An unmanned aerial vehicle having a mechanical component that transfers torque to a rotor

Abstract

An unmanned aerial vehicle with mechanical components that transmit torque to the rotor, has foldable wings; on the wings there are in the direction of flight, symmetrically installed on the left and right wings, the boom, the front and rear ends of which are installed with the rotor whose direction can be deflected; torque is transmitted to the rotor by using a flexible shaft or a universal joint, and the rotor deflection and wing folding are achieved by using a worm gear or a motor with a self-locking holding torque, which realizes vertical take-off and landing and attitude control, eliminates the need for aerodynamic components for flight stabilization and attitude control, reduces the aerodynamic resistance of flight, and is conducive to improving flight speed and payload.

Description

Technical Field

[0001] A drone with mechanical components that transmit torque to its rotors has booms symmetrically mounted across the left and right wings in the direction of flight. Rotors with directional deflection are installed at the front and rear ends of the booms. Mechanical components transmit torque to the rotors. During horizontal flight, the front rotor generates thrust, and the rear rotor generates pull. A worm gear transmission mechanism or a self-locking torque motor drives the rotors to deflect upwards and downwards. The front rotor rotates upwards by 90° to generate upward thrust, and the rear rotor rotates downwards by 90° to generate upward thrust. The resultant force center of the upward thrust and pull is positioned at the drone's center of gravity, counteracting gravity and enabling vertical takeoff and landing. The simultaneous upward (downward) deflection of the two front rotors causes the fuselage to tilt (hook up) around the horizontal axis of gravity; the simultaneous upward (downward) deflection of the two rear rotors causes the fuselage to tilt (hook up) around the horizontal axis of gravity; when the front rotor of the boom on the same side tilts upward (downward) and the rear rotor simultaneously tilts downward (upward), the fuselage will tilt (tilt down) around the longitudinal axis of the vehicle; by using different combinations of rotor deflection, the flight attitude of the UAV can be stabilized and controlled. Background Technology

[0002] Currently, fixed-wing UAVs typically employ compound airfoils for vertical takeoff and landing (VTOL). This involves using rotors mounted on booms on either side of the wings to generate lift for VTOL, while propellers located at the front or rear of the fuselage provide power for horizontal flight. Once a specified speed is reached, the UAV uses its fixed wings for horizontal flight, and the rotors providing VTOL lift cease operation, rendering the system idle. The stabilization and control of the UAV's flight attitude are achieved using aerodynamic components (horizontal stabilizer, vertical stabilizer, elevator, and rudder), which are related to the UAV's aerodynamic characteristics and limit its maneuverability. The lift rotors, which do not generate power for horizontal flight, and the components responsible for flight attitude stabilization and control, create additional aerodynamic drag during horizontal flight, reducing payload capacity. Summary of the Invention

[0003] A drone with mechanical components that transmit torque to its rotors has booms symmetrically mounted across the left and right wings in the direction of flight. Rotors with directional deflection are installed at the front and rear ends of the booms. Mechanical components transmit torque to the rotors. During horizontal flight, the front rotor generates thrust, and the rear rotor generates pull. A worm gear transmission mechanism or a self-locking torque motor drives the rotors to deflect upwards and downwards. The front rotor rotates upwards by 90° to generate upward thrust, and the rear rotor rotates downwards by 90° to generate upward thrust. The resultant force center of the upward thrust and pull is positioned at the drone's center of gravity, counteracting gravity and enabling vertical takeoff and landing. The simultaneous upward (downward) deflection of the two front rotors causes the fuselage to pitch up (down) around the horizontal axis of gravity; the simultaneous upward (downward) deflection of the two rear rotors causes the fuselage to pitch up (down) around the horizontal axis of gravity; when the front rotor of the boom on the same side deflects upward (downward) and the rear rotor deflects downward (upward) simultaneously, the fuselage will tilt upward (downward) around the longitudinal axis; by using different combinations of rotor deflection, the flight attitude of the UAV can be stabilized and controlled.

[0004] The beneficial effects of this utility model are: by utilizing mechanical components that can deflect the rotor direction and transmit torque to the rotor, vertical take-off and landing, attitude stabilization and control can be achieved; by eliminating the need for aerodynamic components for flight stabilization and attitude control, the aerodynamic drag of flight is reduced, which is conducive to improving flight speed and payload. Attached Figure Description

[0005] Figure 1 This is a top view of a drone with a mechanical component that transmits torque to the rotor. In the figure, 1 is the rotor; 2 is the rotating component; 3 is the boom; 4 is the foldable wing; 5 is the main wing; and 6 is the fuselage. Figure 2 This is a front view of a drone with mechanical components that transmit torque to the rotor, where 1 is the wing; 2 is the rotating component that deflects the rotor; 3 is the boom; 6 is the fuselage; 7 is the front landing gear; and 8 is the left landing gear. Figure 3 This is a left view of a drone with mechanical components that transmit torque to the rotor, where 1 is the rotor; 4 is the foldable wing; 6 is the fuselage; 7 is the front landing gear; 8 is the left landing gear; and 9 is the right landing gear. Figure 4 This is a top view of a drone with a mechanical component that transmits torque to the rotor. The rotor is deflected by 90°. In the view, 1 is the rotor; 2 is the rotating component; 3 is the boom; 4 is the foldable wing; 5 is the main wing; and 6 is the fuselage. Figure 5 This is a type of unmanned aerial vehicle (UAV) with mechanical components that transmit torque to the rotor. The front view shows the rotor rotating 90°. In the diagram, 1 is the rotor; 2 is the rotating component; 3 is the boom; 6 is the fuselage; 7 is the front landing gear; and 8 is the left landing gear. Figure 6It is a drone with a mechanical component that transmits torque to the rotor. The left view shows the rotor rotating 90°. In the view, 1 is the rotor; 4 is the foldable wing; 5 is the main wing; and 6 is the fuselage. Figure 7 This is a top view of a drone with mechanical components that transmit torque to the rotor. 1 is the rotor; 2 is the rotating component; 3 is the boom; 6 is the fuselage; and 5 is the foldable wing. Figure 8 This is a front view of a drone with mechanical components that transmit torque to the rotor. 1 is the rotor; 2 is the rotating component; 3 is the boom; 6 is the fuselage; and 4 is the foldable wing. Figure 9 This is a drone with mechanical components that transmit torque to the rotor. The left view shows the drone with its wings folded. In the view, 1 is the rotor; 6 is the fuselage; 5 is the main wing; and 4 is the foldable wing. Figure 10 This is a schematic diagram of the wing deployment of a UAV with a mechanical component that transmits torque to the rotor. In this diagram, 10 is the transmission gear assembly for the front and rear rotors of the right boom; 11 is the transmission gear assembly for the left and right boom transmission gear assemblies (10, 13); 12 is the power unit of the UAV; and 13 is the transmission gear assembly for the front and rear rotors of the left boom. Figure 11 This is a schematic diagram of the structure of a UAV with a mechanical component that transmits torque to the rotor. When a flexible shaft is used as the mechanical component that transmits torque, the front and rear rotors are in the horizontal direction. In this diagram, 14 is the front rotor shaft; 15 is the base of the front rotor shaft; 16 is the flexible shaft that transmits torque to the front rotor; 17 is the outer shell of the mechanical component; 18 is the regular hexagonal slide of the flexible shaft that transmits torque to the front rotor inside the hollow shaft (19); 19 is the hollow shaft with a regular hexagonal shape inside the shaft; 20 is the drive shaft, which is fixed together with the hollow shaft (19); 21 is the drive gear fixed to the drive shaft (20); 22 is the drive gear that meshes with the drive gear (21); and 23 is the drive shaft, which is fixed to the drive gear (22). Figure 12 This is a schematic diagram of the structure of a UAV with a mechanical component that transmits torque to the rotor. When a flexible shaft is used as the mechanical component that transmits torque, the front and rear rotor shafts are in the vertical direction. In this diagram, 14 is the rotor shaft pointing upwards; 15 is the base of the rotor shaft; 16 is the flexible shaft that transmits torque to the front rotor; 17 is the outer shell of the mechanical component; 18 is the regular hexagonal slide of the flexible shaft that transmits torque to the front rotor inside the hollow shaft; 19 is the hollow shaft with a regular hexagon inside the shaft; 20 is the transmission shaft, which is fixed to the transmission gear (21); 22 is the transmission gear fixed to the transmission shaft (23); and 23 is the transmission shaft, which is fixed to the transmission gear (22). Figure 13This is a schematic diagram of the structure of a UAV with a mechanical component that transmits torque to a deflecting rotor. When a double cross-shaft universal joint is used as the mechanical component for transmitting torque, the front and rear rotors are in the horizontal direction. In this diagram, 14 is the rotor shaft; 15 is the base of the rotor shaft; 24 is the double cross-shaft universal joint that transmits torque to the rotor; 25 is the drive shaft of the mechanical component; 17 is the outer shell of the mechanical component; 21 is the transmission gear fixed to the drive shaft (25); 22 is the transmission gear meshing with the transmission gear (21); and 23 is the drive shaft, which is fixed to the transmission gear (22). Figure 14 This is a UAV with a mechanical component that transmits torque to the deflecting rotor. It uses a double universal joint as the mechanical component that transmits torque. The schematic diagram of the front and rear rotor shafts in the vertical direction is shown. In this diagram, 14 is the rotor shaft pointing upwards; 15 is the base of the front rotor shaft; 24 is the double cross-shaft universal joint that transmits torque to the rotor; 25 is the drive shaft of the mechanical component, which is fixed to the drive gear (21); 23 is the drive shaft, which is fixed to the drive gear (22); and 17 is the outer shell of the mechanical component. Figure 15 This is a cross-sectional view of a hexagonal slider with a fixed flexible shaft, and the hollow tube at the left end of the slider is used to fix the flexible shaft. Figure 16 This is the left view of the hexagonal slider. Figure 17 This is a cross-sectional view of the rotor shaft, with a hollow tube at its left end securing the flexible shaft. Figure 18 This is a left view of the rotor shaft. Figure 19 This is a front view of the rotor shaft and base; Figure 20 This is a top view of the rotor shaft and base; Figure 21 This is a left view of the rotor shaft and base; Figure 22 This is a front view of the outer casing where the rotor deflector base is installed; Figure 23 This is a top view of the outer casing where the rotor deflector base is installed; Figure 24 This is a left view of the outer casing where the rotor deflector base is installed. Figure 25 This is a front view of the rotating mechanism of the rotor shaft base, where 14 is the rotor shaft; 15 is the rotor shaft base; 26 is the worm of the deflecting rotor base; 27 is the shaft hole of the worm wheel of the deflecting rotor base, with a keyway that mates with the rotating shaft of the rotor shaft base (15); 28 is the worm wheel; 29 is the drive motor of the worm; and 30 is the housing of the rotating mechanism of the rotor shaft base. Figure 26 This is a top view of the rotating mechanism of the rotor shaft base, where 14 is the rotor shaft; 15 is the rotor shaft base; 27 is the shaft of the rotor shaft base rotating mechanism; 26 is the worm gear of the deflecting rotor base; 28 is the worm wheel of the deflecting rotor base; and 29 is the drive motor of the worm gear. Figure 27 This is a left view of the rotating mechanism of the rotor shaft base, where 14 is the rotor shaft; 15 is the rotor shaft base; 26 is the worm; and 28 is the worm wheel. Figure 28 This is a front view of the wing folding hinge. The four holes on the hinge are used to fix the hinge to the reinforcing ribs at the joint of the folding wing. Figure 29This is a top view of the wing folding hinge; Figure 30 This is a left view of the wing folding hinge. Figure 31 This is a front view of the worm gear mechanism that drives the wing folding, where 31 is the worm wheel; 32 is the worm; and 33 is the worm drive motor. Figure 32 This is a top view of the worm gear mechanism that drives the wing to fold, where 31 is the worm gear and 32 is the worm. Figure 33 This is a left view of the worm gear mechanism that drives the wing to fold, where 31 is the worm wheel; 32 is the worm; and 33 is the worm's drive motor. Figure 34 This is a schematic diagram of the folding wing locking mechanism in the locked state. In this diagram, 34 is the skin of a folding wing; 35 is the base of the locking bolt (36); 36 is the locking bolt; 37 is the locking hook; 38 is the worm gear that drives the locking hook (37); 39 is the shaft that fixes the worm gear (38) and the locking hook (37); 40 is the worm of the locking mechanism; 41 is the base of the worm gear (38); 42 is the support shaft hole of the worm shaft; 43 is the drive motor of the worm; and 44 is the skin of an adjacent folding wing. Figure 35 This is a schematic diagram of the folding wing locking mechanism when unlocking. In this diagram, 34 is the skin of a folding wing; 35 is the base of the locking bolt (36); 36 is the locking bolt; 37 is the locking hook; 38 is the worm gear that drives the locking hook (37); 39 is the shaft that fixes the worm gear (38) and the locking hook (37); 40 is the worm of the locking mechanism; 41 is the base of the worm gear (38); 42 is the support shaft hole of the worm shaft; 43 is the worm drive motor; and 44 is the skin of an adjacent folding wing. Detailed Implementation

[0006] Using two power units in parallel can improve the reliability of the power unit. The reliability is 0.9 when using one power unit and 0.99 when using two power units in parallel, which can effectively ensure the reliable flight of the UAV. According to the specific requirements of the UAV's aerodynamics and power unit, the two power units that output power in parallel are installed inside the fuselage. The main wing passes through the middle of the boom, and the transmission mechanism (11) transmits torque to the transmission gear assembly (10, 13). The transmission mechanism (11) and the transmission gear assembly (10, 13) are installed inside the main wing. The layout of the rotor and boom: the two booms are straddled on the left and right wings in the direction of flight. The left and right booms are the same length and are symmetrically installed relative to the fuselage. The front and rear rotors of the left and right booms are symmetrically installed relative to the longitudinal axis of the fuselage. The front and rear rotors of the left and right booms are symmetrically installed relative to the transverse axis of the center of gravity. Flexible shafts or retractable double cross shaft universal joints can be used to transmit torque to the rotors. When using a flexible shaft, the diameter of the flexible shaft is selected based on the torque required for each rotor. The minimum bending radius of the flexible shaft is then determined based on its diameter, and the rotor shaft base is designed accordingly. The length of the flexible shaft differs depending on whether the rotor shaft is horizontal or vertical. When the rotor base rotates from horizontal to vertical, with a radius of R, the length of the flexible shaft in the horizontal direction is 2R, and in the vertical direction it is 1.57R. When designing the flexible shaft, its length must be greater than the actual required minimum radius of curvature. Figure 11 and Figure 12 In the rotor shaft deflection, the slider (18) is in a different position, sliding within the hollow shaft (19). Since the hollow shaft (19) is hollow and hexagonal, the slider (18)'s shape aligns with it, causing the flexible shaft to rotate along with the hollow shaft (19), transmitting torque to the rotor shaft. Figure 11In the process, the hollow shaft (19) is fixed together with the drive shaft (20) and rotates together with the drive shaft (20), thereby driving the rotor shaft to rotate. The drive gear (21) is fixed together with the drive shaft (20) and drives the drive shaft (20) to rotate. The output power of the power unit is transmitted to the rotor via the drive gear (22) fixed to the drive shaft (23) and the drive gear (21) meshing with the drive gear (22). When the power shaft (25) is at 90° with the rotor shaft (14), a double cross shaft universal joint (24) is required to achieve 90° torque transmission. Since the length of the rotor shaft in the horizontal direction is different from that in the vertical direction when transmitting torque, a telescopic double cross shaft universal joint is required. The telescopic length should be greater than 50% of the length at 90° to accommodate the lengthening of the universal joint when the rotor shaft is horizontal. The specifications of the telescopic double cross shaft universal joint are determined according to the torque required for each rotor. The transmission gear (21) meshes with the transmission gear (22), and the power shaft (25) is fixed together with the transmission gear (21) to transmit power to the rotor shaft. Through the worm gear transmission mechanism, the rotor can deflect upward and downward. The rotor shaft (14) rotates in the shaft hole of the rotor shaft base (15). The rotating shafts on both sides of the rotor shaft base (15) are fixed to the worm gear (28) shaft. The worm drive motor makes the worm gear rotate, which drives the rotor shaft base (15) to deflect. The rotor shaft is in the middle of the base and is directly connected to the torque transmission mechanism (flexible shaft or telescopic double cross shaft universal joint) to drive the rotor to rotate. The wing is folded by a hinge, which is fixed to the reinforcing rib of the folding part of the wing. The wings fold upwards from both sides, and the center lines of the hinge shafts used must be kept consistent. Three sets of hinges are used for wing folding and unfolding, one of which has a worm gear drive mechanism (31, 32, 33). The self-locking property of the worm gear drive mechanism ensures the reliability of wing folding and unfolding. The hinge shaft is fixed to the worm gear shaft, driving the movable hinge to rotate. The worm drive motor (33) drives the turbine (31), which in turn drives the hinge to fold and unfold the wing. The wing folding mechanism is equipped with a limit switch that automatically disconnects the power supply to the worm drive motor (33) when the wing is folded to the specified position. Similarly, a corresponding limit switch cuts off the power supply to the worm drive motor (33) when the wing is fully unfolded. During flight, the unfolded wing needs to be reliably locked to ensure that the unfolded wing does not fold back up. When the wing changes from a folded state to an unfolded state, as the folding hinge rotates the wing to its normal position, the corresponding limit switch disconnects the power to the worm gear drive motor and simultaneously connects the power to the locking mechanism, causing the locking mechanism in the unlocked position to engage and complete the locking process of the unfolded wing. After locking is completed, a limit switch automatically disconnects the power to the locking mechanism. The use of a worm gear mechanical mechanism as the locking mechanism has a self-locking function, which can ensure reliable locking.When the wing needs to be folded, the locking mechanism is first unlocked, the worm gear drive motor of the locking mechanism is powered on, the worm wheel (38) is rotated, the locking hook (37) is rotated, and it is disengaged from the bolt (36) to complete the unlocking; then the power of the folding hinge worm drive motor is turned on, the wing folding begins, and after the wing is folded to the specified position, the limit switch disconnects the power of the folding hinge worm drive motor.

[0007] In terms of flight control system configuration, the UAV's flight control system combines and adjusts the rotor thrust direction according to the attitude signals output by the UAV's attitude sensors. There are no aerodynamic flight attitude stabilization and adjustment control components, thus achieving flight attitude stabilization and control of the fixed-wing UAV.

Claims

1. A drone with a mechanical component for transmitting torque to rotors, comprising booms symmetrically mounted across the left and right wings in the direction of flight; rotors with directional deflection mounted at the front and rear ends of the booms; a mechanical component for transmitting torque to the rotors via a flexible shaft or a retractable double universal coupling; a transmission mechanism for realizing upward and downward deflection of the rotors and wing folding; the front rotor rotating upward 90° to generate upward pull, and the rear rotor rotating downward 90° to generate upward thrust, with the resultant center of the upward pull and upward thrust set at the center of gravity of the drone, offsetting gravity to achieve vertical takeoff and landing; the simultaneous upward (downward) deflection of the two front rotors causes the fuselage to tilt (hook) around the transverse axis of the center of gravity; the simultaneous upward (downward) deflection of the two rear rotors causes the fuselage to tilt (hook) around the transverse axis of the center of gravity; the simultaneous upward (downward) deflection of the front rotor on the same side of the boom, and the simultaneous downward (upward) deflection of the rear rotor, causes the fuselage to tilt around the longitudinal axis of the drone, characterized in that: By utilizing the deflection direction of the rotor to achieve vertical takeoff and landing, attitude stabilization and control, the aerodynamic components for flight stabilization and attitude control are eliminated, reducing aerodynamic drag and improving flight speed and payload.

2. The UAV with a mechanical component for transmitting torque to the rotor as described in claim 1, characterized in that: The rotating components that enable the rotor to deflect upwards or downwards are either worm gear transmission mechanisms or motors with self-locking torque.

3. The UAV with a mechanical component for transmitting torque to the rotor according to claim 1, characterized in that: It has foldable wings.

4. The UAV with a mechanical component for transmitting torque to the rotor according to claim 3, characterized in that: The rotating components that enable wing folding are either worm gear transmission mechanisms or motors with self-locking holding torque.

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