 18 mm × 12 mm × 17 mm, and there are hole positions on the upper and lower surfaces for installing the main motors. A cylinder extends on the right side as a rotating shaft, with a size of 3 mm × 8 mm. The rotating shaft passes through the fixed base, enabling the tilting coaxial contra-rotating propeller mechanism to perform fixed-axis rotation. The power installation base has a groove, which realizes interference fit with the rudder angle and is connected to the servo. The tilting angle of the tilting coaxial contra-rotating propeller mechanism is set to ±5°.

[0039] During the vertical takeoff phase, the tilting coaxial contra-rotating propeller mechanism remains horizontal to provide the main pulling force. The four surrounding auxiliary motors rotate at idle speed. By changing the rotational speed of the main motor, the magnitude of the pulling force is changed to achieve vertical takeoff and hovering of the UAV. An airspeed sensor is installed inside the fuselage to measure the positive and negative pressure difference around the UAV to measure the speed of the UAV relative to the air. The forward flight resistance is obtained based on the measured forward flight speed. The resistance is then combined with the gravity vector to obtain the resultant force vector. The tilting mechanism is collinear with the resultant force to provide a reverse force to ensure force balance. During forward flight, the tilting coaxial contra-rotating propeller mechanism dynamically adjusts the tilting angle according to the airspeed sensor, that is, controls the servo to drive the power installation base to tilt according to the required tilting angle. While providing the pulling force, it provides the pulling force for forward flight to ensure that the fuselage always flies in the optimal posture. The four surrounding auxiliary propellers are used to achieve the pitch and roll movements of the UAV. When performing the pitch movement, the rotational speeds of the two front auxiliary motors increase, and the rotational speeds of the two rear auxiliary motors decrease to achieve a nose-up attitude, and vice versa for a nose-down attitude. When performing the yaw movement, the rotational speeds of the two left auxiliary motors increase, and the rotational speeds of the two right auxiliary motors decrease to achieve a right roll, and vice versa for a left roll. When performing the pitch and roll movements, to ensure stability, the tilting coaxial contra-rotating propeller mechanism does not tilt during this period. After the aircraft stabilizes, adjustments are made to ensure the stability and controllability of the entire flight process.

[0040] The above shows and describes the basic principles, main features and advantages of the present invention. However, the above are only specific embodiments of the present invention, and the technical features of the present invention are not limited thereto. Any other implementation manners obtained by those skilled in the art without departing from the technical solution of the present invention should be covered within the patent scope of the present invention.

Claims

1. A combined-layout saucer coaxial dual-rotor unmanned aerial vehicle, characterized in that It includes a fuselage (1), a cross bracket (2), and a tilting coaxial contra-rotating propeller mechanism; a main duct (12) is provided in the middle of the fuselage (1), and four auxiliary ducts (13) are evenly distributed around the main duct; the cross bracket (2) includes a main bracket (2-2) and four auxiliary brackets (2-3), and the cross bracket (2) is installed inside the fuselage (1); the tilting coaxial contra-rotating propeller mechanism is installed on the main bracket (2-2), the tilting coaxial contra-rotating propeller mechanism is located inside the main duct (12), the tilting coaxial contra-rotating propeller mechanism includes a power installation base (5), a servo motor (3), and a steering angle (4), the output end of the servo motor (3) is connected to the power installation base (5) through the steering angle (4), and the servo motor (3) works to drive the power installation base (5) to tilt; a main motor A is provided at the top of the power installation base (5), a main motor B is provided at the bottom of the power installation seat (5), a main propeller A is provided at the output end of the main motor A, a main propeller B is provided at the output end of the main motor B, and the rotation directions of the main motor A and the main motor B are opposite; an auxiliary motor is provided on the auxiliary bracket (2-3), the auxiliary motor is located inside the auxiliary duct (13), an auxiliary propeller is provided at the output end of the auxiliary motor, and the rotation directions of the auxiliary motors distributed diagonally on the cross bracket (2) are opposite.

2. The combined layout coaxial contra-rotating rotor UAV according to claim 1, characterized in that, The fuselage (1) is of a disc-shaped structure.

3. A combined layout disc coaxial dual-rotor unmanned aerial vehicle according to claim 1, characterized in that, The fuselage (1) includes an upper fuselage (1-1) and a lower fuselage (1-2), the upper fuselage (1-1) is provided with a main duct hole A and four auxiliary duct holes A, the four auxiliary duct holes A are evenly distributed around the main duct hole A, the lower fuselage (1-2) is provided with a main duct hole B and four auxiliary duct holes B, the four auxiliary duct holes B are evenly distributed around the main duct hole B, the main duct hole A and the main duct hole B form the main duct (12), and the auxiliary duct hole A and the auxiliary duct hole B form the auxiliary duct (13).

4. The combined layout disc coaxial dual-rotor UAV according to claim 3, characterized in that, An installation groove A is provided between the main duct hole A and the auxiliary duct hole A, an installation groove B (7) is provided between the main duct hole B and the auxiliary duct hole B, and the installation groove A and the installation groove B (7) are used to install the cross bracket (2).

5. A combined-layout saucer coaxial dual-rotor unmanned aerial vehicle according to claim 1, characterized in that, The main bracket (2-2) is provided with an installation hole (8) and a positioning hole (9), the servo motor (3) is installed in the installation hole (8), and the power installation base (5) is located in the positioning hole (9).

6. A combined layout disc coaxial dual-rotor unmanned aerial vehicle according to claim 5, characterized in that A rotating shaft (11) is provided on one side of the power installation base (5) away from the servo motor (3), the rotating shaft (11) is rotationally connected to a fixed support (6), and the fixed support (6) is connected to the main bracket (2-2).

7. A combined layout disc coaxial dual-rotor unmanned aerial vehicle according to claim 1, characterized in that, The power installation base (5) is of a hollow rectangular block structure.

8. A combined-layout disc coaxial dual-rotor unmanned aerial vehicle according to claim 1, characterized in that, The steering angle (4) is of a cross structure, and a chamfer is provided on the outer edge of the steering angle (4).

9. The combined layout disc coaxial dual-rotor unmanned aerial vehicle according to claim 1, wherein, The cross bracket (2) further includes a circular fixing frame (2-1), the main bracket (2-2) is arranged in the middle of the circular fixing bracket (2-1), four auxiliary brackets are evenly distributed in the circumferential direction of the circular fixing frame (2-1), and a motor seat (11) is provided at the end of the auxiliary bracket (2-3) for installing the auxiliary motor.

10. A combined-layout saucer coaxial dual-rotor unmanned aerial vehicle according to claim 1, characterized in that, The interior of the fuselage is also provided with an avionics system integration area, an energy compartment and multi-mission payloads, which are used to install a flight control system, a battery module and various mission payloads.

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