Vector coaxial unmanned aerial vehicle

Abstract

The utility model belongs to the technical field of unmanned aerial vehicles, and discloses a vector coaxial unmanned aerial vehicle which comprises a fuselage component, a rotating supporting piece, a first rotating assembly and a second rotating assembly are arranged on the fuselage component, the rotating supporting piece comprises a supporting plate, a connecting plate, a rotating block and a base, the supporting plate is connected with the connecting plate, and the connecting plate is hinged to the rotating block. The rotating block is hinged to the base, the base is installed on the machine body component, the rotating block rotates in the first direction relative to the base, the connecting plate rotates in the second direction relative to the rotating block, and the first rotating assembly and the second rotating assembly are connected with the supporting plate and used for driving the supporting plate to rotate in the first direction and the second direction correspondingly. A first fixing frame is installed on the supporting plate, a paddle motor is fixed to the first fixing frame, and the output end of the paddle motor is connected with paddles. The beneficial effects of the utility model are that: realize high-efficiency power output, have accurate attitude control and good heat dissipation performance simultaneously, adapt to various complex application scenarios.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field especially relates to a vector coaxial unmanned plane. BACKGROUND

[0002] With the development of unmanned plane technology, its application field expands ceaselessly, covers logistics transportation, environmental monitoring, agricultural plant protection, disaster rescue and a plurality of industries. However, traditional multi-rotor unmanned plane has some inherent restrictions on flight performance, such as insufficient endurance, limited load capacity, poor wind resistance and poor maneuverability in complex environment. These problems are particularly prominent in high-precision task scenarios, such as narrow space operation, high wind speed environment flight and heavy load flight tasks.

[0003] Coaxial dual-rotor technology originates from the application of traditional helicopters, its main features are that the lift is generated by the upper and lower two groups of counter-rotating rotors and the influence of rotation moment is eliminated, and the tail rotor design is saved. The advantages of this technology include: 1, improve the lift efficiency: the upper and lower two groups of rotors work together, and greater lift can be generated per unit power. 2, compact structure: suitable for narrow space operation, easy to carry and deploy. 3, high wind resistance: the symmetrical structure of coaxial rotors provides better stability and wind resistance.

[0004] Vector thrust control technology originates from the field of aerospace, mainly used in fighter jets and spacecraft to enhance their maneuverability and control flexibility. In the coaxial unmanned plane, vector thrust realizes precise control of attitude and direction by adjusting the propulsion direction, and its advantages include: 1, precise attitude control: through dynamic adjustment of vector thrust on heading, pitch angle and roll angle, improve flight accuracy. 2, enhance the maneuverability: make the unmanned plane can respond quickly and multidimensional flight in complex environment. 3, high flight efficiency: reduce the dependence of traditional flight control on rotor adjustment, improve response speed.

[0005] Therefore, it is necessary to provide a vector coaxial unmanned plane, which can have excellent flight performance and high reliability in complex environment. SUMMARY

[0006] The utility model discloses a vector coaxial unmanned plane, which can effectively solve the technical problems involved in the background technology.

[0007] To achieve the above-mentioned purpose, the technical scheme of the utility model is as follows:

[0008] A kind of vector coaxial unmanned aerial vehicle, including fuselage component, which is provided with rotating support, first rotating component and second rotating component, the rotating support includes support plate, connecting plate, rotating block and base, the support plate connects the connecting plate, the connecting plate articulates the rotating block, the rotating block is articulated with the base, the base is installed on the fuselage component, the rotating block is rotated relative to the base along first direction, the connecting plate is rotated relative to the rotating block along second direction, the first rotating component and the second rotating component are connected with the support plate, and are used to drive the support plate to rotate along first direction and second direction respectively, first fixing frame is installed on the support plate, paddle motor is fixed on the first fixing frame, the output end of the paddle motor is connected with paddle, the fuselage component is provided with controller and battery.

[0009] A vector coaxial double-blade unmanned aerial vehicle with small overall size, simple and reliable structure, light structure weight is provided, which includes power, vector control, control layer, energy layer and image transmission. The power part adopts coaxial double-blade motor direct drive, which has higher efficiency than indirect transmission; the vector control part adopts two rudders control, which simplifies the complex variable pitch structure and has simple control; the control layer and the energy layer adopt platform design, which facilitates the installation of control board and battery, and the energy layer is also provided with a dedicated 4S battery storage bin, and a triangular support is arranged below the energy layer, which facilitates the take-off and operation of the unmanned aerial vehicle; the image transmission adopts open IPC network open source firmware, and the camera can adopt Xiaomi camera 2K (MJSXJ03HL), Xiongmai IPG-53H20AF, Digitus DN-16048 optical zoom and other types of cameras, which has high definition and low cost.

[0010] As a preferred improvement of the utility model: the first direction and the second direction are arranged at a certain angle, which can be perpendicular, and the rotating block is in cross shape.

[0011] As a preferred improvement of the utility model: the paddle includes a first paddle and a second paddle, the first paddle is located above the second paddle, the directions of the blades of the first paddle and the second paddle are perpendicular, and the paddle motor is a CRM2413 coaxial double-blade motor.

[0012] As a preferred improvement of the utility model: the first rotating component includes a first rudder, a first lever, a first connecting rod and a first support rod, the first rudder is installed on the fuselage component, the output end of the first rudder is connected with the first lever, the end of the first lever away from the first rudder is articulated with the bottom end of the first connecting rod, the top end of the first connecting rod is articulated with one end of the first support rod, and the other end of the first support rod is connected with the support plate.

[0013] As a preferred improvement of the utility model: the second rotation component includes second steering wheel, second pole, second connecting rod and second support rod, the second steering wheel is installed on the fuselage component, the output end of the second steering wheel is connected with the second pole, the bottom end of the second connecting rod is hinged to the end of the second pole away from the second steering wheel, the top end of the second connecting rod is hinged to one end of the second support rod, and the other end of the second support rod is connected with the support plate.

[0014] As a preferred improvement of the utility model: the fuselage component includes upper plate, fixed rod, middle plate and lower plate, the upper plate, the middle plate and the lower plate are all fixed on the fixed rod and are arranged in the up-down direction, the rotary support, the first rotation component and the second rotation component are installed on the top surface of the upper plate, the middle plate is used for placing the controller, the lower plate is provided with a mounting groove for placing the battery, and the upper plate, the middle plate and the lower plate are all provided with a hole for passing lines.

[0015] As a preferred improvement of the utility model: the bottom surface of the fuselage component is connected with a camera assembly.

[0016] As a preferred improvement of the utility model: the camera assembly includes support column, mounting box, camera and fan, the top end of the support column is connected with the fuselage component, the bottom end is connected with the mounting box, the camera is installed in the mounting box, the mounting box is provided with a heat dissipation through hole, and the fan is installed on the bottom surface of the mounting box.

[0017] As a preferred improvement of the utility model: the bottom surface of the fuselage component is provided with a rotary motor, and the output end of the rotary motor is connected with the top end of the support column.

[0018] As a preferred improvement of the utility model: the bottom surface of the fuselage component is provided with a support, and the support includes three rods distributed in a triangular shape.

[0019] The utility model has the advantages of the following:

[0020] The layers are designed in an integrated manner, efficient space utilization and compact structure are realized through the disc and the connecting column, wiring is clear, and the perforation design simplifies the layout of signal lines and power lines, enhances the reliability and maintainability of the system, the combination of vector control and coaxial motors significantly improves the flight performance, and the utility model is particularly suitable for narrow spaces and high dynamic task scenes. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the premise that they do not pay any creative effort, and the drawings are as follows:

[0022] Figure 1 It is a schematic diagram of the vector coaxial unmanned aerial vehicle of the present application;

[0023] Figure 2 It is a schematic diagram of the first fixing frame installation of the present application;

[0024] Figure 3 It is a schematic diagram of the rotating support structure of the present application Figure 1 ;

[0025] Figure 4 It is a schematic diagram of the rotating support structure of the present application Figure 2 ;

[0026] Figure 5 It is a schematic diagram of the rotating block structure of the present application;

[0027] Figure 6 It is a schematic diagram of the fuselage component structure of the present application;

[0028] Figure 7 It is a schematic diagram of the camera assembly structure of the present application;

[0029] Figure 8 It is a schematic diagram of the fan structure of the present application.

[0030] In the drawings: 1-blade, 2-blade motor, 3-first fixing frame, 4-rotating support, 401-supporting plate, 402-connecting plate, 403-rotating block, 404-base, 5-first rotating assembly, 501-first steering engine, 502-first lever, 503-first connecting rod, 504-first supporting rod, 6-second rotating assembly, 601-second steering engine, 602-second lever, 603-second connecting rod, 604-second supporting rod, 7-fuselage component, 701-upper plate, 702-fixing rod, 703-middle plate, 704-lower plate, 705-mounting groove, 8-camera assembly, 801-strut, 802-mounting box, 803-camera, 804-fan, 9-bracket. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort are within the protection scope of the present application.

[0032] It should be noted that all the direction indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the direction indications also change accordingly.

[0033] In addition, the descriptions such as “first”, “second” and the like in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined with “first”, “second” can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of “plurality” is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0034] In the present application, unless otherwise explicitly specified and limited, the terms “connection”, “fixation” and the like should be understood in a broad sense, for example, “fixation” can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For a person of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0035] In addition, the technical solutions of each embodiment of the present application can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the protection scope required by the present application.

[0036] Please refer to Figures 1-5The utility model provides a kind of vector coaxial unmanned aerial vehicle, including fuselage component 7, rotating support piece 4, first rotating component 5 and second rotating component 6 are equipped on the fuselage component 7, the rotating support piece 4 includes support plate 401, connecting plate 402, rotating block 403 and base 404, the support plate 401 connects the connecting plate 402, the connecting plate 402 articulates the rotating block 403, the rotating block 403 with the base 404 articulates, the base 404 is installed in the fuselage component 7, the rotating block 403 relative to the base 404 rotates along first direction, the connecting plate 402 relative to the rotating block 403 rotates along second direction, the first rotating component 5 and the second rotating component 6 are connected the support plate 401, and are respectively used to drive the support plate 401 along first direction and second direction rotation, first fixed frame 3 is installed on the support plate 401, paddle motor 2 is fixed on the first fixed frame 3, the output end of paddle motor 2 is connected with paddle 1, controller and battery are equipped in the fuselage component 7.In this embodiment, the first direction and the second direction are perpendicular, the rotating block 403 is cross type.The paddle 1 includes first paddle and second paddle, the first paddle is located above the second paddle, the direction of the blade of the first paddle and the second paddle is perpendicular, the paddle motor 2 is CRM2413 coaxial double paddle motor, the bottom surface of the fuselage component 7 is connected with camera component 8.

[0037] In particular, the unmanned aerial vehicle comprises a power part, a vector control part, a control layer, an energy layer and a data transmission part. The power part adopts a CRM2413 coaxial double-blade motor to directly drive two blades to obtain ascending power, and the KV value is 1300. The bottom plate of the power part is connected to the top plate of the vector control part through M3 screws. The vector control part is mainly controlled by two servos, and the two servos are connected to the vector control shaft through M2.5 screws. The servo is connected to the vector control motor seat through a ball head pull rod. The servo 1 is connected to the top of the vector motor seat to control the pitch direction. The servo 2 is connected to the pull rod below the vector motor seat to control the yaw direction. The two servos control the rotation direction of the power motor together. A one-piece bottom plate (401) below the vector motor seat is used to fix and assemble the control layer, the energy layer and the data transmission part. The bottom plate of the vector motor seat is connected to the control layer and the energy layer through four connecting columns. The bottom plate of the vector motor, the control layer and the energy layer are designed to have perforations to facilitate the passage of power lines and control signal lines. The control layer is used to place a CUAV thunder V5 nano controller for control. The energy layer is designed to have a 4S battery storage compartment, and the size of the battery compartment is 40*24*137mm. The bottom of the energy layer is connected to the data transmission module through a fixed support. The top disc of the data transmission module is connected to the bottom of the energy layer through M3 screws. The data transmission module is designed to have openings on both sides for heat dissipation and aesthetics. The bottom circular opening is used to install a small fan inside for data transmission heat dissipation. The bottom of the energy layer is designed to have a triangular support to assist the vertical take-off and landing of the unmanned aerial vehicle.

[0038] 1. Overall structure design

[0039] The vector power unmanned aerial vehicle is divided into five functional parts: a power part, a vector control part, a control layer, an energy layer and a data transmission part. Each part realizes stable and reliable functional cooperation through close mechanical structure design and efficient connection mode.

[0040] 2. Power part

[0041] The power part adopts a CRM2413 coaxial double-blade motor (KV1300) to provide ascending power and directly drive two propellers. The bottom of the power module is fixedly connected to the top of the vector control module through M3 screws to ensure the stability and reliability of the power system.

[0042] 3. Vector control part

[0043] The vector control part is composed of two servos, which are used to control the angle of the motor seat and the direction of the power. Servo 1: connected to the top of the vector motor seat through a ball head pull rod to control the pitch direction. Servo 2: connected to the bottom of the vector motor seat through a ball head pull rod to control the yaw direction.

[0044] Two steering engines are connected with the vector control main shaft through M2.5 screws, and cooperatively adjust the direction of the power motor to meet the demand of multi-dimensional vector thrust. An integrated disc is arranged below the vector motor seat, and is used for connecting and fixing the control layer, the energy layer and the image transmission module.

[0045] 4. Control layer

[0046] The control layer is installed with a CUAV Lightning V5 nano controller, and is responsible for flight control and attitude adjustment. The disc at the bottom of the vector motor seat is connected with the control layer through four connecting columns, and is fixed and stable. The disc is designed with perforations for the layout of power lines and signal lines, facilitating electrical connection and maintenance.

[0047] 5. Energy layer

[0048] The energy layer is designed with a special battery compartment for installing a 4S lithium battery, and the battery compartment has a size of 40x24x137mm. The position of the battery compartment is balanced and optimized to ensure flight stability. The bottom of the energy layer is connected with the image transmission module through a fixed support column to form an overall support frame.

[0049] 6. Image transmission part

[0050] The image transmission module is installed at the bottom of the energy layer and is fixed through the top disc and M3 screws. The image transmission module is designed with multiple heat dissipation openings, the openings on both sides are used for natural heat dissipation, and the circular opening at the bottom is used for installing a small fan to enhance the heat dissipation performance, so as to ensure that the image transmission module remains stable in high-load operation. The modular design facilitates disassembly, assembly and maintenance.

[0051] As an implementation manner, the first rotating assembly 5 comprises a first steering engine 501, a first shifting rod 502, a first connecting rod 503 and a first supporting rod 504, the first steering engine 501 is installed on the body part 7, an output end of the first steering engine 501 is connected with the first shifting rod 502, one end of the first shifting rod 502 away from the first steering engine 501 is hinged to a bottom end of the first connecting rod 503, a top end of the first connecting rod 503 is hinged to one end of the first supporting rod 504, and the other end of the first supporting rod 504 is connected with the supporting plate 401.

[0052] As an implementation form, the second rotating assembly 6 comprises a second steering engine 601, a second shifting rod 602, a second connecting rod 603 and a second supporting rod 604, the second steering engine 601 is installed on the fuselage component 7, the output end of the second steering engine 601 is connected with the second shifting rod 602, the end of the second shifting rod 602 away from the second steering engine 601 is hinged with the bottom end of the second connecting rod 603, the top end of the second connecting rod 603 is hinged with one end of the second supporting rod 604, and the other end of the second supporting rod 604 is connected with the supporting plate 401. It needs to be further explained that other components achieving the above effects shall belong to the inventive concept of the utility model and shall belong to the protection scope of the utility model.

[0053] Please refer to Figure 6 As shown in the figure, the fuselage component 7 comprises an upper plate 701, a fixed rod 702, a middle plate 703 and a lower plate 704, the upper plate 701, the middle plate 703 and the lower plate 704 are all fixed on the fixed rod 702 and are arranged in a spaced manner along the up-down direction, the rotating support 4, the first rotating assembly 5 and the second rotating assembly 6 are installed on the top surface of the upper plate 701, the middle plate 703 is used for placing a controller, the lower plate 704 is provided with a mounting groove 705 used for placing a battery, and the upper plate 701, the middle plate 703 and the lower plate 704 are all provided with a hole used for passing a wire. The bottom surface of the fuselage component 7 is provided with a support 9, and the support 9 comprises three rods distributed in a triangular shape.

[0054] Please refer to Figures 7-8 As shown in the figure, the camera assembly 8 comprises a support column 801, a mounting box 802, a camera 803 and a fan 804, the top end of the support column 801 is connected with the fuselage component 7, the bottom end of the support column 801 is connected with the mounting box 802, the camera 803 is installed in the mounting box 802, the mounting box 802 is provided with a heat dissipation through hole, and the fan 804 is installed on the bottom surface of the mounting box 802. The bottom surface of the fuselage component 7 is provided with a rotating motor, and the output end of the rotating motor is connected with the top end of the support column 801. It needs to be further explained that other components achieving the above effects shall belong to the inventive concept of the utility model and shall belong to the protection scope of the utility model.

[0055] Working principle: the paddle motor 2 drives the paddle 1 to rotate to provide the power for flying, the first rotating assembly 5 and the second rotating assembly 6 drive the supporting plate 401 to rotate, so as to adjust the flight posture, the camera assembly 8 takes pictures of the environment and transmits to the controller, the controller can be connected with wireless communication equipment to realize remote control and data transmission, or can be provided with GPS to realize remote positioning.

[0056] Although the embodiments of the present application have been disclosed as above, it is not limited to the application listed in the specification and the embodiments, and it can be applied to various fields suitable for the present application. For those skilled in the art, other modifications can be easily realized, and therefore the present application is not limited to specific details and the figures shown and described herein.

Claims

1. A vector coaxial drone, characterized by: The application relates to a propeller type unmanned aerial vehicle, which comprises a fuselage component (7) provided with a rotating support (4), a first rotating assembly (5) and a second rotating assembly (6), wherein the rotating support (4) comprises a support plate (401), a connecting plate (402), a rotating block (403) and a base (404), the support plate (401) is connected with the connecting plate (402), the connecting plate (402) is hinged with the rotating block (403), the rotating block (403) is hinged with the base (404), the base (404) is installed on the fuselage component (7), the rotating block (403) rotates relative to the base (404) along a first direction, the connecting plate (402) rotates relative to the rotating block (403) along a second direction, the first rotating assembly (5) and the second rotating assembly (6) are both connected with the support plate (401) and are respectively used for driving the support plate (401) to rotate along the first direction and the second direction, a first fixing frame (3) is installed on the support plate (401), a paddle motor (2) is fixed on the first fixing frame (3), an output end of the paddle motor (2) is connected with a paddle (1), and a controller and a battery are arranged in the fuselage component (7).

2. A vector coaxial drone according to claim 1, characterized in that: The first direction and the second direction are perpendicular, and the rotating block (403) is in a cross shape.

3. The vector coaxial drone of claim 1, wherein: The paddle (1) comprises a first paddle and a second paddle, the first paddle is located above the second paddle, the directions of blades of the first paddle and the second paddle are perpendicular, and the paddle motor (2) is a CRM2413 coaxial double-paddle motor.

4. The vector coaxial drone of claim 1, wherein: The first rotating assembly (5) comprises a first steering engine (501), a first shifting rod (502), a first connecting rod (503) and a first supporting rod (504), the first steering engine (501) is installed on the fuselage component (7), an output end of the first steering engine (501) is connected with the first shifting rod (502), one end, away from the first steering engine (501), of the first shifting rod (502) is hinged with a bottom end of the first connecting rod (503), a top end of the first connecting rod (503) is hinged with one end of the first supporting rod (504), and the other end of the first supporting rod (504) is connected with the support plate (401).

5. The vector coaxial drone of claim 1, wherein: The second rotating assembly (6) comprises a second steering engine (601), a second shifting rod (602), a second connecting rod (603) and a second supporting rod (604), the second steering engine (601) is installed on the fuselage component (7), an output end of the second steering engine (601) is connected with the second shifting rod (602), one end, away from the second steering engine (601), of the second shifting rod (602) is hinged with a bottom end of the second connecting rod (603), a top end of the second connecting rod (603) is hinged with one end of the second supporting rod (604), and the other end of the second supporting rod (604) is connected with the support plate (401).

6. The vector coaxial drone of claim 1, wherein: The fuselage component (7) comprises an upper plate (701), a fixed rod (702), a middle plate (703) and a lower plate (704), the upper plate (701), the middle plate (703) and the lower plate (704) are fixed on the fixed rod (702) and are arranged in a spaced manner in the up-down direction, the rotating support (4), the first rotating assembly (5) and the second rotating assembly (6) are installed on the top surface of the upper plate (701), the middle plate (703) is used for placing a controller, the lower plate (704) is provided with a mounting groove (705) for placing a battery, and the upper plate (701), the middle plate (703) and the lower plate (704) are all provided with a hole for passing a line.

7. The vector coaxial drone of claim 1, wherein: The bottom surface of the fuselage component (7) is connected with a camera assembly (8).

8. A vector coaxial drone according to claim 7, characterized in that: The camera assembly (8) comprises a support column (801), a mounting box (802), a camera (803) and a fan (804), the top end of the support column (801) is connected with the fuselage component (7), the bottom end of the support column (801) is connected with the mounting box (802), the camera (803) is installed in the mounting box (802), the mounting box (802) is provided with a heat dissipation through hole, and the fan (804) is installed on the bottom surface of the mounting box (802).

9. A vector coaxial drone according to claim 8, characterized in that: The bottom surface of the fuselage component (7) is provided with a rotating motor, and the output end of the rotating motor is connected with the top end of the support column (801).

10. The vector coaxial drone of claim 1, wherein: The bottom surface of the fuselage component (7) is provided with a support (9), and the support (9) comprises three rods which are distributed in a triangular shape.

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