Balanced multi-rotor aircraft

Abstract

The invention relates to the technical field of aircrafts, and discloses a balanced multi-rotor aircraft which comprises a framework structure, a control part and an energy storage part are arranged on the framework structure, the framework structure comprises a supporting part, a flight arm is rotationally connected to the supporting part, a rotor part is arranged at the free end of the flight arm, and the control part comprises a connecting rod mechanism installed on the supporting part. The connecting rod mechanisms are used for controlling the rotation angles of the rotor wing parts around the axes of the flight arms, and when the two rotor wing parts located on the same axis rotate around the axes in the same direction, the aircraft translates in a horizontal posture; according to the unmanned aerial vehicle, the flying arms are arranged by using a plus sign or cross-shaped frame, the rotor wing parts incline and enable the aircraft to move forwards or backwards when the flying arms are rotated, the rotor wing parts which are not inclined can concentrate on stability, pitching and yawing of the main body fuselage cannot be caused, and yawing can be achieved by changing the rotating speed or thrust vector of the rotor wing parts in the same direction.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, specifically to balanced multi-rotor aircraft. Background Technology

[0002] Vertical takeoff and landing (VTOL) fixed-wing aircraft are a hybrid of traditional fixed-wing aircraft and multi-rotor aircraft. VTOL fixed-wing aircraft use a multi-rotor system to take off vertically and then fly horizontally like traditional fixed-wing aircraft. This vertical-to-horizontal transition can be achieved by using separate motors to power the aircraft during flight, turning the multi-rotor motors on or off, or by tilting some or all of the multi-rotor motors.

[0003] Traditional multirotor designs use pitch and roll to move forward, backward, and left, respectively, during horizontal flight. Therefore, the entire fuselage of the multirotor tilts in the direction of flight. Specifically, this is achieved by varying the speed of the motors to control pitch, roll, and yaw. Forward movement is achieved by increasing the thrust at the rear and decreasing the thrust at the front, causing the multirotor to pitch forward and move horizontally. Conversely, rolling moves the multirotor horizontally backward. Left and right movement is achieved using the same method, with roll used to control yaw. Yaw is achieved by reducing the speed of motors rotating in the same direction. Yaw can also be achieved by tilting the motors on opposite sides.

[0004] One of the problems with vertical takeoff and landing fixed-wing aircraft when flying horizontally is that they lose altitude and stability as they move horizontally. This is because the wings draw air upwards due to the tilt required for movement. This problem can also be seen when hovering in strong winds. These problems become more pronounced as the size of the aircraft increases due to the increase in surface area and inertia.

[0005] Therefore, a balanced multirotor aircraft is needed that does not tilt during horizontal flight and does not require camera adjustments for flight stability, such as during FPV flight. Summary of the Invention

[0006] This invention provides a balanced multi-rotor aircraft. By rotating the flight arm, the rotor will tilt and move the aircraft forward or backward. The untilted rotor can focus on stability, thus solving the problems of fuselage tilt and the need to adjust the camera mentioned in the background art.

[0007] This invention provides the following technical solution: A balanced multi-rotor aircraft includes a frame structure, on which a control unit and an energy storage unit are installed. The frame structure includes a support unit, on which a flight arm is rotatably connected. A rotor unit is installed at the free end of the flight arm. The control unit includes a linkage mechanism mounted on the support unit. The linkage mechanism is used to control the rotation angle of the rotor unit around the axis of the flight arm. When two sets of rotor units on the same axis rotate in the same direction around the axis, the aircraft translates in a horizontal attitude.

[0008] As a preferred embodiment of the present invention, the linkage mechanism includes a double rocker mechanism or a crank-rocker mechanism.

[0009] As a preferred embodiment of the present invention, the linkage mechanism includes: a driven rocker arm, one end of which is fixedly connected to the flight arm; and a driving rod, one end of which is rotatably connected to the driven rocker arm via a connecting rod, the driving rod being used to drive the driven rocker arm to swing in an arc around the axis of the flight arm.

[0010] As a preferred embodiment of the present invention, the linkage mechanism further includes a drive motor fixedly mounted on the frame structure, and the output end of the drive motor is fixedly connected to one end of the drive rod.

[0011] As a preferred embodiment of the present invention, an auxiliary structure is symmetrically arranged on the support part. The auxiliary structure includes an extension plate, and the control part and the energy storage part are both installed on the extension plate. A receiving space is provided between the extension plate and the support part, and the drive motor is installed in the receiving space.

[0012] As a preferred embodiment of the present invention, the energy storage unit includes a battery pack, wherein a support frame is mounted on the expansion plate, and the battery pack is mounted on the support frame.

[0013] As a preferred embodiment of the present invention, the control unit further includes an integrated circuit board, which is mounted on an expansion board. Bolts are connected to the expansion board, the bolts penetrate the integrated circuit board, and a retaining ring is provided between the integrated circuit board and the expansion board.

[0014] As a preferred embodiment of the present invention, the support part includes a support block, on which a through hole is formed, and the flight arm is rotatably connected within the through hole.

[0015] As a preferred embodiment of the present invention, the flight arm includes: a support rod, on which a rotating column is mounted, the rotating column being rotatably connected in a through hole and fixedly connected from one end of a rocker arm to the rotating column; and a mounting head fixedly connected to the end of the support rod, with the rotor mounted on the mounting head.

[0016] As a preferred embodiment of the present invention, the rotor section includes a rotor motor fixedly connected to the mounting head, and rotor blades are mounted on the output end of the rotor motor.

[0017] Compared with the prior art, the present invention provides a balanced multi-rotor aircraft, which has the following beneficial effects: 1. In this balanced multi-rotor aircraft, two support rods are arranged in a cross or plus sign pattern on the support block, and rotor motors and rotor blades are installed at the ends of the support rods. During takeoff, the support rods do not rotate, and the four sets of rotor blades are in a horizontal state. By changing the drive speed of the rotor motors, the aircraft can ascend or descend vertically. When the aircraft needs to move forward or backward, the drive motor drives the linkage mechanism to rotate one of the support rods, while the other support rod remains stationary. The non-tilting drive motor can focus on stability, which reduces the complexity of the tilting mechanism. The aircraft can move horizontally without pitching. Especially for aircraft equipped with cameras, no additional camera calibration is required. Yaw can be achieved by changing the speed of the rotor motors rotating in the same direction or the thrust vector. This invention design allows the vertical takeoff and landing fixed-wing aircraft to not tilt during horizontal flight, thereby increasing flight stability. By maintaining a horizontal position, the wind-resistant surface area can be reduced.

[0018] 2. In this balanced multi-rotor aircraft, the flight arm is driven to rotate around its own axis, thereby tilting the rotor and ensuring that the main body of the aircraft will not pitch when moving forward or backward, thus ensuring the stability and controllability of the flight.

[0019] All parts not mentioned in this device are the same as or can be implemented using existing technology. The flight arm of this invention uses a plus sign or cross-shaped frame. By rotating the flight arm, the rotor will tilt and move the aircraft forward or backward. The rotor that is not tilted can focus on stability without causing the main fuselage to pitch. Yaw can be achieved by changing the speed of the rotor rotating in the same direction or the thrust vector. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, the elements or parts are not necessarily drawn to actual scale.

[0021] Figure 1 This is a first-view perspective stereoscopic diagram of the present invention; Figure 2 This is a second-view perspective stereoscopic diagram of the present invention; Figure 3 This is a partial three-dimensional schematic diagram of the present invention; Figure 4 This is a schematic diagram of the skeleton structure of the present invention; Figure 5 This is a schematic diagram of the rotor section of the present invention; Figure 6 For the present invention Figure 2 Enlarged view of section A in the middle.

[0022] In the diagram: 100, Support section; 101, Support block; 102, Through hole; 200, Auxiliary structure; 201, Extension plate; 202, Accommodation space; 300, Drive motor; 400, Linkage mechanism; 401, Connecting rod; 402, Followed rocker arm; 403, Drive rod; 500, Flight arm; 501, Support rod; 502, Mounting head; 503, Rotating column; 600, Rotor section; 601, Rotor motor; 602, Rotor blade; 700, Battery pack; 800, Bearing frame; 801, Bolt; 802, Retaining ring; 900, Integrated circuit board. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Example: Reference Figures 1-6 The balanced multi-rotor aircraft includes a frame structure, i.e., the fuselage, for mounting the aircraft control unit and energy storage unit. The frame structure has a support 100, on which a flight arm 500 is rotatably connected to support 100 to bear the lift and movement of the flight arm 500. A rotor 600 is mounted on the free end of the flight arm 500. When working, the rotor 600 provides lift and thrust to the aircraft. Specifically, the control unit includes a linkage mechanism 400 mounted on the support 100. The linkage mechanism 400 controls the rotation angle of the rotor 600 around the axis of the flight arm 500. During takeoff and landing, the linkage mechanism 400 does not operate, and the rotor 600 operates to provide lift. When displacement is required, the linkage mechanism 400 starts to operate, driving two sets of rotors 600 on the same axis to rotate in the same direction around the axis of the flight arm 500. At this time, the aircraft translates in a horizontal attitude, including forward, backward, and turning.

[0025] In the above design, the flight arm 500 is set with a plus sign or cross-shaped frame. By rotating the flight arm 500, the rotor 600 will tilt and move the aircraft forward or backward. The rotor 600 that is not tilted can focus on stability without causing the main fuselage to pitch. Yaw can be achieved by changing the speed or thrust vector of the rotor 600 rotating in the same direction.

[0026] In some embodiments, the linkage mechanism 400 includes a double rocker mechanism or a crank-rocker mechanism. Its core is that it must have a structural component that can swing in an arc, which is a rocker in this case. The rocker is fixedly connected to the flight arm 500 as the driven component of the linkage mechanism 400. When the rocker swings in an arc, it can drive the flight arm 500 to rotate around its own axis, thereby tilting the rotor 600. This ensures that the main fuselage does not pitch when the aircraft moves forward or backward, thus guaranteeing the stability and controllability of the flight.

[0027] Reference Figures 1-3 In some embodiments, the linkage mechanism 400 is selected as a dual rocker mechanism, which includes: a driven rocker 402, one end of which is fixedly connected to the flight arm 500; and a drive rod 403 as the active member, which is also a rocker in this case. One end of the drive rod 403 is rotatably connected to the driven rocker 402 through a connecting rod 401. When the drive rod 403 swings, the driven rocker 402 can be driven to swing in an arc around the axis of the flight arm 500 through the connecting rod 401. At this time, the flight arm 500 rotates around its own axis due to the swing of the driven rocker 402, thereby changing the tilt angle of the rotor section 600 and realizing the horizontal forward or backward movement of the entire aircraft. Here, the tilt angle range of the rotor section 600 can be 0°-90°.

[0028] In other embodiments, the crank of the crank-rocker structure acts as the driving element, but in the use of this embodiment, it typically does not need to rotate 360°.

[0029] In some embodiments, the linkage mechanism 400 further includes a drive motor 300 fixedly mounted on the frame structure. The output end of the drive motor 300 is fixedly connected to one end of the drive rod 403. It should be noted that multiple positioning holes are provided along the length of the drive rod 403. The drive motor 300 can be inserted into the corresponding positioning holes as needed to change the actual length of the drive rod 403. This method can adjust the torque and sensitivity of its swing angle.

[0030] In some embodiments, auxiliary structures 200 are symmetrically arranged on the support part 100. The auxiliary structures 200 are fixedly connected to the support part 100. The auxiliary structure 200 is specifically an extension plate 201. The extension plate 201 is fixedly connected to the support part 100 through a vertical plate structure and has a certain distance from the main body of the support part 100 to form a receiving space 202. The control part and the energy storage part are both installed on the extension plate 201, and the drive motor 300 is installed in the receiving space 202 to achieve the installation stability and integrated design of the aircraft skeleton structure machine parts.

[0031] In some embodiments, the energy storage unit consists of two battery packs 700. Specifically, a support frame 800 is mounted on the bottom extension plate 201, and the battery packs 700 are mounted on the support frame 800. The battery packs 700 are connected to the control unit, rotor unit 600, and drive motor 300, etc., via wires to supply power to them.

[0032] In some embodiments, the control unit further includes two integrated circuit boards 900, which are respectively mounted on two expansion boards 201. Specifically, bolts 801 are connected to the bottom expansion board 201. These bolts 801 are the structure that connects the support frame 800 to the expansion board 201. One integrated circuit board 900 is penetrated by four bolts 801, and a retaining ring 802 is fitted on the bolts 801 that penetrate the integrated circuit board 900. This retaining ring is used to isolate the integrated circuit board 900 from the expansion board 201 and the support frame 800 to prevent the electronic components on the integrated circuit board 900 from being squeezed.

[0033] In some embodiments, the support portion 100 includes a cubic support block 101, on which a through hole 102 is provided, and the flight arm 500 is rotatably connected within the through hole 102.

[0034] In some embodiments, the flight arm 500 includes: a support rod 501 extending through the through hole 102 and to both sides, the two support rods 501 being arranged in a cross shape or a plus sign arrangement on the support block 101; a rotating column 503 is mounted on the support rod 501, the rotating column 503 is rotatably connected within the through hole 102, and a bearing is sleeved on the rotating column 503, the outer ring of the bearing fitting against the inner wall of the through hole 102 to reduce friction; a rocker arm 402 is fixedly connected to the rotating column 503 from one end; and a [missing information - likely a component or element] is fixedly connected to the end of the support rod 501. Mounting head 502, rotor 600 is mounted on mounting head 502. When the flight arm 500 is driven to rotate by the linkage mechanism 400, it can directly drive the two sets of rotor 600 on the same axis to rotate in the same direction to complete the horizontal attitude translation of the aircraft. In other embodiments, the support rod 501 does not pass through the through hole 102, but is multiple support rods 501 in one direction. Each support rod 501 can be controlled independently. In this case, when controlling the rotation of a single support rod 501, the adjustment freedom of the aircraft is more diversified.

[0035] In some embodiments, the rotor 600 includes a rotor motor 601 fixedly connected to the mounting head 502. The rotor motor 601 is powered by a battery pack 700. The output end of the rotor motor 601 is equipped with rotor blades 602. Here, the rotor blades 602 are arranged in groups of three to provide power to the aircraft when rotating.

[0036] In this invention, two support rods 501 are arranged in a cross or plus sign pattern on the support block 101, and a rotor motor 601 and rotor blades 602 are installed at the ends of the support rods 501. During takeoff, the support rods 501 do not rotate, and the four sets of rotor blades 602 are in a horizontal state. The rotor motor 601 starts and drives the rotor blades 602 to rotate at high speed to generate lift. By changing the drive speed of the rotor motor 601, the aircraft can be vertically ascended or descended. When the aircraft needs to move forward or backward, the drive motor 300 drives the linkage mechanism 400 to rotate one of the support rods. 501, with the other support rod 501 remaining stationary, the untilted drive motor 300 can focus on stability, reducing the complexity of the tilting mechanism. At this time, the aircraft can move horizontally without pitching, especially for aircraft equipped with cameras, eliminating the need for additional camera calibration. Yaw can be achieved by changing the speed or thrust vector of the rotor motor 601 rotating in the same direction. This invention design allows vertical take-off and landing fixed-wing aircraft to maintain horizontal flight without tilting, thereby increasing flight stability. By maintaining horizontality, the wind-resistant surface area can be reduced.

[0037] Components not described in detail in this article are existing technologies.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A balanced multi-rotor aircraft, comprising a frame structure, wherein a control unit and an energy storage unit are disposed on the frame structure, characterized in that, The frame structure includes a support (100), on which a flight arm (500) is rotatably connected, and a rotor (600) is provided at the free end of the flight arm (500). The control unit includes a linkage mechanism (400) mounted on the support unit (100). The linkage mechanism (400) is used to control the rotation angle of the rotor unit (600) around the axis of the flight arm (500). When the two sets of rotor units (600) on the same axis rotate in the same direction around the axis, the aircraft translates in a horizontal attitude.

2. The balanced multi-rotor aircraft according to claim 1, characterized in that, The linkage mechanism (400) includes a double rocker mechanism or a crank-rocker mechanism.

3. The balanced multi-rotor aircraft according to claim 1, characterized in that, The linkage mechanism (400) includes: From the rocker arm (402), one end of the rocker arm (402) is fixedly connected to the flight arm (500); The drive rod (403) is rotatably connected to the driven rocker arm (402) via a connecting rod (401). The drive rod (403) is used to drive the driven rocker arm (402) to swing in an arc around the axis of the flight arm (500).

4. The balanced multi-rotor aircraft according to claim 3, characterized in that, The linkage mechanism (400) also includes a drive motor (300) fixedly mounted on the frame structure, and the output end of the drive motor (300) is fixedly connected to one end of the drive rod (403).

5. The balanced multi-rotor aircraft according to claim 4, characterized in that, An auxiliary structure (200) is symmetrically arranged on the support part (100). The auxiliary structure (200) includes an extension plate (201). The control part and the energy storage part are both installed on the extension plate (201). A receiving space (202) is provided between the extension plate (201) and the support part (100). The drive motor (300) is installed in the receiving space (202).

6. The balanced multi-rotor aircraft according to claim 5, characterized in that, The energy storage unit includes a battery pack (700). The expansion board (201) is equipped with a support frame (800), and the battery pack (700) is mounted on the support frame (800).

7. The balanced multi-rotor aircraft according to claim 5, characterized in that, The control unit also includes an integrated circuit board (900), which is mounted on the expansion board (201). Among them, the expansion board (201) is connected to a bolt (801), the bolt (801) passes through the integrated circuit board (900), and a retaining ring (802) is provided between the integrated circuit board (900) and the expansion board (201).

8. The balanced multi-rotor aircraft according to claim 3, characterized in that, The support part (100) includes a support block (101), and a through hole (102) is provided on the support block (101). The flight arm (500) is rotatably connected in the through hole (102).

9. The balanced multi-rotor aircraft according to claim 8, characterized in that, The flight arm (500) includes: A support rod (501) is provided, and a rotating column (503) is mounted on the support rod (501). The rotating column (503) is rotatably connected in the through hole (102) and is fixedly connected to the rotating column (503) from one end of the rocker arm (402). A mounting head (502) is fixedly connected to the end of the support rod (501), and the rotor (600) is mounted on the mounting head (502).

10. The balanced multi-rotor aircraft according to claim 9, characterized in that, The rotor section (600) includes a rotor motor (601) fixedly connected to the mounting head (502), and rotor blades (602) are mounted on the output end of the rotor motor (601).

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