Tilting mechanism for coaxial double-propeller unmanned aerial vehicle

Abstract

The technical problem to be solved by the utility model is to provide the tilting mechanism for the coaxial double-propeller unmanned aerial vehicle, and the tilting mechanism adopts a driving structure with a simpler structure, so that the structural complexity and the failure rate are reduced, and the weight and the rotational inertia of the whole machine are effectively reduced. The tilting mechanism comprises a connecting seat, a connecting ring is arranged on the connecting seat through two supporting plates, a first arc-shaped toothed plate is arranged below the connecting ring through two first connecting plates, and a first driving motor is further arranged and is in transmission connection with the first arc-shaped toothed plate; a center cross seat is arranged in the connecting ring, a second arc-shaped toothed plate is arranged below the center cross seat through two second connecting plates, and a second driving motor is further arranged and is in transmission connection with the second arc-shaped toothed plate. And the two driving motors drive the gears to be matched with the two arc-shaped toothed plates, so that all-directional angle adjustment can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field, concretely relates to a kind of tilting mechanism for coaxial double-blade unmanned plane. BACKGROUND

[0002] With the continuous development of unmanned aerial vehicle technology, the flight performance and task capability of unmanned aerial vehicle are more and more concerned. Among them, the coaxial double-blade unmanned aerial vehicle is widely used in aerial photography, logistics distribution, geological survey, rescue and other fields due to its stability and accuracy. The coaxial double-blade helicopter has two main rotors sharing one rotating shaft. Through the reverse rotation of the two main rotors, the counter-torque is offset. However, a complex pitch mechanism is still needed to adjust the pitch of the propeller and the disc plane, so as to adjust the flight attitude and flight direction. The traditional coaxial double-blade unmanned aerial vehicle still has certain limitations and challenges when facing complex flight environment and task requirements. For example, the operation maneuverability and rapid response capability in narrow space need to be improved, and the flexibility and accuracy of flight action need to be further optimized.

[0003] Fixed-wing unmanned aerial vehicles are usually large in geometric size due to the requirement of wing area. When the size is reduced to a certain extent, the basic aerodynamic characteristics will change fundamentally due to low Reynolds number and other reasons. Therefore, it is usually difficult to realize miniaturization. Multi-rotor unmanned aerial vehicles need multiple rotors to cooperate, and the distance (axle distance) between each rotor cannot be too small. Helicopters need to rely on complex pitch mechanisms to realize pitch control, which increases the weight and moment of inertia of the whole machine. In addition, the complex pitch mechanism also increases the failure rate. SUMMARY

[0004] The technical problem to be solved by the utility model is to provide a tilting mechanism for a coaxial double-blade unmanned aerial vehicle. The tilting mechanism uses a simpler driving structure, reduces the structural complexity and failure rate, and effectively reduces the weight and moment of inertia of the whole machine.

[0005] The technical solution adopted by the utility model to solve its technical problem is as follows: the tilting mechanism for the coaxial double-blade unmanned aerial vehicle comprises a connecting seat.

[0006] Two support plates are symmetrically arranged on the connecting seat.

[0007] Two first connecting plates are symmetrically arranged on the connecting ring.

[0008] The lower end of the support plate on the right side is provided with a first driving motor. The output shaft of the first driving motor is provided with a first driving gear which is in mesh with the first arc-shaped tooth plate.

[0009] The inside of the connecting ring is provided with a central cross seat for setting a power mechanism of a coaxial double-paddle unmanned aerial vehicle;

[0010] The front and rear ends of the central cross seat are movably connected to the side walls of the connecting seat, and the left and right ends of the central cross seat are respectively provided with two second connecting plates;

[0011] A second arc-shaped toothed plate is fixedly arranged between the lower ends of the two second connecting plates;

[0012] The lower end of the first connecting plate on the front side is provided with a second driving motor, and a second driving gear is arranged on the output shaft of the second driving motor and meshes with the second arc-shaped toothed plate.

[0013] Further, the upper ends of the two support plates are movably connected to the side walls of the connecting ring through first rotating shafts;

[0014] The outer side of the support plate on the left side is provided with a first position sensor;

[0015] The outer end of the first rotating shaft on the left side extends to the outer side of the corresponding support plate and is provided with a D-shaped key matched with a D-shaped key groove arranged in the first position sensor, and the first position sensor and the first rotating shaft are connected through the D-shaped key groove and the D-shaped key.

[0016] Further, the front and rear ends of the central cross seat are movably connected to the side walls of the connecting seat through second rotating shafts;

[0017] The outer side of the connecting ring is provided with a second position sensor corresponding to the front end of the central cross seat;

[0018] The outer end of the second rotating shaft on the front side extends to the outer side of the connecting ring and is provided with a D-shaped key matched with a D-shaped key groove arranged in the second position sensor, and the second position sensor and the second rotating shaft are connected through the D-shaped key groove and the D-shaped key.

[0019] Further, the first position sensor and the second position sensor are both potentiometers.

[0020] Further, the first driving motor and the second driving motor are both reversible motors.

[0021] Further, the lower end of the support plate on the right side is provided with a first mounting hole, and the first driving motor is fixedly arranged in the first mounting hole;

[0022] The lower end of the first connecting plate on the front side is provided with a second mounting hole, and the second driving motor is fixedly arranged in the second mounting hole.

[0023] Further, the power mechanism comprises a forward propeller motor and a reverse propeller motor;

[0024] The reverse propeller motor is arranged below the central cross seat, and an output shaft of the reverse propeller motor extends upward through a central position of the central cross seat;

[0025] An upper end of the output shaft of the reverse propeller motor is provided with a reverse propeller hub, and two ends of the reverse propeller hub are symmetrically provided with folding reverse propellers;

[0026] The forward propeller motor is arranged above the central cross seat, and an output shaft of the forward propeller motor is a hollow shaft, which is sleeved outside the output shaft of the reverse propeller motor and can rotate freely;

[0027] The output shaft of the forward propeller motor is provided with a forward propeller hub below the reverse propeller hub, and two ends of the forward propeller hub are symmetrically provided with folding forward propellers.

[0028] The utility model discloses the beneficial effects of:

[0029] 1. The tilting mechanism of the application uses a simpler driving structure, which can realize omnibearing angle adjustment through the cooperation of two driving motor driving gears and two arc-shaped toothed plates, effectively reducing the structural complexity and failure rate.

[0030] 2. The tilting mechanism of the application can directly monitor the rotation angle of the two driving motors and can precisely control the angle of the two driving motors.

[0031] 3. The tilting mechanism of the application takes the two motors as the rotation axis, which reduces the rotational inertia and the load of the power motor, reduces the weight and cost. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is the schematic view of the tilting mechanism and power mechanism combination structure for the coaxial double-propeller unmanned aerial vehicle of the utility model;

[0033] Figure 2 is the structural schematic view of the tilting mechanism for the coaxial double-propeller unmanned aerial vehicle of the utility model;

[0034] Figure 3 is the schematic view of the local structure of the tilting mechanism for the coaxial double-propeller unmanned aerial vehicle of the utility model;

[0035] Figure 4 is the schematic view of another local structure of the tilting mechanism for the coaxial double-propeller unmanned aerial vehicle of the utility model;

[0036] Figure 5 is the structural schematic view of the combination of the central cross seat and the power mechanism of the utility model;

[0037] The figure mark description: connecting seat 1, support plate 2, connecting ring 3, first connecting plate 4, first arc-shaped tooth plate 5, first drive motor 6, first drive gear 7, center cross seat 8, second connecting plate 9, second arc-shaped tooth plate 10, second drive motor 11, second drive gear 12, first position sensor 13, second position sensor 14, first mounting hole 15, second mounting hole 16, power mechanism 17, reverse paddle motor 1701, reverse paddle hub 1702, folding reverse paddle 1703, forward paddle motor 1704, forward paddle hub 1705, folding forward paddle 1706. DETAILED DESCRIPTION

[0038] The specific embodiments of the present application will be further described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0039] It should be noted that all directional indications "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like used in the embodiments of the present application indicate the orientation or positional relationship based on the drawings shown, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. It is only used to explain the relative position relationship, movement condition and the like between the components in a certain posture, and if the certain posture changes, the directional indication also changes accordingly.

[0040] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixing" and the like should be broadly understood, for example, "fixing" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through intermediate medium; can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is 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 limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. For example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art. 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 scope of protection claimed by the present application.

[0042] As shown in the figure, the tilting mechanism for the coaxial double propeller unmanned aerial vehicle comprises a connecting seat 1, the shape of the connecting seat 1 is generally circular, and the connecting seat 1 is used for connecting with the fuselage of the coaxial double propeller unmanned aerial vehicle; Figures 1-5

[0043] Two supporting plates 2 are symmetrically arranged on the connecting seat 1, the lower ends of the two supporting plates 2 are detachably connected with the connecting seat 1, and the connecting mode is generally bolt connection, and a connecting ring 3 is movably arranged between the two supporting plates 2;

[0044] Two first connecting plates 4 are symmetrically arranged on the connecting ring 3, a first arc-shaped toothed plate 5 is fixedly arranged between the lower ends of the two first connecting plates 4, and the two ends of the first arc-shaped toothed plate 5 are respectively fixed on the lower ends of the two first connecting plates 4;

[0045] A first driving motor 6 is arranged at the lower end of the right supporting plate 2, a first driving gear 7 is arranged on the output shaft of the first driving motor 6 and meshes with the first arc-shaped toothed plate 5, the first driving motor 6 drives the first driving gear 7 to rotate, and then the connecting ring 3 rotates in the front-back direction, so as to realize the angle adjustment in the front-back direction;

[0046] A center cross seat 8 is arranged in the connecting ring 3, and the center cross seat 8 is used for arranging a power mechanism 17 of the coaxial double propeller unmanned aerial vehicle;

[0047] The front and rear ends of the center cross seat 8 are movably connected with the side walls of the connecting seat 1, and two second connecting plates 9 are arranged at the left and right ends of the center cross seat 8;

[0048] A second arc-shaped toothed plate 10 is fixedly arranged between the lower ends of the two second connecting plates 9, and the two ends of the second arc-shaped toothed plate 10 are respectively fixed on the lower ends of the two second connecting plates 9;

[0049] ​The lower end of the first connecting plate 4 on the front side is provided with a second driving motor 11, the output shaft of the second driving motor 11 is provided with a second driving gear 12 and is in mesh with the second arc-shaped toothed plate 10, the second driving motor 11 drives the second driving gear 12 to rotate, and then the central cross seat 8 rotates in the left-right direction, so that the angle adjustment in the left-right direction is realized.

[0050] As shown in the figure, Figure 3 In the embodiment, as preferred, the upper end of each of the two support plates 2 is movably connected with the side wall of the connecting ring 3 through a first rotating shaft;

[0051] In order to accurately control the rotation angle of the first driving motor 6, the outer side of the support plate 2 on the left side is provided with a first position sensor 13;

[0052] The outer end of the first rotating shaft on the left side extends to the outer side of the support plate 2 on the corresponding side and is provided with a D-shaped key matched with a D-shaped key groove arranged in the first position sensor 13, which is not shown in the figure, the first position sensor 13 and the first rotating shaft are connected through the D-shaped key groove and the D-shaped key. The first position sensor 13 detects the rotation angle of the connecting ring 3 and feeds back to the control system of the coaxial dual-propeller unmanned aerial vehicle, and the angle closed-loop control is completed.

[0053] As shown in the figure, Figure 2 , Figure 4 In the embodiment, as preferred, the front and rear ends of the central cross seat 8 are movably connected with the side wall of the connecting seat 1 through a second rotating shaft;

[0054] In order to accurately control the rotation angle of the second driving motor 11, the outer side of the connecting ring 3 is provided with a second position sensor 14 corresponding to the front end of the central cross seat 8;

[0055] The outer end of the second rotating shaft on the front side extends to the outer side of the connecting ring 3 and is provided with a D-shaped key matched with a D-shaped key groove arranged in the second position sensor 14, the second position sensor 14 and the second rotating shaft are connected through the D-shaped key groove and the D-shaped key. The second position sensor 14 detects the rotation angle of the central cross seat 8 and feeds back to the control system of the coaxial dual-propeller unmanned aerial vehicle, and the angle closed-loop control is completed.

[0056] In the embodiment, as preferred, the first position sensor 13 and the second position sensor 14 are both potentiometers.

[0057] In the embodiment, as preferred, the first driving motor 6 and the second driving motor 11 are both forward and reverse motors, and different angle adjustments are realized by forward rotation and reverse rotation of the first driving motor 6 or the second driving motor 11.

[0058] As shown in the figure, Figure 3 ,Figure 4 As shown in the embodiment, as preferred, the lower end of the support plate 2 on the right side is provided with a first mounting hole 15, and the first driving motor 6 is fixedly arranged in the first mounting hole 15;

[0059] The lower end of the first connecting plate 4 on the front side is provided with a second mounting hole 16, and the second driving motor 11 is fixedly arranged in the second mounting hole 16.

[0060] As shown in the embodiment, as preferred, the power mechanism 17 includes a forward propeller motor 1704 and a reverse propeller motor 1701; Figure 1 、 Figure 5 As shown in the embodiment, as preferred, the power mechanism 17 includes a forward propeller motor 1704 and a reverse propeller motor 1701;

[0061] The reverse propeller motor 1701 is arranged below the center cross seat 8, and the output shaft of the reverse propeller motor 1701 extends upward through the center position of the center cross seat 8, that is, the center position of the center cross seat 8 is provided with a through hole for the output shaft of the motor to pass through;

[0062] The upper end of the output shaft of the reverse propeller motor 1701 is provided with a reverse propeller hub 1702, and the two ends of the reverse propeller hub 1702 are symmetrically provided with folding reverse propellers 1703. The reverse propeller hub 1702 is driven to rotate by the reverse propeller motor 1701, thereby driving the folding reverse propellers 1703 to rotate and providing power;

[0063] The forward propeller motor 1704 is arranged above the center cross seat 8, and the output shaft of the forward propeller motor 1704 is a hollow shaft. The output shaft of the forward propeller motor 1704 is sleeved outside the output shaft of the reverse propeller motor 1701 and can freely rotate. By adopting this coaxial mode, the forward propeller motor 1704 and the reverse propeller motor 1701 do not interfere with each other, can freely rotate, can reduce the load of the power motor, and can also reduce the weight;

[0064] The output shaft of the forward propeller motor 1704 is provided with a forward propeller hub 1705 below the reverse propeller hub 1702, and the two ends of the forward propeller hub 1705 are symmetrically provided with folding forward propellers 1706. The forward propeller hub 1705 is driven to rotate by the forward propeller motor 1704, thereby driving the folding forward propellers 1706 to rotate and providing power;

[0065] The reverse propeller motor 1701 and the forward propeller motor 1704 are prior art, and the reverse propeller motor 1701 includes a reverse propeller motor stator and a reverse propeller motor rotor;

[0066] The reverse propeller motor stator is fixedly arranged below the center cross seat 8, and the output shaft of the reverse propeller motor 1701 is in transmission connection with the reverse propeller motor rotor;

[0067] The forward propeller motor 1704 includes a forward propeller motor stator and a forward propeller motor rotor;

[0068] The positive-paddle motor stator is fixedly arranged above the central cross seat 8, and an output shaft of the positive-paddle motor 1704 is in transmission connection with the positive-paddle motor rotor.

[0069] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent flow transformation using the content of the specification and drawings of the present application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A tilting mechanism for a coaxial twin propeller drone, characterized in that: The utility model provides a kind of connecting seat (1); Two support plates (2) are symmetrically arranged on the connecting seat (1) left and right, and a connecting ring (3) is movably arranged between the two support plates (2); Two first connecting plates (4) are symmetrically arranged on the connecting ring (3) front and back, and a first arc-shaped tooth plate (5) is fixedly arranged between the lower ends of the two first connecting plates (4); A first drive motor (6) is arranged at the lower end of the support plate (2) on the right side, and a first drive gear (7) is arranged on the output shaft of the first drive motor (6) and meshes with the first arc-shaped tooth plate (5); A central cross seat (8) is arranged inside the connecting ring (3), and the central cross seat (8) is used to arrange the power mechanism (17) of the coaxial double-propeller unmanned aerial vehicle; The central cross seat (8) is movably connected to the side wall of the connecting seat (1) at the front and rear ends, respectively, and two second connecting plates (9) are arranged at the left and right ends of the central cross seat (8), respectively; A second arc-shaped tooth plate (10) is fixedly arranged between the lower ends of the two second connecting plates (9); A second drive motor (11) is arranged at the lower end of the first connecting plate (4) on the front side, and a second drive gear (12) is arranged on the output shaft of the second drive motor (11) and meshes with the second arc-shaped tooth plate (10).

2. The tilting mechanism for a coaxial twin propeller drone according to claim 1, characterized in that: The upper ends of the two support plates (2) and the side wall of the connecting ring (3) are movably connected by a first rotating shaft; A first position sensor (13) is arranged on the outside of the support plate (2) on the left side; The outer end of the first rotating shaft on the left side extends to the outside of the corresponding support plate (2) on the left side, and the end is provided with a D-shaped key matched with the D-shaped key groove arranged in the first position sensor (13), and the first position sensor (13) and the first rotating shaft are connected by the D-shaped key groove and the D-shaped key.

3. The tilting mechanism for a coaxial twin propeller drone according to claim 2, characterized in that: The front and rear ends of the central cross seat (8) and the side wall of the connecting seat (1) are movably connected by a second rotating shaft; A second position sensor (14) is arranged on the outside of the connecting ring (3) and corresponds to the front end of the central cross seat (8); The outer end of the second rotating shaft on the front side extends to the outside of the connecting ring (3), and the end is provided with a D-shaped key matched with the D-shaped key groove arranged in the second position sensor (14), and the second position sensor (14) and the second rotating shaft are connected by the D-shaped key groove and the D-shaped key.

4. The tilting mechanism for a coaxial twin propeller drone according to claim 3, wherein: The first position sensor (13) and the second position sensor (14) are both potentiometers.

5. The tilting mechanism for a coaxial twin propeller drone according to claim 1, wherein: The first drive motor (6) and the second drive motor (11) are both reversible motors.

6. The tilting mechanism for a coaxial twin propeller drone according to claim 1, wherein: A first mounting hole (15) is arranged at the lower end of the support plate (2) on the right side, and the first drive motor (6) is fixedly arranged in the first mounting hole (15); A second mounting hole (16) is arranged at the lower end of the first connecting plate (4) on the front side, and the second drive motor (11) is fixedly arranged in the second mounting hole (16).

7. The tilting mechanism for a coaxial twin propeller drone according to claim 1, wherein: The power mechanism (17) includes a forward propeller motor (1704) and a reverse propeller motor (1701). The counter-thrust motor (1701) is arranged below the center cross seat (8), and an output shaft of the counter-thrust motor (1701) extends upward through a center position of the center cross seat (8); An upper end of the output shaft of the counter-thrust motor (1701) is provided with a counter-thrust hub (1702), and two ends of the counter-thrust hub (1702) are symmetrically provided with folding counter-thrusts (1703); The forward-thrust motor (1704) is arranged above the center cross seat (8), and an output shaft of the forward-thrust motor (1704) is a hollow shaft, which is sleeved outside the output shaft of the counter-thrust motor (1701) and freely rotates with the output shaft of the counter-thrust motor (1701); The output shaft of the forward-thrust motor (1704) is provided with a forward-thrust hub (1705) below the counter-thrust hub (1702), and two ends of the forward-thrust hub (1705) are symmetrically provided with folding forward-thrusts (1706).

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