Coaxial double-vector unmanned aerial vehicle

Abstract

The utility model discloses a coaxial double-vector unmanned aerial vehicle, which relates to the technical field of aircrafts and sequentially comprises a first rotor wing structure, a first attitude control structure, a main shaft, a second attitude control structure and a second rotor wing structure from top to bottom, the first rotor wing structure comprises an upper rotor wing, a first main rotor wing clamp, a first rotor wing propeller hub side plate, an upper motor and a first motor seat, and the second rotor wing structure comprises a lower rotor wing, a second main rotor wing clamp, a second rotor wing propeller hub side plate, a lower motor and a second motor seat; and the rotation directions of the upper motor and the lower motor are opposite. The attitude of the unmanned aerial vehicle is adjusted through the cooperation of the rotor wing structure and the attitude control structure, so that the unmanned aerial vehicle can move forwards, backwards, leftwards and rightwards; the unmanned aerial vehicle is simple in structure, low in manufacturing cost, capable of achieving vertical take-off and landing, hovering and large-dip-angle stable flight at any place, high in flight efficiency and easy and convenient to maintain.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned aerial vehicle technical field especially relates to a kind of coaxial double vector unmanned aerial vehicle. BACKGROUND

[0002] Unmanned aerial vehicle, i.e. unmanned aircraft, it is the non-occupant aircraft of radio remote control equipment and self-provided program control device manipulation, or by vehicle-mounted computer complete or intermittently self-operated, current unmanned aerial vehicle has extensive functional use in military and civilian, can be used for aerial photography, agriculture, plant protection, miniature self-portrait, express delivery, disaster relief, wild animal observation, surveying and mapping inspection etc.

[0003] Small unmanned aerial vehicle has low cost, small size, high mobility etc., in the past two or three decades, it has been universally concerned and valued in the world, and has a large number of applications in military and civilian fields. In the military field, a large number of unmanned aerial vehicle systems of various types are used to complete various combat missions such as battlefield reconnaissance, surveillance, decoy, harassment, target search and positioning, firepower and achievement evaluation, anti-radiation, attack, etc., and have achieved remarkable results. In the civil field, unmanned aerial vehicles can be applied to aerial photography production, remote sensing surveying and mapping, cargo transportation, traffic monitoring, environmental monitoring, agricultural plant protection and other fields. It can be seen that small unmanned aerial vehicle technology, as another emerging technology, will be a new technology with high-tech content, good development prospects and broad application prospects. With the rapid development of many related fields, such as sensor technology, manufacturing technology, communication technology, etc., small unmanned aerial vehicles are becoming more intelligent than ever before, and gradually becoming an indispensable helper for humans.

[0004] In recent years, coaxial dual-rotor unmanned aerial vehicles have been widely used in various fields due to their unique performance. Compared with conventional unmanned aerial vehicles, coaxial dual-rotor unmanned aerial vehicles have the advantages of compact structure, symmetrical aerodynamic characteristics, strong load capacity, high hovering efficiency, etc., and thus have wide application prospects. However, from the current research results at home and abroad, most of the coaxial unmanned aerial vehicles have large overall size and weight, and poor portability. Therefore, it is necessary to research and design a small coaxial dual-rotor unmanned aerial vehicle with low cost, multiple purposes, compactness, portability and simple use. CONTENT OF THE UTILITY MODEL

[0005] The utility model aims at providing a kind of coaxial double vector unmanned aerial vehicle.

[0006] The technical solution for achieving the purpose of the utility model is as follows: a coaxial double vector unmanned aerial vehicle includes, from top to bottom, a first rotor structure, a first attitude control structure, a main shaft, a second attitude control structure and a second rotor structure.

[0007] The first rotor structure includes an upper rotor, a first main rotor clamp, a first rotor hub side plate, an upper motor, and a first motor mount; the second rotor structure includes a lower rotor, a second main rotor clamp, a second rotor hub side plate, a lower motor, and a second motor mount; the upper motor and the lower motor rotate in opposite directions.

[0008] The first attitude control structure and the second attitude control structure are identical. The first attitude control structure includes a first servo, a second servo, an inner turntable, an outer turntable, and a turntable support, and has two degrees of freedom of rotation. The inner turntable is fixed to the upper motor by being fixed to the first motor mount of the first rotor structure. The outer turntable has a U-shaped structure with through holes on both sides of the U-shape and at the center of the bottom. The inner turntable is nested in the opening of the outer turntable and is hinged to the outer turntable through a rotating shaft and the through holes on both sides of the opening. The outer turntable is hinged to the turntable support through a rotating shaft and the through hole at the center of the bottom of the outer turntable. The first servo is placed on the upper shaft and connected to the inner turntable through a pull rod, a first rocker arm, and a second rocker arm, generating relative rotation between the inner and outer turntables. The second servo is also placed on the upper shaft and connected to the outer turntable through a pull rod, a first rocker arm, and a second rocker arm, generating relative rotation between the outer turntable and the turntable support.

[0009] The main shaft includes an upper shaft, a connecting shaft, and a lower shaft. The upper end of the upper shaft is combined with the first rotor structure through a first attitude control structure, and the lower end of the lower shaft is combined with the second rotor structure through a second attitude control structure. The connecting shaft has a larger diameter than the upper and lower shafts and is connected to the upper and lower shafts by double-headed bolts.

[0010] Compared with existing technologies, the advantages of this invention are as follows: Compared with coaxial twin-rotor aircraft based on variable pitch, the main structure of this invention unfolds around a cylindrical structure, and the equipment modules are placed in the cylindrical main structure and concentrated in the vertical direction, reducing the horizontal space volume; the mechanical structure is greatly simplified, and it has obvious advantages in manufacturing cost and maintainability; this invention also has the advantages of being multi-purpose, compact and portable, and easy to use, and the cooperation between the rotor structure and attitude control structure realizes attitude control; the aircraft adopts a modular payload design, which can be replaced as a whole, and by selecting different payloads, a single unit can realize one or more independent mission functions. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1This is an isometric schematic diagram of the coaxial dual-rotor unmanned aerial vehicle of this utility model.

[0013] Figure 2 yes Figure 1 The diagram shows a front view of a coaxial dual-rotor unmanned aerial vehicle.

[0014] Figure 3 yes Figure 1 The diagram shows top and bottom views of the coaxial dual-rotor unmanned aerial vehicle.

[0015] Figure 4 yes Figure 1 The diagram shows a front view of the coaxial dual-rotor unmanned aerial vehicle when folded.

[0016] Figure 5 yes Figure 1 The diagram shows a horizontally placed coaxial dual-rotor unmanned aerial vehicle.

[0017] Figure 6 This is a schematic diagram of the vector control servo control platform of this utility model.

[0018] Figure 7 This is a schematic diagram of the roll and pitch control of the vector control servo control platform of this utility model, where (a) and (b) represent pitch, and (c) and (d) represent roll.

[0019] Figure 8 This is an isometric schematic diagram of the attitude control structure and rotor structure of this utility model.

[0020] Figure 9 yes Figure 1 The diagram shows a 32-connection shaft of a coaxial dual-rotor unmanned aerial vehicle, with each section including (a) a cabin box and (b) a canopy.

[0021] Reference numerals: 1-First rotor structure, 2-First attitude control structure, 3-Main shaft, 2-Second attitude control structure, 5-Second rotor structure, 11-Upper rotor, 12-First main rotor clamp, 13-First rotor hub side plate, 14-Upper motor, 15-First motor mount, 21-Inner turntable, 22-Outer turntable, 23-Turntable bracket, 24-First servo, 25-Second servo, 241-First rocker arm, 242-Second rocker arm, 243 - First pull rod, 251- Third rocker arm, 252- Fourth rocker arm, 253- Second pull rod, 31- Upper shaft, 32- Connecting shaft, 33- Lower shaft, 321- First replaceable section, 322- Battery section, 323- Second replaceable section, 41- Inner ring turntable, 42- Outer ring turntable, 43- Turntable bracket, 51- Lower rotor, 52- Second main rotor clamp, 53- First rotor hub side plate, 54- Lower motor, 55- Second motor mount. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] like Figures 1-9 As shown, a coaxial dual-vector unmanned aerial vehicle mainly includes a rotor structure, an attitude control structure, and a main shaft.

[0024] The rotor structure includes a first rotor structure 1 and a second rotor structure 5. The first rotor structure 1 includes an upper rotor 11, a first main rotor clamp 12, a first rotor hub side plate 13, an upper motor 14, and a first motor mount 15. The second rotor structure 5 includes a lower rotor 51, a second main rotor clamp 52, a first rotor hub side plate 53, a lower motor 54, and a second motor mount 55. The upper motor 14 and the lower motor 54 rotate in opposite directions. The lower rotor 51 and the upper rotor 11 are foldable, and when folded, they fit snugly against the cylindrical fuselage, making them easy to carry.

[0025] The first attitude control structure 2 includes a first servo motor 24, a second servo motor 25, an inner ring turntable 21, an outer ring turntable 22, and a turntable support 23, and has two degrees of freedom of rotation. The inner ring turntable 21 is fixed to the motor mount 15 of the first rotor structure 1, thus securing it to the upper motor 14. The outer ring turntable has a U-shaped structure with through holes on both sides and at the bottom center. The inner ring turntable 21 is nested within the opening of the outer ring turntable 22 and is hinged to the outer ring turntable 22 via a rotating shaft and the through holes on both sides of the opening. The outer ring turntable 22 is hinged to the turntable support 23 via a rotating shaft and the through hole directly opposite the opening of the outer ring turntable 22. The first servo motor 24... The rotor 24 is mounted on the upper shaft and connected to the inner turntable 21 via a first pull rod 243, a first rocker arm 241, and a second rocker arm 242. The first servo 24 generates relative rotation between the inner turntable 21 and the outer turntable 22. The second servo 25 is also mounted on the upper shaft and connected to the outer turntable 23 via a second pull rod 253, a third rocker arm 251, and a fourth rocker arm 252. The second servo 25 generates relative rotation between the outer turntable 22 and the turntable support 23. The attitude control structure can control the direction of the rotor's thrust, enabling the aircraft to move forward, backward, left, and right. The cooperation of these two structures allows for vertical takeoff and landing, hovering, and stable flight at large angles of tilt in any location. Figure 6 In the text, the structures corresponding to 41–43 are the same as those corresponding to 21–23.

[0026] When the first rotor structure 1 and the second rotor structure 5 simultaneously increase their rotational speed, the coaxial dual-vector unmanned aerial vehicle (UAV) rises; when the first rotor structure 1 and the second rotor structure 5 simultaneously decrease their rotational speed, the coaxial dual-vector UAV descends. The attitude control structure synthesizes arbitrary vector forces through the thrust changes of the two motors, generating a torsional torque around the center of mass of the coaxial dual-vector UAV. This changes the pitch and roll angles of the coaxial dual-vector UAV, adjusting its attitude and thus enabling it to move forward, backward, left, and right.

[0027] The main shaft 3 includes an upper shaft 31, a connecting shaft 32, and a lower shaft 33. The upper end of the upper shaft 31 is combined with the first rotor structure 1 via a first attitude control structure 2, and the lower end of the lower shaft 33 is combined with the second rotor structure 5 via a second attitude control structure 4. The connecting shaft 32 has a diameter slightly larger than the upper shaft 31 and the lower shaft 33, and is used to store components such as batteries. It is connected to the upper shaft 31 and the lower shaft 33 via double-headed bolts. The connecting shaft 32 is designed in sections, including, from top to bottom, a first replaceable section 321, a battery section 322, and a second replaceable section 323. The first replaceable section 321 is used to store the upper motor ESC, the lower motor ESC, the remote control receiver, and the flight controller. The second replaceable section allows for the replacement of different equipment as needed, including GPS devices, cameras, etc. There are disc partitions between the sections of the connecting shaft 32, and each section includes a compartment and a cover. The upper frustum of the first replaceable section 321 is connected to the lower end of the upper shaft 31, and the lower frustum of the second replaceable section 323 is connected to the upper end of the lower shaft 33. Specifically, the upper frustum of the first replaceable section 321 is aligned with the fixing hole at the lower end of the upper shaft 31 and fixed with screws; the lower frustum of the second replaceable section 323 is aligned with the fixing hole at the upper end of the lower shaft 33 and fixed with screws. Thus, different loads can be selected in the load pod of the connecting shaft 32 of the main shaft 3, and a single unit can achieve one or more independent mission functions.

[0028] The coaxial dual-vector unmanned aerial vehicle (UAV) also includes components required for the UAV such as upper motor ESC, lower motor ESC, remote control receiver, flight controller, and battery. The battery, serving as the power source, is located in the battery compartment. The upper and lower motor ESCs are responsible for adjusting the motor speed and direction, respectively. The remote control receiver receives wireless signals from the remote controller. The flight controller is the core control system of the UAV, responsible for the automation, stability, and navigation of various flight missions. The upper and lower motor ESCs, remote control receiver, and flight controller are all housed in the first replaceable compartment.

[0029] This invention achieves attitude adjustment of the aircraft through the cooperation of a rotor structure and an attitude control structure, thereby enabling the unmanned aerial vehicle to move forward, backward, left, and right. Different loads can be selected and configured in the load pod on the main shaft, allowing a single unit to perform one or more independent mission functions. This unmanned aerial vehicle has a simple structure, low manufacturing cost, and can achieve vertical takeoff and landing, hovering, and stable flight at large angles anywhere, with high flight efficiency and simple maintenance.

[0030] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0031] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A coaxial dual-vector unmanned aerial vehicle, characterized in that, From top to bottom, it includes a first rotor structure, a first attitude control structure, a main shaft, a second attitude control structure, and a second rotor structure; The first rotor structure includes an upper rotor, a first main rotor clamp, a first rotor hub side plate, an upper motor, and a first motor mount; the second rotor structure includes a lower rotor, a second main rotor clamp, a second rotor hub side plate, a lower motor, and a second motor mount; the upper motor and the lower motor rotate in opposite directions. The first attitude control structure and the second attitude control structure are identical. The first attitude control structure includes a first servo, a second servo, an inner turntable, an outer turntable, and a turntable support, and has two degrees of freedom of rotation. The inner turntable is fixed to the upper motor by being fixed to the first motor mount of the first rotor structure. The outer turntable has a U-shaped structure with through holes on both sides of the U-shape and at the center of the bottom. The inner turntable is nested in the opening of the outer turntable and is hinged to the outer turntable through a rotating shaft and the through holes on both sides of the opening. The outer turntable is hinged to the turntable support through a rotating shaft and the through hole at the center of the bottom of the outer turntable. The first servo is placed on the upper shaft and connected to the inner turntable through a pull rod, a first rocker arm, and a second rocker arm, generating relative rotation between the inner and outer turntables. The second servo is also placed on the upper shaft and connected to the outer turntable through a pull rod, a first rocker arm, and a second rocker arm, generating relative rotation between the outer turntable and the turntable support. The main shaft includes an upper shaft, a connecting shaft, and a lower shaft. The upper end of the upper shaft is combined with the first rotor structure through a first attitude control structure, and the lower end of the lower shaft is combined with the second rotor structure through a second attitude control structure. The connecting shaft has a larger diameter than the upper and lower shafts and is connected to the upper and lower shafts by double-headed bolts.

2. The coaxial dual-vector unmanned aerial vehicle according to claim 1, characterized in that, The lower rotor and upper rotor are foldable and fit snugly against the cylindrical fuselage when folded.

3. A coaxial dual-vector unmanned aerial vehicle according to claim 1, characterized in that, The connecting shaft is designed in sections, which include a first replaceable section, a battery section and a second replaceable section from top to bottom; there are disc partitions between the sections of the connecting shaft, and each section includes a compartment and a cover.

4. A coaxial dual-vector unmanned aerial vehicle according to claim 3, characterized in that, The upper frustum of the first replaceable section is connected to the lower end of the upper shaft, and the lower frustum of the second replaceable section is connected to the upper end of the lower shaft.

5. A coaxial dual-vector unmanned aerial vehicle according to claim 4, characterized in that, The upper truncated cone of the first replaceable section is aligned with the fixing hole at the lower end of the upper shaft and fixed with screws; the lower truncated cone of the second replaceable section is aligned with the fixing hole at the upper end of the lower shaft and fixed with screws.

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