A novel multi-modal control lateral dual-rotor unmanned helicopter

Abstract

The application discloses a novel multi-mode control transverse double-rotor unmanned helicopter, which comprises an unmanned aerial vehicle shell, a differential transmission module, a lift balance module, a pitching control module and a remote control system, wherein the differential transmission module comprises a brushless drive motor, a rotating shaft fixed wheel, a mechanical differential device, an electromagnetic speed control device and a rotor rotating shaft; the lift balance module is used for realizing the angle of attack change of the self-rotating rotor of the unmanned aerial vehicle; the pitching control module is used for realizing the rapid adjustment of the pitching attitude of the unmanned aerial vehicle; and the remote control system realizes the multi-mode control of the unmanned aerial vehicle through signal transmission. Through the cooperation of the lift balance module, the differential transmission module, the pitching control module and the remote control system, the unmanned aerial vehicle can effectively improve the turning maneuvering flexibility, the flight stability in the full speed range and the pitching attitude response speed, enhance the anti-interference ability and operation reliability in the complex low-altitude environment, and simultaneously simplify the control structure, reduce the overall power consumption and development and maintenance costs.

Description

Technical Field

[0001] This invention belongs to the field of aircraft technology, specifically relating to a novel multimodal control transverse dual-rotor unmanned helicopter. Background Technology

[0002] With the rapid development of low-altitude economy, intelligent inspection, emergency rescue, logistics delivery and other fields, the requirements for unmanned helicopters in terms of maneuverability, attitude stability, load capacity and adaptability to complex environments are constantly increasing.

[0003] Traditional single-rotor unmanned helicopters rely on a tail rotor to counteract the anti-torque, resulting in high power loss, structural redundancy, and limited wind resistance and maneuverability. While conventional tandem rotors can counteract the anti-torque and eliminate the need for a tail rotor, offering significant structural and payload advantages, existing models still have obvious shortcomings.

[0004] Existing tandem rotor UAVs mostly achieve turning through the difference in rotational speed of the left and right rotors, collective pitch difference, or complex pitch-changing mechanisms. This results in complex control logic, bulky mechanical structures, slow response to small-radius turns, easy attitude swaying, and poor handling stability. The fixed blade angle of attack layout cannot adapt to the aerodynamic changes in various operating conditions such as hovering, low speed, and high-speed forward flight. The rotor lift coefficient is mismatched at different flight speeds, which easily leads to lift fluctuations and airframe turbulence, resulting in insufficient flight efficiency and smoothness. Pitch attitude mostly relies on cyclic pitch of the rotor or aerodynamic control surface control, which has a lag response, low aerodynamic efficiency at low speeds, weak resistance to gust interference, and difficulty in achieving rapid and precise pitch adjustment and attitude stability. Summary of the Invention

[0005] (1) Technical problems to be solved To address the shortcomings of existing technologies, the present invention aims to provide a novel multimodal control transverse dual-rotor unmanned helicopter, which solves the problems of cumbersome turning control, difficulty in balancing lift across the entire speed range, and slow pitch control response in existing transverse dual-rotor unmanned helicopters.

[0006] (2) Technical solution To address the aforementioned technical problems, this invention provides a novel multimodal controlled transverse dual-rotor unmanned helicopter, comprising: Drone shell; The differential transmission module includes a brushless drive motor, a fixed wheel for the rotating shaft, a mechanical differential device, an electromagnetic speed control device, and a rotor rotating shaft. The rotor rotating shaft includes a left rotor rotating shaft and a right rotor rotating shaft. The mechanical differential device and the electromagnetic speed control device enable the differential speed between the left rotor rotating shaft and the right rotor rotating shaft in the case of a single motor. The lift balancing module is used to realize the angle of attack change of the UAV's autorotor, and further change the magnitude of the lift when the UAV's left rotor shaft and right rotor shaft rotate. The pitch control module is used to enable rapid adjustment of the UAV's pitch attitude; The remote control system enables multimodal operation of the drone through signal transmission.

[0007] Preferably, the lift balancing module includes a motor fixing rod, a rotor upper motor fixedly mounted on the motor fixing rod, a rotor upper gear fixedly mounted on the output end of the rotor upper motor, and a self-rotating rotor that cooperates with the rotor upper gear. The self-rotating rotor includes a rotor and a rotor gear fixedly mounted on the rotor, and the rotor gear meshes with the rotor upper gear.

[0008] Furthermore, the mechanical differential device includes a main transmission gear fixedly mounted on the output end of the brushless drive motor and a transmission rod driven by the main transmission gear. The transmission rod includes a left transmission rod and a right transmission rod. A first driven gear that meshes with the main transmission gear is fixedly mounted on the end of the left and right transmission rods that are close to each other. A second driven gear is fixedly mounted on the end of the left and right transmission rods that are far apart from each other. A third driven gear that meshes with the second driven gear is fixedly mounted on the left rotor shaft and the right rotor shaft.

[0009] Furthermore, the electromagnetic speed control device includes a left conductive coil mounted on the left drive rod, a right conductive coil mounted on the right drive rod, and a variable output voltage source connected to the left and right conductive coils via wires.

[0010] Furthermore, the variable output voltage source includes a left variable output voltage source connected to the left conductive coil via a wire and a right variable output voltage source connected to the right conductive coil via a wire.

[0011] Furthermore, the pitch control module includes a high-pressure gas storage chamber, and a front jet nozzle and a rear jet nozzle opened on the UAV shell. The front jet nozzle and the rear jet nozzle are directly connected to the high-pressure gas storage chamber through two pipes, and the two pipes are respectively connected to the front jet nozzle valve and the rear jet nozzle valve.

[0012] Furthermore, the remote control system includes a transmission antenna, a control lever for lifting, a control lever for steering, and a control button for pitch.

[0013] Beneficial effects Compared with the prior art, the beneficial effects of the present invention are as follows: This invention, through the coordinated design of a lift balance module, differential transmission module, pitch control module, and remote control system, can effectively improve the turning maneuverability, flight stability across the entire speed range, and pitch attitude response speed of unmanned aerial vehicles (UAVs). It also enhances the anti-interference capability and operational reliability in complex low-altitude environments. At the same time, it simplifies the control structure, reduces overall power consumption and development and maintenance costs, and can provide technical support for the application of unmanned equipment in various scenarios such as inspection and rescue, material delivery, and low-altitude surveying. It also has significant practical application value for the performance upgrade and engineering promotion of tandem dual-rotor unmanned helicopters. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a bottom-view schematic diagram of the UAV of the present invention; Figure 3 This is an overall schematic diagram of the lift balance module and differential transmission module of the UAV of the present invention; Figure 4 This is a schematic diagram of the differential transmission module of the UAV of the present invention; Figure 5 This is a partial structural schematic diagram of the differential transmission module of the UAV of the present invention; Figure 6 This is a partial structural schematic diagram of the lift balancing module of the UAV of the present invention; Figure 7 This is a partial structural schematic diagram of the lift balancing module of the UAV of the present invention; Figure 8 This is a schematic diagram of the overall structure of the pitch control module of the UAV of the present invention; Figure 9 This is a front view of the remote control system of the UAV of the present invention; Figure 10 This is a three-dimensional schematic diagram of the remote control system for unmanned aerial vehicles (UAVs) of the present invention. Figure 11 This is a schematic cross-sectional view of the pitch control module of the UAV of the present invention.

[0015] The components include: 1. Lift balancing module; 2. UAV shell; 4. Brushless drive motor; 5. Shaft fixing wheel; 6. Main transmission gear; 7. Transmission rod; 71. Left transmission rod; 72. Right transmission rod; 8. Electromagnetic speed control device; 81. Left conductive coil; 82. Right conductive coil; 9. Rotor shaft; 91. Left rotor shaft; 92. Right rotor shaft; 10. Variable output voltage source; 101. Left variable output voltage source; 102. Right variable output voltage source. 11. Pressure source; 12. Motor mounting rod; 13. Rotor; 14. Rotor gear; 15. Rotor; 16. Upper rotor motor; 17. Upper rotor gear; 18. Differential transmission module; 19. Front jet valve; 20. Rear jet valve; 21. High-pressure gas storage chamber; 22. Pitch control module; 23. Lift control lever; 24. Steering control lever; 35. Remote control system; 36. Front jet; 37. Rear jet. Detailed Implementation

[0016] 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.

[0017] It should be noted that the use of terms such as "an embodiment," "embodiment," and "exemplary embodiment" in the specification indicates that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, when describing a specific feature, structure, or characteristic in conjunction with embodiments, implementing such a feature, structure, or characteristic in conjunction with other embodiments should be within the knowledge of those skilled in the art.

[0018] like Figures 1 to 11 As shown, this embodiment provides a novel multimodal control transverse dual-rotor unmanned helicopter, including an unmanned aerial vehicle shell 2, a differential transmission module 15, a lift balance module 1, a pitch control module 21, and a remote control system 24.

[0019] The drone's outer shell 2 is made of carbon fiber composite material, which has the characteristics of high strength and light weight, thus enabling the drone to fly with a light load.

[0020] The remote control system 24 enables multimodal operation of the UAV through signal transmission; the remote control system 24 includes a transmission antenna, a control stick 22 for elevation, a control stick 23 for steering, and a control button for pitch.

[0021] The differential transmission module 15 includes a brushless drive motor 4, a shaft fixed wheel 5, a mechanical differential device, an electromagnetic speed control device 8, and a rotor shaft 9. The rotor shaft 9 includes a left rotor shaft 91 and a right rotor shaft 92. The mechanical differential device and the electromagnetic speed control device 8 enable the differential speed between the left rotor shaft 91 and the right rotor shaft 92 in the case of a single motor.

[0022] Specifically, in this embodiment, the mechanical differential device includes a main transmission gear 6 fixedly installed at the output end of the brushless drive motor 4 and a transmission rod 7 driven by the main transmission gear 6. The transmission rod 7 includes a left transmission rod 71 and a right transmission rod 72. A first driven gear that meshes with the main transmission gear 6 is fixedly installed at the close end of the left transmission rod 71 and the right transmission rod 72. A second driven gear is fixedly installed at the far end of the left transmission rod 71 and the right transmission rod 72. A third driven gear that meshes with the second driven gear is fixedly installed on both the left rotor shaft 91 and the right rotor shaft 92. The brushless drive motor 4 is fixedly mounted on the drone shell 2, and the rotating shaft fixing wheel 5 is rotatably mounted on the drone shell 2.

[0023] The brushless drive motor 4 drives the main transmission gear 6 to rotate. During the rotation of the main transmission gear 6, it can drive the two first driven gears meshing with it to rotate. During the rotation of the two first driven gears, they can drive the left transmission rod 71 and the right transmission rod 72 to rotate respectively. During the rotation of the left transmission rod 71 and the right transmission rod 72, they can drive the two second driven gears to rotate. During the rotation of the two second driven gears, they can drive the left rotor shaft 91 and the right rotor shaft 92 meshing with them to rotate respectively.

[0024] The electromagnetic speed control device 8 includes a left conductive coil 81 mounted on the left transmission rod 71, a right conductive coil 82 mounted on the right transmission rod 72, and a variable output voltage source 10 connected to the left conductive coil 81 and the right conductive coil 82 via wires; the variable output voltage source 10 includes a left variable output voltage source 101 connected to the left conductive coil 81 via wires and a right variable output voltage source 102 connected to the right conductive coil 82 via wires. When the drone does not need to turn, take turning left as an example: Initially, when the drone is flying straight, the left rotor shaft 91 rotates clockwise and the right rotor shaft 92 rotates counterclockwise. When the drone needs to turn left, the remote control system 24 sends a signal to the drone. This signal causes the right variable output voltage source 102 to start energizing the right conductive coil 82. The variable current enters the right conductive coil 82 through the wire, thereby generating a magnetic field. According to Lenz's law, this magnetic field will generate a reverse torque on the right rotor shaft 92, thereby reducing the rotational speed of the right rotor shaft 92. According to the law of conservation of angular momentum, the drone will rotate counterclockwise to compensate for the reduction of angular momentum of the right rotor shaft 92, further causing the drone to turn left. When the drone needs to stop turning left, it only needs to transmit a signal to the drone through the remote control system 24. This signal will cause the right variable output voltage source 102 to be de-energized, thereby stopping the drone's turning attitude. When the drone needs to turn right, it only needs to transmit a signal to the drone through the remote control system 24. This signal causes the left variable output voltage source 101 to start energizing the left conductive coil 81. When the variable current enters the left conductive coil 81 through the wire, it generates a magnetic field. According to Lenz's law, this magnetic field will generate a reverse torque on the left rotor shaft 91, thereby reducing the rotational speed of the left rotor shaft 91. According to the law of conservation of angular momentum, the drone will rotate counterclockwise to compensate for the reduction of angular momentum of the left rotor shaft 91, and further enable the drone to turn right. When the drone needs to stop turning right, it only needs to send a signal to the drone through the remote control system 24. This signal will de-energize the left variable output voltage source 101, thereby stopping the drone's turning attitude.

[0025] The lift balancing module 1 is used to realize the angle of attack change of the UAV's autorotor 12, and further change the magnitude of the lift when the UAV's left rotor shaft 91 and right rotor shaft 92 rotate; The lift balancing module 1 includes a motor fixing rod 11, a rotor upper motor 13 fixedly installed on the motor fixing rod 11, a rotor upper gear 14 fixedly installed on the output end of the rotor upper motor 13, and a self-rotating rotor 12 that cooperates with the rotor upper gear 14. The self-rotating rotor 12 includes a rotor 122 and a rotor gear 121 fixedly installed on the rotor 122. The rotor gear 121 is meshed with the rotor upper gear 14. Both the left rotor shaft 91 and the right rotor shaft 92 are equipped with lift balancing modules 1. The motor fixing rods 11 of the two lift balancing modules 1 are fixedly installed on the left rotor shaft 91 and the right rotor shaft 92 respectively. Under the action of the motor fixing rods 11, the lift balancing modules 1 can be installed as a whole on the left rotor shaft 91 and the right rotor shaft 92.

[0026] When the differential transmission module 15 turns the drone, the drone will inevitably have different lift due to the different rotation speeds of the left rotor shaft 91 and the right rotor shaft 92, which will lead to the risk of the drone tilting to one side. Taking a drone turning left as an example, the rotational speed of the drone's right rotor shaft 92 decreases, which, as a conventional rotor, will inevitably cause the drone to tilt to the right, further increasing the risk of the drone tipping over. To address this risk, this invention utilizes a lift balancing module 1, the specific principle of which is as follows: When the drone turns left, the rotational speed of the right rotor shaft 92 decreases. At the same time, the upper rotor motor 13 located on the right rotor shaft 92 drives the upper rotor gear 14 to rotate at a small angle. During the rotation, the upper rotor gear 14 drives the rotor gear 121 meshing with it to rotate. During the rotation, the rotor gear 121 drives the rotor 122 to rotate, thereby further increasing the angle of attack of the right rotor shaft 92. According to aerodynamics, the lift coefficient of the drone is proportional to the angle of attack within the range of 0°-15°. At this time, as the angle of attack of the right rotor shaft 92 increases, the lift coefficient of the right rotor shaft 92 increases, and the lift of the right rotor shaft 92 increases, thus compensating for the lift lost by the right rotor shaft 92 due to the differential speed.

[0027] When the drone turns right, the rotational speed of the left rotor shaft 91 decreases. At the same time, the upper rotor motor 13 on the left rotor shaft 91 drives the upper rotor gear 14 to rotate at a small angle. During the rotation, the upper rotor gear 14 drives the rotor gear 121 meshing with it to rotate. During the rotation, the rotor gear 121 drives the rotor 122 to rotate, thereby further increasing the angle of attack of the left rotor shaft 91. According to aerodynamics, the lift coefficient of the drone is proportional to the angle of attack within the range of 0°-15°. At this time, as the angle of attack of the left rotor shaft 91 increases, the lift coefficient of the left rotor shaft 91 increases, and the lift of the left rotor shaft 91 increases, thus compensating for the lift lost by the left rotor shaft 91 due to the differential speed.

[0028] The pitch control module 21 is used to quickly adjust the pitch attitude of the UAV. The pitch control module 21 includes a high-pressure gas storage chamber 20, and a front jet nozzle 31 and a rear jet nozzle 32 opened on the UAV shell 2. The front jet nozzle 31 and the rear jet nozzle 32 are directly connected to the high-pressure gas storage chamber 20 through two pipes, and the two pipes are respectively connected to the front jet nozzle valve 18 and the rear jet nozzle valve 19. When the drone wants to achieve a tilting posture, the remote control system 24 inputs a signal to the drone. This signal can open the front jet valve 18, and the high-pressure gas in the high-pressure gas storage chamber 20 is ejected from the front jet 31 through the pipe at the corresponding position. The ejected high-pressure gas creates a backlash on the front of the drone, thereby enabling the drone to tilt up. When the drone needs to stop this state, the remote control system 24 inputs a signal to the drone, which causes the front jet valve 18 to close, thereby stopping the upward-looking state. When the drone wants to achieve a top-down attitude, the remote control system 24 inputs a signal to the drone. This signal can open the rear jet valve 19, and the high-pressure gas in the high-pressure gas storage chamber 20 is ejected from the rear jet 32 ​​through the pipe at the corresponding position. The ejected high-pressure gas creates a backlash on the rear of the drone, thereby enabling the drone to achieve a top-down attitude. When the drone needs to stop in this state, the remote control system 24 inputs a signal to the drone, which causes the rear jet valve 19 to close, thereby stopping the upward-looking state.

[0029] The differential transmission module 15 of this invention enables differential speed between the left rotor shaft 91 and the right rotor shaft 92 in the case of a single motor. The lift balance module 1 of this invention enables the change of the angle of attack of the UAV's autorotor 12, further changing the magnitude of lift when the UAV's left rotor shaft 91 and right rotor shaft 92 rotate. This invention enables rapid adjustment of the UAV's pitch attitude through the pitch control module 21, thus making this application a novel tandem dual-rotor unmanned helicopter with differential lock differential turning, variable angle of attack rotor lift adaptive balance, and jet-assisted pitch control. At the same time, it simplifies the control structure, improves maneuverability and flight stability under all conditions, and adapts to the complex low-altitude operation requirements in multiple scenarios.

[0030] This invention enables multimodal control of UAVs via signal transmission using a remote control system 24. Through the coordinated setup of the lift balance module 1, differential transmission module 15, pitch control module 21, and remote control system 24, this invention effectively improves the UAV's turning maneuverability, flight stability across all speed ranges, and pitch attitude response speed. It also enhances the anti-interference capability and operational reliability in complex low-altitude environments. Simultaneously, it simplifies the control structure, reduces overall power consumption and development and maintenance costs, and provides technical support for the application of unmanned equipment in various scenarios such as inspection and rescue, material delivery, and low-altitude surveying. It also has significant practical application value for the performance upgrade and engineering promotion of tandem dual-rotor unmanned helicopters.

[0031] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Any modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A novel multimodal controlled transverse dual-rotor unmanned helicopter, characterized in that, include: Unmanned aerial vehicle shell (2); The differential transmission module (15) includes a brushless drive motor (4), a rotating shaft fixed wheel (5), a mechanical differential device, an electromagnetic speed control device (8), and a rotor rotating shaft (9). The rotor rotating shaft (9) includes a left rotor rotating shaft (91) and a right rotor rotating shaft (92). The mechanical differential device and the electromagnetic speed control device (8) enable the differential speed between the left rotor rotating shaft (91) and the right rotor rotating shaft (92) in the case of a single motor. The lift balancing module (1) is used to realize the angle of attack change of the UAV's autorotor (12) and further change the lift magnitude when the UAV's left rotor shaft (91) and right rotor shaft (92) rotate; Pitch control module (21) is used to realize rapid adjustment of the pitch attitude of the UAV; The remote control system (24) enables multimodal control of the UAV through signal transmission.

2. The novel multimodal control transverse dual-rotor unmanned helicopter according to claim 1, characterized in that, The lift balancing module (1) includes a motor fixing rod (11), a rotor upper motor (13) fixedly installed on the motor fixing rod (11), a rotor upper gear (14) fixedly installed on the output end of the rotor upper motor (13), and a self-rotating rotor (12) that cooperates with the rotor upper gear (14). The self-rotating rotor (12) includes a rotor (122) and a rotor gear (121) fixedly installed on the rotor (122). The rotor gear (121) meshes with the rotor upper gear (14).

3. A novel multimodal control transverse dual-rotor unmanned helicopter according to claim 2, characterized in that, The mechanical differential device includes a main transmission gear (6) fixedly installed at the output end of the brushless drive motor (4) and a transmission rod (7) driven by the main transmission gear (6). The transmission rod (7) includes a left transmission rod (71) and a right transmission rod (72). A first driven gear that meshes with the main transmission gear (6) is fixedly installed at the end of the left transmission rod (71) and the right transmission rod (72) that are close to each other. A second driven gear is fixedly installed at the end of the left transmission rod (71) and the right transmission rod (72) that are far apart from each other. A third driven gear that meshes with the second driven gear is fixedly installed on the left rotor shaft (91) and the right rotor shaft (92).

4. A novel multimodal control transverse dual-rotor unmanned helicopter according to claim 3, characterized in that, The electromagnetic speed control device (8) includes a left conductive coil (81) mounted on the left drive rod (71), a right conductive coil (82) mounted on the right drive rod (72), and a variable output voltage source (10) connected to the left conductive coil (81) and the right conductive coil (82) by wires.

5. A novel multimodal control transverse dual-rotor unmanned helicopter according to claim 4, characterized in that, The variable output voltage source (10) includes a left variable output voltage source (101) connected to the left conductive coil (81) via a wire and a right variable output voltage source (102) connected to the right conductive coil (82) via a wire.

6. A novel multimodal control transverse dual-rotor unmanned helicopter according to claim 5, characterized in that, The pitch control module (21) includes a high-pressure gas storage chamber (20), and a front jet nozzle (31) and a rear jet nozzle (32) opened on the shell (2) of the UAV. The front jet nozzle (31) and the rear jet nozzle (32) are directly connected to the high-pressure gas storage chamber (20) through two pipes, and the two pipes are respectively connected to the front jet nozzle valve (18) and the rear jet nozzle valve (19).

7. A novel multimodal control transverse dual-rotor unmanned helicopter according to claim 1, characterized in that, The remote control system (24) includes a transmission antenna, a control lever for lifting (22), a control lever for steering (23), and a control button for pitch.

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