Rotor wing steering device of four-wing unmanned aerial vehicle

Abstract

The rotor wing steering device of the four-wing unmanned aerial vehicle comprises a cantilever support, and the cantilever support comprises a fixed base and four cantilevers which are annularly distributed and arranged on the peripheral side of the fixed base; a rotating shaft is rotationally arranged in each cantilever, one end of each rotating shaft extends into the fixed base and is provided with a first bevel gear, the other end of each rotating shaft extends out of the cantilever and is provided with a rotor motor base, the rotor motor assembly is installed on the rotor motor base, and the rotating motor is installed in the fixed base; a second bevel gear is arranged on an output shaft of each rotary motor, the second bevel gears are in meshed connection with the four first bevel gears, torsion rotating around the gravity direction of the geometric center of the fuselage of the four-wing unmanned aerial vehicle is generated by adjusting the angle of the rotor motor assembly, and the fuselage of the four-wing unmanned aerial vehicle is pushed to horizontally rotate; the plane of the fuselage of the four-wing unmanned aerial vehicle coincides with the gravity direction, and the flexibility and stability of the four-wing unmanned aerial vehicle in flight are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of unmanned aerial vehicles (UAVs), and in particular relates to a rotor steering device for a four-wing UAV. Background Art

[0002] Traditional quadcopter drones are mostly fixed-wing drones, and the horizontal planes of wing rotation are fixed to each other. When taking off, landing, pitching, moving forward, backward, or drifting left and right are required, the speed ratio between the rotors is changed to produce force changes at different angles, so that the fuselage moves in the direction indicated by the resultant force. This requires precise coordination between the rotor motors, and the control algorithm is also relatively complex. When there is a need for the drone to perform a fixed-point rotation, different torque moments are generated by controlling the rotor speed and the fuselage tilt angle, thereby generating a rotational motion. This rotational motion requires precise calculation of the rotation direction and target angular velocity, and ensures smooth flight to avoid unstable aerial rotation. However, in this rotational motion, it is difficult for the fuselage plane to coincide with the direction of gravity, resulting in the inability to guarantee the flexibility and stability of the drone during flight. For this reason, we propose a rotor steering device for a quadcopter drone. Utility Model Content

[0003] The purpose of the present invention is to provide a rotor steering device for a quad-wing UAV to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a rotor steering device for a four-wing UAV, comprising:

[0005] A cantilever bracket, comprising a fixed base and four annularly distributed cantilevers arranged on the outer periphery of the fixed base;

[0006] A rotating shaft, wherein each of the cantilevers is rotatably provided with the rotating shaft, and one end of the rotating shaft extends into the fixed base and is provided with a first bevel gear, and the other end of the rotating shaft extends outside the cantilever and is provided with a rotor motor base;

[0007] a rotor motor assembly, the rotor motor assembly being mounted on the rotor motor base;

[0008] A rotary motor is installed in the fixed base, and a second bevel gear is provided on the output shaft of the rotary motor, and the second bevel gear is meshed with the four first bevel gears.

[0009] Preferably, a rotation through hole is opened in the middle of the cantilever, and the rotation shaft is rotatably arranged in the cantilever through the rotation through hole.

[0010] Preferably, the rotating shaft is a hollow structure.

[0011] Preferably, a through hole is formed on one end of the rotating shaft close to the first bevel gear, a control cable connected to the rotor motor assembly is passed through the through hole, and the control cable is connected to a control drive module that controls the rotor motor assembly.

[0012] Preferably, the rotary motor is fixedly mounted in the fixed base by screws.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] The utility model is provided with a cantilever bracket, a rotating shaft, a rotating motor, a first bevel gear and a second bevel gear. When in use, the rotating motor drives the second bevel gear to rotate through the output shaft, and the second bevel gear and the four first bevel gears are engaged and rotated synchronously, thereby driving the four rotating shafts to rotate in the four cantilevers on the cantilever bracket, thereby driving the rotor motor assembly on the rotor motor base to rotate the angle, thereby driving the rotor motor assembly of the four-wing UAV to rotate. By adjusting the angle of the rotor motor assembly, a torque rotating around the geometric center of the four-wing UAV fuselage in the direction of gravity is generated, pushing the four-wing UAV fuselage to rotate horizontally, making it easier for the four-wing UAV to achieve the coincidence of the plane of the four-wing UAV fuselage with the direction of gravity when rotating, making the four-wing UAV fuselage more balanced and stable, and improving the flexibility and stability of the four-wing UAV during flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the utility model;

[0016] Figure 2 This is a schematic cross-sectional view of the utility model;

[0017] Figure 3 It is a partial three-dimensional structural diagram of the utility model;

[0018] Figure 4 It is a schematic diagram of the top structure of the utility model.

[0019] In the figure: 1. Cantilever bracket; 101. Fixed base; 102. Cantilever; 103. Rotating through hole; 2. Rotating shaft; 201. First bevel gear; 202. Rotary motor base; 203. Through hole; 3. Rotary motor assembly; 4. Rotating motor; 401. Second bevel gear; 5. Control cable. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] See also Figure 1-Figure 4 The rotor steering device of the quad-wing UAV provided by the present invention includes:

[0022] The cantilever support 1 includes a fixed base 101 and four cantilevers 102 arranged on the outer periphery of the fixed base 101 and distributed in a ring shape;

[0023] Rotating shaft 2: Each cantilever 102 is rotatably provided with a rotating shaft 2. A rotating through hole 103 is opened in the middle of the cantilever 102. The rotating shaft 2 is rotatably provided in the cantilever 102 through the rotating through hole 103. The rotating shaft 2 is a hollow structure, and one end of the rotating shaft 2 extends into the fixed base 101 and is provided with a first bevel gear 201. The other end of the rotating shaft 2 extends outside the cantilever 102 and is provided with a rotor motor base 202.

[0024] The rotor motor assembly 3 is mounted on the rotor motor base 202. A through-hole 203 is provided on the end of the rotating shaft 2 near the first bevel gear 201. A control cable 5 connected to the rotor motor assembly 3 is passed through the through-hole 203. The control cable 5 is connected to a control drive module that controls the rotor motor assembly 3. The through-hole 203 and the hollow structure of the rotating shaft 2 facilitate the routing of the control cable 5 of the quadcopter drone.

[0025] The rotary motor 4 is installed in the fixed base 101 and fixed in the fixed base 101 by screws. A second bevel gear 401 is provided on the output shaft of the rotary motor 4. The second bevel gear 401 is meshed with the four first bevel gears 201.

[0026] The utility model is provided with a cantilever bracket 1, a rotating shaft 2, a rotating motor 4, a first bevel gear 201 and a second bevel gear 401. When in use, the rotating motor 4 drives the second bevel gear 401 to rotate through the output shaft, and the second bevel gear 401 and the four first bevel gears 201 are synchronously meshed and rotated, thereby driving the four rotating shafts 2 to rotate in the four cantilevers 102 on the cantilever bracket 1, thereby driving the rotor motor assembly 3 on the rotor motor base 202 to rotate an angle, thereby driving the rotor motor assembly 3 of the quadcopter UAV to rotate. By adjusting the angle of the rotor motor assembly 3, a torque rotating around the geometric center of the quadcopter UAV fuselage in the direction of gravity is generated, pushing the quadcopter UAV fuselage to rotate horizontally, making it easier for the quadcopter UAV to achieve coincidence of the plane of the quadcopter UAV fuselage with the direction of gravity when rotating, making the quadcopter UAV fuselage more balanced and stable, and improving the flexibility and stability of the quadcopter UAV during flight.

[0027] To sum up, the method of using the rotor steering device of the four-wing UAV provided in this embodiment is as follows: when in use, the rotating motor 4 drives the second bevel gear 401 to rotate through the output shaft, and the second bevel gear 401 and the four first bevel gears 201 rotate synchronously in meshing engagement, thereby driving the four rotating shafts 2 to rotate in the four cantilevers 102 on the cantilever bracket 1, and then driving the rotor motor assembly 3 on the rotor motor base 202 to rotate the angle, thereby driving the rotor motor assembly 3 of the four-wing UAV to rotate, and by adjusting the angle of the rotor motor assembly 3, a torque rotating around the geometric center of the four-wing UAV fuselage is generated in the direction of gravity, pushing the four-wing UAV fuselage to rotate horizontally.

[0028] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A rotor steering device for a quad-wing UAV, characterized in that: include, A cantilever support (1), the cantilever support (1) comprising a fixed base (101) and four cantilevers (102) arranged on the outer periphery of the fixed base (101) and distributed in an annular shape; A rotating shaft (2), wherein each cantilever (102) is rotatably provided with the rotating shaft (2), one end of the rotating shaft (2) extends into the fixed base (101) and is provided with a first bevel gear (201), and the other end of the rotating shaft (2) extends outside the cantilever (102) and is provided with a rotor motor base (202); A rotor motor assembly (3), the rotor motor assembly (3) being mounted on the rotor motor base (202); A rotary motor (4) is installed in the fixed base (101), and a second bevel gear (401) is provided on the output shaft of the rotary motor (4), and the second bevel gear (401) and the four first bevel gears (201) are all meshed and connected.

2. The rotor steering device of a quad-wing UAV according to claim 1, characterized in that: A rotating through hole (103) is provided in the middle of the cantilever (102), and the rotating shaft (2) is rotatably arranged in the cantilever (102) through the rotating through hole (103).

3. The rotor steering device of a quad-wing UAV according to claim 1, characterized in that: The rotating shaft (2) is a hollow structure.

4. The rotor steering device of a quad-wing UAV according to claim 3, characterized in that: A through hole (203) is provided on one end of the rotating shaft (2) close to the first bevel gear (201), and a control cable (5) connected to the rotor motor assembly (3) is passed through the through hole (203), and the control cable (5) is connected to a control drive module that controls the rotor motor assembly (3).

5. The rotor steering device of a quad-wing UAV according to claim 1, characterized in that: The rotary motor (4) is fixedly mounted in the fixed base (101) by means of screws.

Images