Rotor head for a coaxial twin propeller drone

Abstract

The utility model discloses be applied to the rotor head of coaxial double oar unmanned aerial vehicle, including central shaft, upper rotor subassembly, lower rotor subassembly and angle adjusting component, angle adjusting component includes mounting bracket, rudder, guide rail, fixed disc, rotary disc, transmission connecting rod and change direction connecting rod, and mounting bracket and rotary disc are installed on central shaft, and rudder and guide rail are installed on mounting bracket, and rudder is connected with one end of transmission connecting rod, and the other end of transmission connecting rod is connected with rotary disc, and rotary disc is installed with slide bar, and slide bar is arranged in the guide groove of guide rail, and fixed disc rotatory installation is in rotary disc outside, and fixed disc is connected with lower rotor subassembly through change direction connecting rod. The utility model discloses through rudder control transmission connecting rod drive rotary disc movement, and the fixed disc on rotary disc drive change direction connecting rod movement, to control the tilt angle of lower rotor of lower rotor subassembly, realize the steady unmanned aerial vehicle attitude control, has light weight, simple structure, low energy consumption and high reliability and the advantages such as.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to the rotor head of a coaxial dual-propeller UAV. Background Technology

[0002] In the field of UAV technology, the rotor head structure is a key component determining the flight performance of a UAV. Existing single-rotor UAVs rely on the tail rotor to balance torque, resulting in significant energy loss and thus shortened flight time. Multi-rotor UAVs, such as the common quadcopter UAVs, typically have a flight time of less than one hour due to their low aerodynamic efficiency. In contrast, coaxial dual-rotor UAVs, with their significant advantages of compact structure and high hovering stability, are widely used in long-endurance missions such as inspection and mapping.

[0003] However, most traditional coaxial dual-rotor UAVs employ variable-pitch rotor heads. These rotor heads use a complex mechanical structure consisting of three servos and multiple links to adjust the blade pitch, thereby controlling the UAV's lift and attitude. However, this traditional variable-pitch rotor head has several drawbacks and limitations: (1) Complex structure: The variable pitch mechanism requires multiple servo motors, linkages, control arms and other components, which not only leads to a significant increase in the weight of the rotor head, but also significantly increases the failure rate; (2) High energy loss: During the mechanical transmission process, friction between the components is inevitable. The resulting friction loss reduces the energy utilization efficiency of the UAV and seriously affects the UAV's endurance. (3) Insufficient reliability: Complex moving parts are subject to high-frequency vibrations during the flight of the UAV, which can easily lead to loosening or failure, posing a great threat to the flight safety of the UAV. (4) High cost: The precision mechanical structure makes the manufacturing process extremely demanding, and the maintenance is also difficult, resulting in high manufacturing and maintenance costs. Utility Model Content

[0004] In order to overcome the above-mentioned shortcomings of the prior art, the present invention provides a rotor head for use in coaxial dual-propeller unmanned aerial vehicles.

[0005] The technical solution adopted by this utility model to solve its technical problem is: a rotor head applied to a coaxial dual-rotor UAV, including a central shaft, an upper rotor assembly, a lower rotor assembly, and an angle adjustment assembly. The upper rotor assembly, lower rotor assembly, and angle adjustment assembly are mounted on the central shaft. The angle adjustment assembly includes a mounting bracket, a servo motor, a guide rail, a fixed disk, a rotating disk, a transmission link, and a directional link. The mounting bracket and the rotating disk are mounted on the central shaft. The servo motor and the guide rail are mounted on the mounting bracket. One end of the servo motor is connected to the transmission link, and the other end of the transmission link is connected to the rotating disk. The rotating disk is equipped with a sliding rod, which passes through the guide groove of the guide rail. The fixed disk is rotatably mounted on the outside of the rotating disk. The fixed disk is connected to the lower rotor assembly through the directional link.

[0006] As a further improvement of this utility model: the servo motor includes a first servo motor and a second servo motor, the transmission link includes a first transmission link and a second transmission link, the first servo motor is equipped with a first rotating arm, the first rotating arm is connected to one end of the first transmission link, and the other end of the first transmission link is connected to a rotating disk; the second servo motor is equipped with a second rotating arm, the second rotating arm is connected to one end of the second transmission link, and the other end of the second transmission link is connected to a rotating disk.

[0007] As a further improvement of this utility model: the reversing link includes a first reversing link and a second reversing link, one end of the first reversing link is connected to the fixed plate, the other end of the first reversing link is connected to the lower rotor assembly, one end of the second reversing link is connected to the fixed plate, the other end of the second reversing link is connected to the lower rotor assembly, and the second reversing link is disposed at the end of the fixed plate away from the first reversing link.

[0008] As a further improvement of this utility model: the mounting bracket includes a first servo bracket, a second servo bracket, and a guide rail bracket. The first servo is mounted on the first servo bracket, the second servo is mounted on the second servo bracket, and the guide rail is mounted on the guide rail bracket.

[0009] As a further improvement of this utility model: the first servo bracket, the second servo bracket, and the guide rail bracket are evenly arranged circumferentially.

[0010] As a further improvement of this utility model: the central shaft is equipped with a spherical bearing, and the rotating disk is mounted on the spherical bearing.

[0011] As a further improvement of this utility model: the rotating disk is equipped with a thin-walled bearing, and the fixed disk is mounted on the thin-walled bearing.

[0012] As a further improvement of this invention, the central shaft is made of carbon fiber composite material or aluminum alloy. By using lightweight materials such as carbon fiber composite material or aluminum alloy for the central shaft, the strength-to-weight ratio is improved.

[0013] As a further improvement of this utility model: the lower rotor assembly includes a lower rotor hub and a lower rocker arm, the lower rotor hub and the lower rocker arm are mounted on a central shaft, the lower rotor hub and the lower rocker arm are fixedly connected, and the lower rocker arm is connected to a fixed disk through a directional connecting rod.

[0014] As a further improvement of this utility model: the lower rocker arm and the reversing linkage are hinged.

[0015] As a further improvement of this utility model: the lower rotor assembly also includes a lower motor mounted on the central shaft, the lower rotor hub is disposed above the lower motor, the lower motor is connected to the lower rotor hub, and the lower rotor is mounted on the lower rotor hub.

[0016] As a further improvement of this utility model: the upper rotor assembly includes an upper motor mounted on the central shaft, an upper rotor hub is provided below the upper motor, the upper motor is connected to the upper rotor hub, and an upper rotor is mounted on the upper rotor hub.

[0017] Compared with the prior art, the beneficial effects of this utility model are: 1. Both the upper and lower rotors of this utility model adopt non-variable pitch blades. The upper and lower rotors rotate in opposite directions on the same axis through the central axis to cancel out the torque. The transmission linkage is controlled by the servo motor to drive the rotating disk to move. The fixed disk on the rotating disk drives the directional linkage to move, thereby controlling the tilt angle of the lower rotor of the lower rotor assembly and realizing stable attitude control of the UAV.

[0018] 2. This utility model eliminates complex components such as the pitch control rod of the traditional variable pitch rotor head and optimizes the mechanical structure. While ensuring the long-endurance flight efficiency of the UAV, it achieves stable attitude control. The overall structure is greatly simplified, effectively reducing weight and reducing failure points. It has the advantages of lightweight, simple structure, low energy consumption and high reliability. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of this utility model.

[0020] Figure 2 This is a structural schematic diagram of the present invention from another angle.

[0021] Reference numerals: 1. Central shaft; 2. Mounting bracket; 3. Guide rail; 4. Fixed plate; 5. Rotating plate; 6. First servo motor; 7. Second servo motor; 8. First transmission link; 9. Second transmission link; 10. First steering link; 11. Second steering link; 12. First servo motor bracket; 13. Second servo motor bracket; 14. Guide rail bracket; 15. Spherical bearing; 16. Thin-walled bearing; 17. Lower propeller hub; 18. Lower rocker arm; 19. Lower motor; 20. Upper motor; 21. Upper propeller hub; 22. Guide groove; 23. Slide rod. Detailed Implementation

[0022] To make the technical problem to be solved, the technical solution, and the beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model. The present utility model will now be further described with reference to the accompanying drawings and embodiments: Please see Figure 1-2 This is a rotor head for a coaxial twin-rotor UAV, comprising a central shaft 1, an upper rotor assembly, a lower rotor assembly, and an angle adjustment assembly. The upper rotor assembly, lower rotor assembly, and angle adjustment assembly are mounted on the central shaft 1. The angle adjustment assembly includes a mounting bracket 2, a servo motor, a guide rail 3, a fixed disk 4, a rotating disk 5, a transmission link, and a directional link. The mounting bracket 2 and the rotating disk 5 are mounted on the central shaft 1. The servo motor and the guide rail 3 are mounted on the mounting bracket 2. One end of the servo motor is connected to the transmission link, and the other end of the transmission link is connected to the rotating disk 5. The rotating disk 5 is equipped with a sliding rod 23, which passes through a guide groove 22 in the guide rail. The fixed disk 4 is rotatably mounted on the outside of the rotating disk 5 and is connected to the lower rotor assembly via the directional link.

[0023] The upper rotor of the upper rotor assembly maintains a fixed tilt angle during rotation. The servo motor controls the transmission linkage to drive the rotating disk 5 to move. The guide rail and slide bar 23 provide guidance for the movement of the rotating disk 5. The fixed disk 4 on the rotating disk 5 drives the directional linkage to move, thereby controlling the tilt angle of the lower rotor of the lower rotor assembly, and thus controlling the attitude of the UAV.

[0024] By eliminating components such as the pitch control rod in traditional variable pitch rotor heads, the overall structure of the rotor head and the required connecting rod components are simplified, reducing weight and potential failure points, lowering energy consumption and manufacturing and maintenance costs, and improving reliability.

[0025] When heading control is required, yaw is achieved by synchronously adjusting the speed difference between the upper and lower rotors and utilizing torque changes.

[0026] When pitch / roll control is required, differential lift is generated by independently adjusting the speed of the upper and lower rotors (such as accelerating the upper rotor and decelerating the lower rotor), which, in conjunction with the fuselage flight control system, enables attitude adjustment.

[0027] The rotor head of this invention has the advantages of being lightweight, simple in structure, low in energy consumption and high in reliability. By optimizing the aerodynamic design and mechanical structure, stable attitude control can be achieved while ensuring the long-endurance flight efficiency of the UAV.

[0028] In some embodiments, the servo motor includes a first servo motor 6 and a second servo motor 7, and the transmission link includes a first transmission link 8 and a second transmission link 9. The first servo motor is equipped with a first rotating arm, which is connected to one end of the first transmission link 8, and the other end of the first transmission link 8 is connected to the rotating disk 5. The second servo motor is equipped with a second rotating arm, which is connected to one end of the second transmission link 9, and the other end of the second transmission link 9 is connected to the rotating disk 5.

[0029] During the rotation of the upper rotor of the upper rotor assembly, the upper rotor maintains a fixed tilt angle. The first servo and the second servo control the first transmission link 8 and the second transmission link 9 to drive the rotating disk 5 and the fixed disk 4 to move, which in turn drives the directional link to move, thereby controlling the tilt angle of the lower rotor of the lower rotor assembly, and thus controlling the attitude of the UAV.

[0030] In the example above, the rotor head is equipped with only two servos. By eliminating one of the three servos required by a traditional variable pitch rotor head, as well as its pitch control rod and other components, the overall structure of the rotor head and the required linkage components are simplified, reducing weight and the number of potential failure points.

[0031] In some embodiments, the directional linkage includes a first directional linkage 10 and a second directional linkage 11. One end of the first directional linkage 10 is connected to the fixed disk 4, and the other end of the first directional linkage 10 is connected to the lower rotor assembly. One end of the second directional linkage 11 is connected to the fixed disk 4, and the other end of the second directional linkage 11 is connected to the lower rotor assembly. The second directional linkage 11 is located at the end of the fixed disk 4 away from the first directional linkage 10.

[0032] In some embodiments, the mounting bracket 2 is provided with a first servo bracket 12, a second servo bracket 13 and a guide rail bracket 14, the first servo 6 is mounted on the first servo bracket 12, the second servo 7 is mounted on the second servo bracket 13, and the guide rail 3 is mounted on the guide rail bracket 14.

[0033] In some embodiments, the first servo bracket 12, the second servo bracket 13, and the guide rail bracket 14 are evenly arranged circumferentially.

[0034] In some embodiments, the central shaft 1 is mounted with a spherical bearing 15, and the rotating disk 5 is mounted on the spherical bearing 15.

[0035] In some embodiments, the rotating disk 5 is equipped with a thin-walled bearing 16, and the fixed disk 4 is mounted on the thin-walled bearing 16.

[0036] In some embodiments, the central shaft 1 is made of carbon fiber composite material or aluminum alloy. By using lightweight materials such as carbon fiber composite material or aluminum alloy for the central shaft 1, the strength-to-weight ratio is improved.

[0037] In some embodiments, the lower rotor assembly includes a lower rotor hub 17 and a lower rocker arm 18, which are mounted on a central shaft 1. The lower rotor hub 17 is fixedly connected to the lower rocker arm 18, and the lower rocker arm 18 is connected to a fixed disk 4 via a directional linkage.

[0038] In some embodiments, the lower rocker arm 18 is hinged to the reversing linkage.

[0039] In some embodiments, the lower rotor assembly further includes a lower motor 19 mounted on the central shaft 1, a lower rotor hub 17 disposed above the lower motor 19, the lower motor 19 being connected to the lower rotor hub 17, and a lower rotor (not shown in the figure) being mounted on the lower rotor hub 17.

[0040] In some embodiments, the upper rotor assembly includes an upper motor 20 mounted on a central shaft 1, an upper rotor hub 21 disposed below the upper motor 20, the upper motor 20 being connected to the upper rotor hub 21, and an upper rotor (not shown in the figure) mounted on the upper rotor hub 21.

[0041] The upper and lower rotors rotate coaxially and in opposite directions via a central axis 1 to counteract torque. Both rotors use blades with fixed pitch. The tilting of the lower rotor is optimized through aerodynamic simulation, eliminating the need for complex mechanical adjustment mechanisms. The upper rotor maintains a fixed tilt angle during rotation. The first and second servos jointly control the transmission linkage, which drives the directional linkage to move, thereby controlling the tilt angle of the lower rotor and ultimately the attitude of the UAV.

[0042] By eliminating one of the three servos required by a traditional variable pitch rotor head, as well as its complex components such as pitch control rods and control arms, the number of rotor head parts is reduced by more than 20%, significantly simplifying the overall structure and effectively reducing the rotor head's weight. Actual measurements show a weight reduction of 15%-25%. At the same time, due to the reduction in moving parts, the probability of mechanical failure is significantly reduced, with the failure rate decreasing by more than 50% compared to traditional variable pitch rotor heads, thus improving the rotor head's reliability and stability.

[0043] Furthermore, the reduction in moving parts reduces frictional losses, minimizes ineffective energy consumption during mechanical transmission, and improves the energy utilization efficiency of the drone, ultimately extending flight time by 20%-30% and effectively addressing the negative impact of high energy loss on flight endurance.

[0044] Moreover, the simplified fixed-pitch rotor head reduces the number of moving parts that are prone to loosening or failure under high-frequency vibration, enhancing the reliability of the rotor head in complex flight environments and reducing the risk of flight accidents caused by loose or failed parts, thus ensuring the flight safety of the UAV. At the same time, the simplified fixed-pitch rotor head reduces the number of parts, simplifies the manufacturing process, reduces the frequency and difficulty of later maintenance, and significantly lowers maintenance costs.

[0045] The main functions of this utility model are: Both the upper and lower rotors of this invention employ non-variable pitch blades. The upper and lower rotors rotate coaxially and in opposite directions via a central axis to counteract torque. A dual servo motor controls the transmission linkage to drive a rotating disk, and a fixed disk on the rotating disk drives a directional linkage to control the tilt angle of the lower rotor assembly, thereby controlling the attitude of the UAV. By eliminating one of the three servos required by a traditional variable pitch rotor head, as well as its pitch control rod and control arm and other complex components, the overall structure is greatly simplified, effectively reducing weight and potential failure points, lowering energy consumption and manufacturing and maintenance costs, and improving reliability.

[0046] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0047] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0048] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise expressly specified. Moreover, 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.

[0049] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model, and they should all be covered within the scope of the claims and specification of this utility model.

Claims

1. A rotor head for a coaxial dual-propeller unmanned aerial vehicle, characterized in that: The system includes a central shaft, an upper rotor assembly, a lower rotor assembly, and an angle adjustment assembly. The upper rotor assembly, lower rotor assembly, and angle adjustment assembly are mounted on the central shaft. The angle adjustment assembly includes a mounting bracket, a servo motor, a guide rail, a fixed disk, a rotating disk, a transmission link, and a directional linkage. The mounting bracket and rotating disk are mounted on the central shaft. The servo motor and guide rail are mounted on the mounting bracket. One end of the servo motor is connected to the transmission link, and the other end of the transmission link is connected to the rotating disk. The rotating disk is equipped with a sliding rod that passes through a guide groove in the guide rail. The fixed disk is rotatably mounted on the outside of the rotating disk and is connected to the lower rotor assembly via the directional linkage. Yaw is achieved by synchronously adjusting the torque change generated by the speed difference between the upper and lower rotors. Pitch or roll control is achieved by independently adjusting the differential lift generated by the speed differences of the upper and lower rotors.

2. The rotor head for a coaxial dual-propeller UAV according to claim 1, characterized in that: The servo motor includes a first servo motor and a second servo motor, and the transmission link includes a first transmission link and a second transmission link. The first servo motor is equipped with a first rotating arm, which is connected to one end of the first transmission link, and the other end of the first transmission link is connected to a rotating disk. The second servo motor is equipped with a second rotating arm, which is connected to one end of the second transmission link, and the other end of the second transmission link is connected to a rotating disk.

3. The rotor head for a coaxial dual-propeller UAV according to claim 2, characterized in that: The mounting bracket includes a first servo bracket, a second servo bracket, and a guide rail bracket. The first servo is mounted on the first servo bracket, the second servo is mounted on the second servo bracket, and the guide rail is mounted on the guide rail bracket.

4. The rotor head for a coaxial dual-propeller UAV according to claim 1, characterized in that: The directional linkage includes a first directional linkage and a second directional linkage. One end of the first directional linkage is connected to the fixed plate, and the other end of the first directional linkage is connected to the lower rotor assembly. One end of the second directional linkage is connected to the fixed plate, and the other end of the second directional linkage is connected to the lower rotor assembly. The second directional linkage is located at the end of the fixed plate away from the first directional linkage.

5. The rotor head for a coaxial dual-propeller UAV according to claim 1, characterized in that: The central shaft is equipped with a spherical bearing, and the rotating disk is mounted on the spherical bearing.

6. The rotor head for a coaxial dual-propeller UAV according to claim 5, characterized in that: The rotating disk is equipped with a thin-walled bearing, and the fixed disk is mounted on the thin-walled bearing.

7. The rotor head for a coaxial dual-propeller UAV according to claim 1, characterized in that: The central shaft is made of carbon fiber composite material or aluminum alloy.

8. The rotor head for a coaxial dual-propeller UAV according to claim 1, characterized in that: The lower rotor assembly includes a lower rotor hub and a lower rocker arm, which are mounted on a central shaft. The lower rotor hub and the lower rocker arm are fixedly connected, and the lower rocker arm is connected to a fixed disk via a directional linkage.

9. The rotor head for a coaxial dual-propeller UAV according to claim 8, characterized in that: The lower rotor assembly also includes a lower motor mounted on the central shaft, a lower rotor hub positioned above the lower motor, the lower motor connected to the lower rotor hub, and a lower rotor mounted on the lower rotor hub.

10. The rotor head for a coaxial dual-propeller UAV according to claim 1, characterized in that: The upper rotor assembly includes an upper motor mounted on the central shaft, an upper rotor hub located below the upper motor, the upper motor being connected to the upper rotor hub, and an upper rotor mounted on the upper rotor hub.

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