A triaxial symmetric multi-rotor frame

Abstract

The application discloses a three-axis symmetrical multi-rotor frame. The three-axis symmetrical multi-rotor frame comprises a fuselage, a control module and a battery are arranged on the fuselage, a landing gear is arranged below the fuselage, a rotor arm is arranged on a side wall of the fuselage, a power system is fixed to an outer end of the rotor arm, and the battery is electrically connected with the power system. The application adopts a symmetrical design mode of upper and lower layers of a three-axis machine type, and provides power for six rotors through two independent motors respectively, so that the purpose that the non-coaxial rotors can still stably fly when damaged is achieved, technical effects of power redundancy and safety are realized, and the technical problem of unmanned aerial vehicle falling and being damaged due to rotor damage is solved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to a method for a three-axis symmetric multirotor frame. Background Technology

[0002] With the rapid development of the low-altitude economy, heavy-load drones are playing an increasingly important role in fields such as emergency rescue, agricultural plant protection, and logistics transportation, thanks to their excellent payload capacity and long endurance.

[0003] Traditional multi-rotor drones generally adopt a four-way or six-way stacked layout (such as quadcopter, hexacopter, octacopter, etc.). If a single motor of a quadcopter drone fails, it is easy to lose control and has weak resistance to single point failure. Although hexacopter and octacopter drones have a certain degree of redundancy, their structure is complex and the space between the two rotor arms in the nose direction is very narrow, which affects the loading operation of the staff.

[0004] Existing tri-rotor drones typically employ a single-layer three-motor plus servo motor structure. When a single rotor rotates, it generates a reverse torque, causing the fuselage to rotate in the opposite direction, which is counteracted by the servo motor. The mechanical structure is relatively complex and lacks power redundancy. When a single motor fails, it is also prone to loss of control.

[0005] There is currently no effective solution to the problem of loss of control when a single motor fails in related technologies. Summary of the Invention

[0006] The main objective of this application is to provide a three-axis symmetrical multi-rotor frame to solve the problem of easy loss of control when a single motor fails.

[0007] To achieve the above objectives, according to one aspect of this application, a three-axis symmetrical multirotor frame is provided.

[0008] The three-axis symmetrical multi-rotor frame according to this application includes: a fuselage, a control module and a battery are provided on the fuselage, a landing gear is provided under the fuselage, a rotor arm is provided on the side wall of the fuselage, a power system is fixed to the outer end of the rotor arm, and the battery is electrically connected to the power system;

[0009] The power system includes an electronic speed controller (ESC), an upper rotor motor, an upper rotor, an upper rotor shaft, a lower rotor motor, a lower rotor, and a lower rotor shaft. The ESC is fixed to the outer end of the rotor arm, the upper rotor motor is fixed to the upper surface of the ESC, the output end of the upper rotor motor is fixedly connected to the upper rotor shaft, the upper rotor is fixed to the upper rotor shaft, the lower rotor motor is fixed to the lower surface of the ESC, the output end of the lower rotor motor is fixedly connected to the lower rotor shaft, and the lower rotor is fixed to the lower rotor shaft.

[0010] Furthermore, the upper rotor shaft rotates coaxially with the lower rotor shaft, thereby allowing the upper rotor and lower rotor to rotate coaxially.

[0011] Furthermore, the upper rotor motor controls the upper rotor to rotate forward, and the lower rotor motor controls the lower rotor to rotate in reverse.

[0012] Furthermore, the rotor arm is provided with three arms: two front rotor arms and one rear rotor arm. The angle between the two front rotor arms is 120°, and the angle between each front rotor arm and the rear rotor arm is 120°.

[0013] Furthermore, the landing gear is equipped with a load compartment, which is fixedly connected to the lower surface of the fuselage, and the loading and unloading ports of the load compartment are located between the two front rotor arms.

[0014] Furthermore, the fuselage is configured as a hollow chamber structure, and the rotor arm is fixed inside the hollow chamber structure.

[0015] Furthermore, the ESC is connected to the control module.

[0016] In this embodiment, a symmetrical design of the upper and lower layers of the three-axis model is adopted. The upper and lower independent motors provide power to the six rotors respectively, so as to achieve stable flight even if the non-coaxial rotor is damaged. This achieves the technical effect of power redundancy and greater safety, and solves the technical problem of drone crash damage caused by rotor damage. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application. In the drawings:

[0018] Figure 1 This is a schematic diagram of the overall appearance according to an embodiment of this application;

[0019] Figure 2 This is a top view schematic diagram of the structure according to an embodiment of this application;

[0020] Figure 3 This is a head-up view of the structure according to an embodiment of this application;

[0021] Figure 4 This is a magnified planar structural diagram of the power system according to an embodiment of this application.

[0022] Figure Labels

[0023] 1. Fuselage; 2. Control module; 3. Battery; 4. Landing gear; 401. Payload bay; 5. Rotor arm; 501. Front rotor arm; 502. Rear rotor arm; 6. Electronic speed controller; 7. Upper rotor motor; 8. Upper rotor; 9. Upper rotor shaft; 10. Lower rotor motor; 11. Lower rotor; 12. Lower rotor shaft. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing the present invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0027] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0028] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this utility model based on the specific circumstances.

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] like Figure 1-4 As shown, this application relates to a three-axis symmetrical multi-rotor frame, including: a fuselage 1, a control module 2 and a battery 3 installed on the fuselage 1, a landing gear 4 provided below the fuselage 1, a rotor arm 5 provided on the side wall of the fuselage 1, a power system fixed to the outer end of the rotor arm 5, and the battery 3 electrically connected to the power system.

[0031] The power system includes an electronic speed controller (ESC) 6, an upper rotor motor 7, an upper rotor 8, an upper rotor shaft 9, a lower rotor motor 10, a lower rotor 11, and a lower rotor shaft 12. The ESC 6 is fixed to the outer end of the rotor arm 5. The upper rotor motor 7 is fixed to the upper surface of the ESC 6. The output end of the upper rotor motor 7 is fixedly connected to the upper rotor shaft 9. The upper rotor 8 is fixed on the upper rotor shaft 9. The lower rotor motor 10 is fixed to the lower surface of the ESC 6. The output end of the lower rotor motor 10 is fixedly connected to the lower rotor shaft 12. The lower rotor is fixed on the lower rotor shaft 12.

[0032] By installing the upper rotor motor 7 and the lower rotor motor 10, the upper rotor motor 7 and the lower rotor motor 10 are controlled by the electronic speed controller 6 to rotate. The upper rotor shaft 9 and the lower rotor shaft 12 connected to them rotate, which in turn drive the upper rotor 8 and the lower rotor 11 to rotate independently. The upper rotor 8 and the lower rotor 11 independently provide lift at the coaxial point, providing power redundancy. If one rotor fails, the other rotor can still continue to work, maintaining the stable flight of the frame and increasing the safety of the frame.

[0033] like Figure 1 As shown, the upper rotor shaft 9 and the lower rotor shaft 12 in the device rotate coaxially, which in turn causes the upper rotor 8 and the lower rotor 11 to rotate coaxially. The upper rotor motor 7 and the lower rotor motor 10 start simultaneously, driving the upper rotor 8 and the lower rotor 11 to rotate synchronously. The rotor lift is superimposed, and the dual rotors provide greater lift, increasing the load capacity.

[0034] like Figure 4As shown, the upper rotor motor 7 in the device controls the upper rotor 8 to rotate forward, and the lower rotor motor 10 controls the lower rotor 11 to rotate in reverse. When the upper and lower rotors rotate in opposite directions, their torques cancel each other out, and the fuselage can be kept stable without a tail rotor.

[0035] like Figure 1-2 As shown, the device has three rotor arms 5: two front rotor arms 501 and one rear rotor arm 502. The angle between the two front rotor arms 501 is 120°, and the angle between each front rotor arm 501 and the rear rotor arm 502 is also 120°. The three-axis design increases the operating space angle between the two front rotor arms 501 at the nose, thereby increasing the operating space for operators to change modules or load load equipment in the nose direction. At the same time, the clear area in the nose direction is large and unobstructed, which can be used to load forward-launched fire extinguishing shells, impact cannons, etc. The three-axis layout allows the rear axle motor to have a more direct and rapid response correction during cruise.

[0036] like Figure 1 and Figure 3 As shown, the landing gear 4 in the device is equipped with a load compartment 401 inside. The load compartment 401 is fixedly connected to the lower surface of the fuselage 1. The loading and unloading ports of the load compartment 401 are opened between the two front rotor arms 501. The load compartment 401 is loaded from the nose. Since there is a large operating space between the two front rotor arms 501, it is more convenient to load the load.

[0037] like Figure 1 and Figure 3 As shown, the fuselage 1 in the device is designed as a hollow chamber structure, and the rotor arm 5 is fixed inside the hollow chamber structure. The hollow chamber structure reduces the weight of the frame and the overall weight of the device, thereby increasing the load under the rated acoustic control mass.

[0038] like Figure 1 As shown, the ESC 6 in the device is connected to the control module 2. The control module 2 is used to issue commands to the ESC 6, and then the ESC 6 receives flight control commands to control the motor speed and adjust the flight attitude of the frame.

[0039] The working principle (working process, or operation method) of the device is as follows: The operator manipulates the control equipment to issue commands to the control module 2. After the control module 2 transmits the commands to the ESC 6, the ESC 6 receives the flight control commands and controls the upper rotor motor 7 and the lower rotor motor 10 to start simultaneously. The upper rotor motor 7 controls the upper rotor 8 to rotate forward, and the lower rotor motor 10 controls the lower rotor 11 to rotate in reverse. The dual rotors provide greater lift. The upper rotor motor 7 and the lower rotor motor 10 work independently, so the upper rotor 8 and the lower rotor 11 can independently provide lift, providing power redundancy. If one rotor fails, the other rotor can still continue to work, so that the device remains stable for a certain period of time, preventing the equipment from crashing due to loss of power and increasing the safety of the frame.

[0040] As can be seen from the above description, this application achieves the following technical effects: by adopting a symmetrical design of the upper and lower layers of the three-axis model, the upper and lower independent motors provide power to the six rotors respectively, achieving the goal of stable flight even if the non-coaxial rotor is damaged, thus achieving the technical effect of power redundancy and greater safety, and thus solving the technical problem of UAV crash damage caused by rotor damage.

[0041] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A three-axis symmetrical multirotor frame, characterized in that, include: The fuselage (1) is equipped with a control module (2) and a battery (3). The fuselage (1) is equipped with a landing gear (4) below the fuselage (1). The fuselage (1) is equipped with a rotor arm (5) on its side wall. The rotor arm (5) is fixed with a power system at its outer end. The battery (3) is electrically connected to the power system. The power system includes an electronic speed controller (6), an upper rotor motor (7), an upper rotor (8), an upper rotor shaft (9), a lower rotor motor (10), a lower rotor (11), and a lower rotor shaft (12). The electronic speed controller (6) is fixed to the outer end of the rotor arm (5). The upper rotor motor (7) is fixed to the upper surface of the electronic speed controller (6). The output end of the upper rotor motor (7) is fixedly connected to the upper rotor shaft (9). The upper rotor (8) is fixed on the upper rotor shaft (9). The lower rotor motor (10) is fixed to the lower surface of the electronic speed controller (6). The output end of the lower rotor motor (10) is fixedly connected to the lower rotor shaft (12). The lower rotor (11) is fixed on the lower rotor shaft (12).

2. The triaxially symmetrical multirotor frame according to claim 1, characterized in that, The upper rotor shaft (9) rotates coaxially with the lower rotor shaft (12), and the upper rotor (8) rotates coaxially with the lower rotor (11).

3. The triaxially symmetrical multirotor frame according to claim 1, characterized in that, The upper rotor motor (7) controls the upper rotor (8) to rotate forward, and the lower rotor motor (10) controls the lower rotor (11) to rotate in reverse.

4. The triaxially symmetrical multirotor frame according to claim 1, characterized in that, The rotor arm (5) is provided with three arms, namely two front rotor arms (501) and one rear rotor arm (502). The angle between the two front rotor arms (501) is 120°, and the angle between each front rotor arm (501) and the rear rotor arm (502) is 120°.

5. The triaxially symmetrical multirotor frame according to claim 1, characterized in that, The landing gear (4) is provided with a load compartment (401) inside. The load compartment (401) is fixedly connected to the lower surface of the fuselage (1). The loading and unloading ports of the load compartment (401) are opened between the two front rotor arms (501).

6. The triaxially symmetrical multirotor frame according to claim 1, characterized in that, The fuselage (1) is configured as a hollow chamber structure, and the rotor arm (5) is fixed inside the hollow chamber structure.

7. The triaxially symmetrical multirotor frame according to claim 1, characterized in that, The electronic speed controller (6) is connected to the control module (2).

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