CN202244078U - Multi-rotor unmanned aerial vehicle - Google Patents
Multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN202244078U CN202244078U CN2011202753784U CN201120275378U CN202244078U CN 202244078 U CN202244078 U CN 202244078U CN 2011202753784 U CN2011202753784 U CN 2011202753784U CN 201120275378 U CN201120275378 U CN 201120275378U CN 202244078 U CN202244078 U CN 202244078U
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- 230000000712 assembly Effects 0.000 claims description 20
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- 238000005452 bending Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 abstract description 3
- 238000000354 decomposition reaction Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 19
- 230000008569 process Effects 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 238000005755 formation reaction Methods 0.000 description 2
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- 230000003068 static effect Effects 0.000 description 2
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Abstract
The utility model discloses a many rotors unmanned vehicles, including aircraft main part and drive the rotor subassembly of aircraft main part, the rotor subassembly includes three at least screw (500) of group, screw (500) encircle the aircraft main part sets up, the perpendicular line X of the paddle face (501) of screw (500)2With the perpendicular bisector X of the aircraft body1The angle a is set, and the angle a ranges from 2 degrees to 45 degrees. The utility model discloses a set up the screw for aircraft main part slope certain angle, horizontal direction and vertical direction can be followed to the power that the screw produced and the decomposition, and the component of vertical direction is used for balanced gravity, and the interference that the outside produced can in time be dealt with rapidly to the component on the horizontal direction to make the external disturbance very short from producing the time of adjustment balance, greatly strengthened unmanned vehicles operation's under the external disturbance condition stability.
Description
Technical field
The utility model relates to unmanned vehicle, relates in particular to a kind of many rotors unmanned vehicle.
Background technology
At present, many rotors unmanned vehicle adopts a plurality of individual motor to drive, and for example: four rotor crafts adopt four individual motor to drive.The thrust that the rotor unmanned vehicle produces through a plurality of rotors can realize better that static state spirals, and can in the unsettled static following short time of state, change its attitude, and the manoevreability and effective bearing capacity of height arranged.Yet; As a NLS; Coupling between many rotors unmanned vehicle input variable and the output variable, the time turn the introducing of the uncertain and exterior interference etc. of nonlinear dynamic characteristic and system itself, make the control problem of many rotors unmanned vehicle become very complicated.
In the prior art, the blade of each motor of many rotors unmanned vehicle is that is: blade is parallel to fuselage, when external disturbance occurring on a plane.For example blow or motion process in, need this moment the bigger inclination angle of body generation of unmanned vehicle just can reach balance.The defective of this structure is: very slow to outside disturbance response speed, need a relatively long adjustment balance time, and the unmanned vehicle operation is extremely unstable in the adjustment equilibrium process.
The utility model content
The technical matters that the utility model will solve is; To unmanned vehicle existence reply external disturbance speed of response slowly in the prior art, the time of length adjusted this defective of balance; A kind of many rotors unmanned vehicle is provided, can finely addresses the above problem.
The utility model solves the technical scheme that its technical matters adopted: construct a kind of many rotors unmanned vehicle; The rotor assemblies that comprises aircraft body and drive said aircraft body; Said rotor assemblies comprises at least three group screw propellers; Said screw propeller is around said aircraft body setting, the perpendicular line X of the blade face of said screw propeller
2Midperpendicalar X with said aircraft body
1Between be the setting of a angle, the scope of said a angle is 2 °-45 °.
A kind of many rotors unmanned vehicle of the utility model, preferred, the scope of said a angle is 5 °-20 °.
A kind of many rotors unmanned vehicle of the utility model, preferred, the scope of said a angle is 7.5 °-17.5 °.
A kind of many rotors unmanned vehicle of the utility model, preferred, the scope of said a angle is 10 °-15 °.
A kind of many rotors unmanned vehicle of the utility model; Further; Said rotor assemblies also comprises hold-down arm and the motor that drives said screw propeller, and an end of said hold-down arm is fixed on the said aircraft body, and the other end has the bevelled assembly wall; Said motor is fixedly mounted on the said assembly wall, and the angle between said assembly wall and the said hold-down arm is a angle.
A kind of many rotors unmanned vehicle of the utility model, further, said rotor assemblies also comprises hold-down arm and the motor that drives said screw propeller; Said hold-down arm is bending-like, and the one of which end is a angle with respect to the bending angle of the other end; One end of said hold-down arm is fixed on the said aircraft body, and said motor and said screw propeller are fixed on the other end of said hold-down arm.
A kind of many rotors unmanned vehicle of the utility model, further, said rotor assemblies also comprises hold-down arm and the motor that drives said screw propeller; One end of said hold-down arm is a leaning angle and is fixed on the said aircraft body, and said motor and said screw propeller are fixed on the other end of said hold-down arm.
A kind of many rotors unmanned vehicle of the utility model, preferred, offer the bevelled guiding groove on the said aircraft body, peg graft and be fixed in the said guiding groove in an end of said hold-down arm.
A kind of many rotors unmanned vehicle of the utility model, further, said rotor assemblies also comprises the supporting disk of both ends open and the motor that drives said screw propeller, said motor and said screw propeller are fixedly installed on the madial wall of said supporting disk; One port of the said supporting disk in edge is to the another port, and opening increases gradually, and the angle between the sidewall of said supporting disk and the plane, said aircraft body place is a angle.
A kind of many rotors unmanned vehicle of the utility model, further, said aircraft body comprises support, is fixed on inertia measurement module and microprocessor and signal wire (SW) on the said support.
The utility model can reach following beneficial effect: screw propeller is provided with respect to aircraft body inclination certain angle; But power along continuous straight runs and vertical direction that screw propeller produces decompose; The component of vertical direction is used for balancing gravity; Component on the horizontal direction can be rapidly the outside interference that produces of reply in time, adjust balance time very short from producing thereby make external disturbance, greatly strengthened the externally stability moved down of disturbed condition of unmanned vehicle.
Description of drawings
To combine accompanying drawing and embodiment that the utility model is described further below, in the accompanying drawing:
Fig. 1 is the structural representation of the embodiment one of many rotors unmanned vehicle of providing of the utility model embodiment;
Fig. 2 is that the master of Fig. 1 looks scheme drawing;
Fig. 3 is the force analysis scheme drawing of many rotors unmanned vehicle in reply external disturbance adjustment equilibrium process that the utility model embodiment provides;
Fig. 4 is the structural representation of the embodiment two of many rotors unmanned vehicle of providing of the utility model embodiment;
Fig. 5 is the structural representation of the embodiment three of many rotors unmanned vehicle of providing of the utility model embodiment;
Fig. 6 is the structural representation of the embodiment four of many rotors unmanned vehicle of providing of the utility model embodiment;
Fig. 7 is the structural representation of supporting disk of the embodiment four of many rotors unmanned vehicle of providing of the utility model embodiment;
The drawing reference numeral explanation:
100, support 200, inertia measurement module
300, microprocessor 400, hold-down arm
401, hold-down arm 402, supporting disk
500, screw propeller 501, blade face
600, motor 700, assembly wall
The specific embodiment
Understand for technical characterictic, purpose and effect to the utility model have more clearly, contrast the specific embodiment that accompanying drawing specifies the utility model at present.
The utility model provides a kind of many rotors unmanned vehicle, the rotor assemblies that comprises aircraft body and drive aircraft body, and rotor assemblies comprises at least three group screw propellers, is appreciated that the quantity of screw propeller can be four groups, six groups, eight groups etc.Many group screw propeller circumaviate device main bodys are provided with, and in order to guarantee the unmanned vehicle operation stability, as preferably, organize the screw propeller uniform ring to distribution more.Unmanned vehicle is in operational process, and external disturbance continues to exist, and in order to tackle external disturbance fast, improves antijamming capability, the stability of moving in the assurance flight course, the perpendicular line X of the blade face of the utility model screw propeller
2Midperpendicalar X with aircraft body
1Between be the setting of a angle, the scope of a angle is 2 °-45 °.Note that here the blade face is defined as the plane that screw propeller rotation running back forms, X
2Perpendicular to this plane.Be illustrated in figure 3 as the force analysis scheme drawing of many rotors unmanned vehicle in reply external disturbance adjustment equilibrium process; F is the power that external disturbance produces; F1 and F2 are respectively the power that relative two screw propellers produce; F1 and F2 are decomposed on along continuous straight runs and the vertical direction separately, and F1 divides and solves F11 and F12, and F2 decomposes and obtains F21 and F22.Under no external force disturbed condition, when promptly not having F, F12 and F22 equal and opposite in direction, in the opposite direction, both cancel out each other; If there is external force F, in order to adjust balance, operating personal can increase F1 rapidly, and F1 increases moment and can increase its component F11 and F12, F12-F11＞0, progressively balance and cancellation external force F.Meanwhile; F12＞F11 can cause the unmanned plane b that rotates to an angle; Unmanned plane is in a side rotation process, that is: F1 and F2 progressively become in F1 ' and the F2 ' process, because tilt angle varied; F1 ' component F12 '=F1 ' sin (a+b) in the horizontal direction ° increases gradually; Therefore and F2 ' component F22 '=F2 ' sin (a-b) in the horizontal direction ° increase for a short time gradually, and the power component difference in the horizontal direction that produces of two propeller is increasing, until with external disturbance power F equal and opposite in direction.The perpendicular line X of the blade face of the utility model screw propeller
2Midperpendicalar X with aircraft body
1Between be the benefit that a angle is provided with this structure: (1) when increasing F1, instantaneous F12-F11＞0 that occurs can be tackled external disturbance F fast, that is: just also do not have before the anglec of rotation can partial balancing external force F for unmanned vehicle; (2) unmanned vehicle adjustment equilibration time is shorter, and promptly to be adjusted to (a+b) ° required time from 0 ° shorter for a side screw propeller.
On the basis of technique scheme, as preferably, the scope of a angle is 5 °-20 °.
In order to guarantee the stability of unmanned plane during flying, preferred, the scope of a angle is 7.5 °-17.5 °.
On the basis of technique scheme, preferred in order to take into account flight efficiency, the scope of a angle is 10 °-15 °.As preferably, a angle can be chosen for 15 °, 14.5 °, 13.5 °, 12 °, 11 °, 10.5 ° or 10 °.
Embodiment one
Like Fig. 1, Fig. 2, shown in Figure 3; Be the embodiment that the utility model provides, a kind of many rotors unmanned vehicle comprises aircraft body and the rotor assemblies that drives aircraft body, and rotor assemblies comprises four groups of screw propellers; Four groups of screw propeller circumaviate device main bodys are provided with; In order to guarantee the unmanned vehicle operation stability,, organize the screw propeller uniform ring to distribution as preferably more.Unmanned vehicle is in operational process, and external disturbance continues to exist, and in order to tackle external disturbance fast, improves antijamming capability, the stability of moving in the assurance flight course, the perpendicular line X of the blade face of the utility model screw propeller
2Midperpendicalar X with aircraft body
1Between be the setting of a angle, the scope of a angle is 2 °-45 °.Note that here the blade face is defined as the plane that screw propeller rotation running back forms, X
2Perpendicular to this plane.
On the basis of technique scheme, as preferably, the scope of a angle is 5 °-20 °.
In order to guarantee the stability of unmanned plane during flying, preferred, the scope of a angle is 7.5 °-17.5 °.
On the basis of technique scheme, preferred in order to take into account flight efficiency, the scope of a angle is 10 °-15 °.
On the basis of technique scheme; As preferably, like Fig. 1, shown in Figure 2, rotor assemblies also comprises hold-down arm 400 and the motor 600 that drives screw propeller 500; One end of hold-down arm 400 is fixed on the aircraft body; The other end has bevelled assembly wall 700, and motor 600 is fixedly mounted on the assembly wall 700, and the angle between assembly wall 700 and the hold-down arm 400 is a angle.Be obliquely installed through assembly wall 700 among this embodiment and realize that screw propeller 500 tilts.Be appreciated that assembly wall 700 can also can extend bending by the end of hold-down arm 400 and form through the end of welding, being spirally connected, riveting, mode such as grafting being fixed on hold-down arm 400.
Further, as shown in Figure 1, aircraft body comprises support 100, is fixed on inertia measurement module 200 and microprocessor 300, GPS navigation appearance and signal wire (SW) on the support 100.
Present embodiment can reach following beneficial effect: screw propeller is provided with respect to aircraft body inclination certain angle; But power along continuous straight runs and vertical direction that screw propeller produces decompose; The component of vertical direction is used for balancing gravity; Component on the horizontal direction can be rapidly the outside interference that produces of reply in time, adjust balance time very short from producing thereby make external disturbance, greatly strengthened the externally stability moved down of disturbed condition of unmanned vehicle.
Embodiment two
As shown in Figure 4; Be the embodiment two that the utility model provides, embodiment two and the difference of embodiment one are that screw propeller 500 realizes that the structure that is obliquely installed is different, concrete; Rotor assemblies also comprises hold-down arm 401 and the motor 600 that drives screw propeller 500; Hold-down arm 401 is bending-like, and the one of which end is a angle with respect to the bending angle of the other end, and the scope of a angle is 2 °-45 °; One end of hold-down arm 401 is fixed on the aircraft body, and motor 600 is fixed on the other end of hold-down arm 401 with screw propeller 500.This embodiment realizes through the shape that changes hold-down arm, is appreciated that hold-down arm can be the place bending shown in Fig. 4, and two places or many places bending also can be arranged, also can be for being arcuation.
On the basis of technique scheme, as preferably, the scope of a angle is 5 °-20 °.
In order to guarantee the stability of unmanned plane during flying, preferred, the scope of a angle is 7.5 °-17.5 °.
On the basis of technique scheme, preferred in order to take into account flight efficiency, the scope of a angle is 10 °-15 °.
Be appreciated that the different structure that provides screw propeller 500 to be obliquely installed among embodiment one and the embodiment two can use on the different hold-down arms of same unmanned vehicle.Same, the different structure that provides screw propeller 500 to be obliquely installed among embodiment one and the embodiment two can use on same hold-down arm, and same hold-down arm superposes through two class formations and realizes being obliquely installed.
Embodiment three
As shown in Figure 5, be the embodiment three that the utility model provides, embodiment three and the difference of embodiment one are that screw propeller 500 realizes that the structure that is obliquely installed is different, concrete, rotor assemblies also comprises hold-down arm 400 and the motor 600 that drives screw propeller 500; One end of hold-down arm 400 is a leaning angle and is fixed on the aircraft body, and motor 600 is fixed on 400 the other end of hold-down arm with screw propeller 500, and the scope of a angle is 2 °-45 °.
Further, in order to realize being obliquely installed, offering the bevelled guiding groove on the aircraft body, pegs graft and is fixed in the guiding groove in an end of hold-down arm 400.
On the basis of technique scheme, as preferably, the scope of a angle is 5 °-20 °.
In order to guarantee the stability of unmanned plane during flying, preferred, the scope of a angle is 7.5 °-17.5 °.
On the basis of technique scheme, preferred in order to take into account flight efficiency, the scope of a angle is 10 °-15 °.
Be appreciated that the different structure that provides screw propeller 500 to be obliquely installed among embodiment one, embodiment two, the embodiment three can use on the different hold-down arms of same unmanned vehicle.Same, the different structure that provides screw propeller 500 to be obliquely installed among embodiment one, embodiment two and/or the embodiment three can use on same hold-down arm, that is: same hold-down arm superposes through two types or three class formations and realizes being obliquely installed.
Embodiment four
Like Fig. 6, shown in Figure 7, the embodiment four that provides for the utility model is with the difference of first three embodiment: do not use hold-down arm in the present embodiment, but adopt supporting disk to replace.Concrete, as shown in Figure 6, rotor assemblies also comprises the supporting disk 402 of both ends open and the motor 600 that drives screw propeller 500, motor 600 is fixedly installed on the madial wall of supporting disk 402 with screw propeller 500; To the another port, opening increases gradually along a port of supporting disk 402, and the angle between the sidewall of supporting disk 402 and the plane, aircraft body place is a angle, and the scope of a angle is 2 °-45 °.
On the basis of technique scheme, as preferably, the scope of a angle is 5 °-20 °.
In order to guarantee the stability of unmanned plane during flying, preferred, the scope of a angle is 7.5 °-17.5 °.
On the basis of technique scheme, preferred in order to take into account flight efficiency, the scope of a angle is 10 °-15 °.
Combine accompanying drawing that the embodiment of the utility model is described above; But the utility model is not limited to the above-mentioned specific embodiment, and the above-mentioned specific embodiment only is schematically, rather than restrictive; Those of ordinary skill in the art is under the enlightenment of the utility model; Not breaking away under the scope situation that the utility model aim and claim protect, also can make a lot of forms, these all belong within the protection of the utility model.
Claims (10)
1. rotor unmanned vehicle more than a kind; The rotor assemblies that comprises aircraft body and drive said aircraft body; It is characterized in that: said rotor assemblies comprises at least three group screw propellers (500); Said screw propeller (500) is around said aircraft body setting, the perpendicular line X of the blade face (501) of said screw propeller (500)
2Midperpendicalar X with said aircraft body
1Between be the setting of a angle, the scope of said a angle is 2 °-45 °.
2. many rotors unmanned vehicle according to claim 1 is characterized in that, the scope of said a angle is 5 °-20 °.
3. many rotors unmanned vehicle according to claim 2 is characterized in that, the scope of said a angle is 7.5 °-17.5 °.
4. many rotors unmanned vehicle according to claim 3 is characterized in that, the scope of said a angle is 10 °-15 °.
5. many rotors unmanned vehicle according to claim 1; It is characterized in that; The motor (600) that said rotor assemblies also comprises hold-down arm (400) and drives said screw propeller (500), an end of said hold-down arm (400) is fixed on the said aircraft body, and the other end has bevelled assembly wall (700); Said motor (600) is fixedly mounted on the said assembly wall (700), and the angle between said assembly wall (700) and the said hold-down arm (400) is a angle.
6. many rotors unmanned vehicle according to claim 1 is characterized in that, the motor (600) that said rotor assemblies also comprises hold-down arm (401) and drives said screw propeller (500); Said hold-down arm (401) is bending-like, and the one of which end is a angle with respect to the bending angle of the other end; One end of said hold-down arm (401) is fixed on the said aircraft body, and said motor (600) is fixed on the other end of said hold-down arm (401) with said screw propeller (500).
7. many rotors unmanned vehicle according to claim 1 is characterized in that, the motor (600) that said rotor assemblies also comprises hold-down arm (400) and drives said screw propeller (500); One end of said hold-down arm (400) is a leaning angle and is fixed on the said aircraft body, and said motor (600) is fixed on (400) the other end of said hold-down arm with said screw propeller (500).
8. many rotors unmanned vehicle according to claim 7 is characterized in that, offers the bevelled guiding groove on the said aircraft body, pegs graft and be fixed in the said guiding groove in an end of said hold-down arm (400).
9. many rotors unmanned vehicle according to claim 1; It is characterized in that; Said rotor assemblies also comprises the supporting disk (402) of both ends open and the motor (600) that drives said screw propeller (500), and said motor (600) and said screw propeller (500) are fixedly installed on the madial wall of said supporting disk (402); One port of the said supporting disk in edge (402) is to the another port, and opening increases gradually, and the angle between the sidewall of said supporting disk (402) and the plane, said aircraft body place is a angle.
10. according to each described many rotors unmanned vehicle of claim 1-9, it is characterized in that said aircraft body comprises support (100), is fixed on inertia measurement module (200) and microprocessor (300) and signal wire (SW) on the said support (100).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202753784U CN202244078U (en) | 2011-07-29 | 2011-07-29 | Multi-rotor unmanned aerial vehicle |
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|---|---|---|---|
| CN2011202753784U CN202244078U (en) | 2011-07-29 | 2011-07-29 | Multi-rotor unmanned aerial vehicle |
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| CN102923301A (en) * | 2012-11-09 | 2013-02-13 | 华南农业大学 | Rotor composite propeller of helicopter |
| CN103359283A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | High-reliability unmanned aerial vehicle with tilt rotors |
| CN104903194A (en) * | 2013-11-13 | 2015-09-09 | 深圳市大疆创新科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN105539835A (en) * | 2016-01-18 | 2016-05-04 | 成都纵横自动化技术有限公司 | Composite-wing vertical take-off and landing aircraft |
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| CN103359283A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | High-reliability unmanned aerial vehicle with tilt rotors |
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