CN111409819A - Double-layer synchronous variable-pitch coaxial rotor UAV and its control method - Google Patents

Abstract

The invention relates to a double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle and a control method thereof. The unmanned aerial vehicle comprises a main shaft, an upper rotor assembly, a lower rotor assembly and a pitch-variable assembly. The upper rotor assembly, the lower rotor assembly and the pitch-variable assembly are respectively Connected to the main shaft; the upper rotor assembly includes an upper rotor pitch change structure and an upper rotor connection piece, and the upper rotor pitch change structure is connected with the upper rotor connection piece; the lower rotor assembly includes a lower rotor pitch change structure and a lower rotor connection piece, and the lower rotor changes The pitch structure is connected with the lower rotor connecting piece; the pitch changing assembly includes a power source group, a synchronizing structure and a push rod, the power source group is connected with the push rod, the push rod is connected with the upper rotor pitch changing structure, and the upper rotor pitch changing structure is connected with the lower rotor changing structure. The distance structures are connected by synchronization structures. The invention realizes the double-layer pitch change without using the steering gear control separately, reduces the number of steering gears, reduces the design weight of the fuselage, and improves the flight efficiency and the wind resistance effect.

Description

Double-layer synchronous variable-pitch coaxial rotor UAV and its control method

technical field

The present invention relates to an unmanned aerial vehicle, more particularly to a double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle and a control method thereof.

Background technique

The small coaxial dual-rotor UAV is a flexible, small-sized, fixed-point hovering unmanned aerial vehicle, which can take off and land vertically and hand-held. This type of UAV has a compact structure, high stability, high maneuvering and hovering efficiency, and has a wide range of application prospects in military man-portable reconnaissance, civil aerial photography, and aerial surveillance.

However, the existing coaxial dual-rotor UAV usually adopts two kinds of rotor pitch change mechanisms: full differential or semi-differential. In the process of full differential pitch change, the upper and lower pitch change structures need to be controlled by the steering gear alone to achieve stable flight, which leads to an increase in the complexity of the flight control system, the more complex structural design, the increase in the number of steering gears, and the increase in the UAV's own structural system. Weight, increase the consumption of useless power, greatly reduce the wind resistance of the UAV and can not mount heavier loads, adopt a semi-differential pitch change mechanism, that is, single-layer pitch control. Although this structure reduces the structural complexity, the UAV can fly. The attitude control stability is not good, and the wind resistance and fixed-point hovering effects are not ideal.

Therefore, it is necessary to design a new type of UAV, which can realize double-layer pitch change without using servo control separately, reduce the number of servos, reduce the design weight of the fuselage, and improve the flight efficiency and wind resistance effect.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the defects of the prior art, and to provide a double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle and a control method thereof.

In order to achieve the above object, the present invention adopts the following technical solutions: a double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle, comprising a main shaft, an upper rotor assembly, a lower rotor assembly and a variable pitch assembly, the upper rotor assembly, the lower rotor assembly and the pitch-variable assemblies are respectively connected to the main shaft; the upper rotor assembly includes an upper-rotor pitch-change structure and an upper-rotor connecting piece, the upper-rotor pitch-changing structure is connected with the upper-rotor connecting piece; the lower The rotor assembly includes a lower rotor pitch changing structure and a lower rotor connecting piece, the lower rotor pitch changing structure is connected with the lower rotor connecting piece; the pitch changing assembly includes a power source group, a synchronizing structure and a push rod, the power source The group is connected with the push rod, the push rod is connected with the upper rotor pitch changing structure, and the upper rotor pitch changing structure and the lower rotor pitch changing structure are connected by a synchronizing structure.

Its further technical scheme is: the upper rotor pitch changing structure includes an upper pitch changing bracket, an upper pitch changing push rod, an upper tilting turntable, an upper rotating tilting disc and an upper moving disc, and the space between the upper pitch changing bracket and the main shaft is Through bearing connection, the upper rotor connecting piece is connected to the upper pitch change bracket; the upper tilt turntable is connected to the upper pitch change bracket, and the upper rotation tilt turntable is connected to the outside of the upper turntable The moving plate is connected below the upper rotating and tilting plate, and the upper moving plate is respectively connected with the synchronizing structure and the push rod; the upper rotating and tilting plate and the upper rotor connecting piece pass through the upper variable distance Push rod connection.

A further technical solution is: a bearing hole is provided on the upper variable distance bracket, a first positioning pin is connected to the inner side of the upper tilting turntable, the first positioning pin is inserted into the bearing hole, and the upper The disc is connected below the upper rotating tilting disc through a bearing.

Its further technical scheme is: an upper positioning screw and an upper ball head are arranged on the outer wall of the upper moving plate, and the upper positioning screw and the upper ball head are respectively connected with the synchronization structure.

Its further technical scheme is: the lower rotor pitch changing structure includes a lower pitch changing bracket, a lower pitch changing push rod, a lower tilting turntable, a lower rotating tilting disc and a lower moving disc, and the space between the lower pitch changing bracket and the main shaft is Through bearing connection, the lower rotor connecting piece is connected to the lower pitch change bracket; the lower tilt turntable is connected to the lower pitch change bracket, and the lower rotation tilt turntable is connected to the outside of the lower turntable; The moving plate is connected below the lower rotating and tilting plate, and the lower moving plate is connected with the synchronizing structure; the lower rotating and tilting plate is connected with the lower rotor connecting piece through the lower pitch-changing push rod.

Its further technical scheme is: a lower positioning screw and a lower ball head are arranged on the outer wall of the lower moving plate, and the lower positioning screw and the lower ball head are respectively connected with the synchronizing structure.

A further technical solution is as follows: the synchronizing structure includes a synchronizing push rod and a limit bracket, the limit bracket is connected to the main shaft, the upper end of the synchronizing push rod is connected to the upper ball head, and the synchronizing push rod is connected to the upper ball head. The lower end is connected with the lower ball head, the limit bracket is provided with an upper limit slot and a lower limit slot, the upper positioning screw is inserted into the upper limit slot, and the lower positioning screw is inserted into the upper limit slot. in the lower limit slot.

Its further technical solution is: the power source group includes a roll steering gear and a pitch steering gear, the number of the push rods is two, and the roll steering gear passes through the first swing arm and one of the push rods. connected, the pitch steering gear is connected with the other push rod through the second swing arm.

Its further technical scheme is: the outer end of the upper rotor connecting piece is connected with the upper rotor through the sizing clip; the outer end of the lower rotor connecting piece is connected with the lower rotor through the lower sizing clip.

The present invention also provides a control method for the double-layer synchronous variable-pitch coaxial rotor UAV, including:

The power source group outputs the power to change the roll direction and pitch direction, and drives the push rod to move. The push rod drives the upper rotor pitch change structure to make pitch changes in the roll direction and pitch direction, and drives the lower rotor pitch change structure through the synchronous structure. The pitch changes in the roll direction and pitch direction are made so that the upper rotor connection piece and the lower rotor connection piece can be synchronously changed.

Compared with the prior art, the present invention has the following beneficial effects: the present invention provides the upper rotor assembly, the lower rotor assembly and the pitch changing assembly, and the power source group in the pitch changing assembly outputs the power for changing the pitch, and acts on the upper rotor through the push rod. After the rotor pitch variable structure, the upper rotor is driven to change the pitch, and through the synchronous structure, the upper rotor pitch variable structure drives the lower rotor pitch structure to perform synchronous pitch change, so that the double-layer pitch change does not need to be controlled by a separate steering gear, reducing the number of steering gears , which can reduce the weight of the fuselage design, improve flight efficiency and wind resistance.

The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

Description of drawings

In order to explain the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention, which are of great significance to the art For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic three-dimensional structure diagram of a double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle provided by a specific embodiment of the present invention;

2 is a schematic three-dimensional structure diagram of a double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle provided by a specific embodiment of the present invention (with the outer casing removed);

3 is a schematic three-dimensional structural diagram of an upper rotor assembly, a lower rotor assembly and a pitch variable assembly provided by a specific embodiment of the present invention;

4 is a schematic three-dimensional structure diagram of an upper rotor assembly, a lower rotor assembly and a pitch variable assembly provided by a specific embodiment of the present invention (the upper rotor and the lower rotor are removed);

5 is a schematic three-dimensional structure diagram of an upper rotor assembly provided by a specific embodiment of the present invention;

6 is a schematic diagram of an exploded structure of an upper rotor assembly provided by a specific embodiment of the present invention;

7 is a schematic three-dimensional structure diagram of a lower rotor assembly provided by a specific embodiment of the present invention;

8 is a schematic diagram of an exploded structure of a lower rotor assembly provided by a specific embodiment of the present invention;

FIG. 9 is a schematic three-dimensional structural diagram of a pitch variable assembly provided by a specific embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " Rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. The relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore It should not be construed as a limitation of the present invention.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

In the present invention, unless otherwise expressly specified and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense, for example, it may be a connection or a detachable connection, It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between the two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the present invention, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may include the first and second features in direct contact, or may include the first and second features Not directly but through additional features between them. Also, the first feature being "above", "over" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature is "below", "below" and "below" the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms should not be construed as necessarily referring to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

As shown in the specific embodiments shown in FIGS. 1 to 9 , the double-layer synchronous variable-pitch coaxial rotor UAV provided by this embodiment can be used in a double-layer variable-pitch coaxial aircraft, and a rudder alone is not required to achieve double-layer distance change. It can reduce the number of steering gears, reduce the design weight of the fuselage, and improve the flight efficiency and wind resistance effect.

Please refer to FIG. 1, the above-mentioned double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle includes a main shaft 60, an upper rotor assembly, a lower rotor assembly and a pitch-variable assembly, and the upper rotor assembly, the lower rotor assembly and the pitch-variable assembly are respectively connected to the main shaft. On 60; the upper rotor assembly includes an upper rotor pitch structure and an upper rotor connector 22, and the upper rotor pitch structure is connected with the upper rotor connector 22; the lower rotor assembly includes a lower rotor pitch structure and a lower rotor connector 32, the lower rotor The pitch changing structure is connected with the lower rotor connecting piece 32; the pitch changing assembly includes a power source group, a synchronizing structure and a push rod 47, the power source group is connected with the push rod 47, and the push rod 47 is connected with the upper rotor pitch changing structure, and the upper rotor changes the pitch The structure and the lower rotor variable pitch structure are connected through a synchronous structure.

In this embodiment, the upper rotor assembly is located above the pitch-variable assembly, the lower rotor assembly is located below the pitch-variable assembly, and the installation directions of the upper rotor assembly and the lower rotor assembly are opposite.

With the help of the power source group, the power to change the pitch and roll direction of the attitude of the UAV is provided, and after the push rod 47, it acts on the upper rotor pitch changing structure, so that the upper rotor connecting piece 22 connected with the upper rotor pitch changing structure is pitched and horizontal. The upper rotor connector 22 is connected to the upper rotor 20, thereby changing the pitch and roll directions of the upper rotor 20. In addition, because the lower rotor pitch structure is connected to the upper rotor pitch structure through the synchronization structure , that is, when the pitch and roll directions of the upper rotor pitch changing structure change, the lower rotor pitch changing structure will also change the pitch synchronously, so that only one power source group can be used to realize the double-layer coaxial rotor UAV. Synchronous pitch change, thus saving the number of power sources.

In one embodiment, please refer to FIG. 2 , the above-mentioned double-layer synchronous variable-pitch coaxial rotor UAV further includes a casing 10, a main bracket 12 and a power plant component 11, and the power plant component 11 includes a rechargeable battery for supplying power and Battery bracket; the above-mentioned main shaft 60 is connected to the top of the main bracket 12, the power unit component 11 is connected to the bottom of the above-mentioned main bracket 12, and the above-mentioned upper rotor assembly, lower rotor assembly, variable pitch assembly, main bracket 12 and power plant The components 11 are placed inside the housing 10, respectively.

In one embodiment, please refer to FIG. 3 to FIG. 5 , the pitch-changing structure of the upper rotor includes an upper pitch-changing bracket 21 , an upper pitch-changing push rod 26 , an upper tilting plate 27 , an upper rotating tilting plate 23 and an upper moving plate 24 . The pitch change bracket 21 is connected with the main shaft 60 through a bearing, and the upper rotor connecting piece 22 is connected with the upper pitch change bracket 21; The upper moving plate 24 is connected below the upper rotating and tilting plate 23 , and the upper moving plate 24 is respectively connected with the synchronizing structure and the push rod 47 ;

Specifically, the above-mentioned upper rotor connecting member 22 is provided with a first ball head 221, the outer side wall of the above-mentioned upper rotating tilting plate 23 is provided with a second ball head 232, and the upper end of the above-mentioned upper pitch-changing push rod 26 is connected to the first ball head 221. A ball head 221 is connected, the lower end of the upper variable pitch push rod 26 is connected with the second ball head 232 , and the outer side wall of the upper moving plate 24 is provided with a connecting block 241 , and the upper end of the push rod 47 is connected with the connecting block 241 .

Specifically, the above-mentioned upper pitch change bracket 21 is hollow, the main shaft 60 is inserted in the upper pitch change bracket 21, and a bearing is connected between the outer wall of the main shaft 60 and the inner wall of the upper pitch change bracket 21, so that the entire The variable pitch structure of the upper rotor can rotate along the main shaft 60 , and the above-mentioned upper rotor connecting member 22 can also rotate along the main shaft 60 .

In addition, the above-mentioned upper rotor pitch changing structure also includes an upper rotor motor 25, the stator of this upper rotor motor 25 is connected with the main shaft 60, the rotor of this upper rotor motor 25 is connected with the upper rotor pitch changing structure, specifically, the upper rotor motor 25 The rotor is connected with the upper variable pitch bracket 21, and the upper rotor motor 25 is connected to the upper end of the main shaft 60, and the upper rotor motor 25 provides power, so that the upper rotor 20 rotates along the main shaft 60 to carry out the rise and fall of the drone .

In one embodiment, please refer to FIG. 6 , the above-mentioned upper rotor connecting member 22 is connected to the upper bearing hole of the upper pitch change bracket 21 through a positioning screw pin, so that the rotation of the upper pitch change bracket 21 drives the upper rotor connection. Rotation of member 22.

In one embodiment, please refer to FIG. 6 , the upper variable distance bracket 21 is provided with a bearing hole, the inner side of the upper tilting turntable 27 is connected with a first positioning pin, the first positioning pin is inserted in the bearing hole, and the upper moving plate 24 passes through the bearing hole. The bearing is connected below the upper rotating tilt plate 23 .

The upper tilting turntable 27 is connected with the bearing hole of the upper pitch changing bracket 21 through the first positioning pin, so as to realize the fixed connection between the upper tilting turntable 27 and the upper pitch changing bracket 21. When the upper pitch changing bracket 21 rotates along the main shaft 60, the The tilt-up turntable 27 can also be rotated accordingly.

In one embodiment, please refer to FIG. 6 , the above-mentioned upper rotating tilting plate 23 is connected with the upper tilting rotating plate 27 through the positioning threaded pins, so as to realize the fixed connection between the upper tilting rotating plate 27 and the upper rotating tilting plate 23, so that when the upwardly inclined rotating plate 23 is connected When the 27 rotates along the main shaft 60, the upper rotating tilting plate 23 also rotates along with it.

In addition, the lower end of the above-mentioned upper rotating and tilting plate 23 extends downward to form an upper connecting plate 231, the above-mentioned upper moving plate 24 is connected with the upper connecting plate 231, and the above-mentioned upper moving plate 24 is connected with the upper connecting plate 231. There are bearings, which can avoid the rotation of the upper connecting plate 231 when the upper rotating tilting plate 23 rotates along the main shaft 60 and causing the upper moving plate 24 to rotate. Synchronized range failed.

In one embodiment, please refer to FIG. 6 , an upper positioning screw 243 and an upper ball head 242 are disposed on the outer wall of the upper moving plate 24 , and the upper positioning screw 243 and the upper ball head 242 are respectively connected with the synchronization structure. When the power source group acts on the upper ball head 242 through the push rod 47, and then drives the pitch and roll direction of the upper moving plate 24 to change the pitch, that is, when the upper rotor 20 is required to change the pitch, the upper moving plate 24 will drive The upper connecting plate 231 changes the distance, and then the upper connecting plate 231 drives the upper rotating tilting plate 23 to change the distance, and the upper rotating tilting plate 23 drives the upper tilting plate 27 to change the distance. 22, so as to achieve the purpose of changing the pitch of the upper rotor 20, and after the synchronizing structure, the pitch changing structure of the lower rotor will also change the pitch, and the upper positioning screw 243 can limit the upper moving plate 24 to avoid the upward movement The disk 24 rotates at a high speed along with the rotation of the upper connecting disk 231 .

In one embodiment, please refer to FIG. 3 , FIG. 4 , and FIGS. 7 to 8 , the lower rotor pitch changing structure includes a lower pitch changing bracket 31 , a lower pitch changing push rod 36 , a lower tilting plate 37 , a lower rotating tilting plate 33 and The lower moving plate 34, the lower pitch changing bracket 31 and the main shaft 60 are connected by bearings, and the lower rotor connecting piece 32 is connected to the lower pitch changing bracket 31; The lower moving plate 34 is connected below the lower rotating and tilting plate 33, and the lower moving plate 34 is connected with the synchronizing structure;

Specifically, the above-mentioned lower pitch-changing bracket 31 is hollow, the main shaft 60 is inserted in the lower pitch-changing bracket 31, and a bearing is connected between the outer wall of the main shaft 60 and the inner wall of the lower pitch-changing bracket 31, so that the entire lower pitch changing bracket 31 is connected with a bearing. The rotor pitch variable structure can rotate along the main shaft 60 , and the above-mentioned lower rotor connecting member 32 can also rotate along the main shaft 60 .

In addition, the above-mentioned lower rotor pitch changing structure also includes a lower rotor motor 35, the stator of the lower rotor motor 35 is connected with the main shaft 60, the rotor of the lower rotor motor 35 is connected with the lower rotor pitch changing structure, specifically, the lower rotor motor 35 The lower rotor is connected with the lower pitch bracket 31, and the lower rotor motor 35 is connected to the upper end of the main shaft 60, and the lower rotor motor 35 provides power, so that the lower rotor 30 rotates along the main shaft 60 to carry out the rise and fall of the drone .

In an embodiment, please refer to FIG. 8 , the above-mentioned lower rotor connecting member 32 is connected to the lower bearing hole of the lower pitch change bracket 31 through a positioning screw pin, so that the rotation of the lower pitch change bracket 31 drives the lower rotor connection. Rotation of member 32.

In one embodiment, please refer to FIG. 8 , an upper bearing hole is provided on the lower pitch change bracket 31, a second positioning pin is connected to the inner side of the lower tilting turntable 37, the second positioning pin is inserted into the upper bearing hole, and the lower moving plate 34 is connected to the upper part of the lower rotating tilting plate 33 through a bearing.

The lower tilting turntable 37 is connected to the upper bearing hole of the lower pitch change bracket 31 through the second positioning pin, so as to realize the fixed connection between the downward tilt turntable 37 and the lower pitch change bracket 31. When the lower pitch changer bracket 31 rotates along the main shaft 60, the The downward tilting turntable 37 can also be rotated accordingly.

In one embodiment, please refer to FIG. 8 , the above-mentioned lower rotating tilting plate 33 is connected with the lowering tilting plate 37 through the positioning threaded pins, so as to realize the fixed connection of the lowering rotating plate 37 and the lower rotating tilting plate 33, so that the lower tilting plate 37 is connected. When rotating along the main shaft 60, the lower rotating tilt plate 33 also rotates along with it.

In addition, the upper end of the above-mentioned lower rotating and tilting plate 33 extends upward to form a lower connecting plate 331 , the above-mentioned lower moving plate 34 is connected with the lower connecting plate 331 , and the above-mentioned lower moving plate 34 is connected with the lower connecting plate 331 There are bearings, which can prevent the lower connecting plate 331 from rotating when the lower rotating tilting plate 33 rotates along the main shaft 60 and causing the lower moving plate 34 to rotate. Synchronized range failed.

In an embodiment, please refer to FIG. 8 , the outer wall of the lower moving plate 34 is provided with a lower positioning screw 343 and a lower ball head 342 , and the lower positioning screw 343 and the lower ball head 342 are respectively connected with the synchronization structure.

When the power source group acts on the upper ball head 242 through the push rod 47, and then drives the pitch and roll direction of the upper moving plate 24 to change the pitch, that is, when the upper rotor 20 is required to change the pitch, the upper moving plate 24 will drive The upper connecting plate 231 changes the distance, and then the upper connecting plate 231 drives the upper rotating tilting plate 23 to change the distance, and the upper rotating tilting plate 23 drives the upper tilting plate 27 to change the distance. 22, so as to achieve the purpose of changing the pitch of the upper rotor 20, and after passing through the synchronous structure, it acts on the lower ball head 342, and then drives the lower moving plate 34 to change the pitch and roll direction, and the lower moving plate 34 will drive the lower connecting plate. 331 changes the pitch, and then the lower connecting plate 331 drives the lower rotating tilting plate 33 to change the distance, and the lower rotating tilting plate 33 drives the lower tilting plate 37 to change the distance, and acts on the lower rotor connecting piece 32 through the lower pitch-changing push rod 36 , so as to achieve the purpose of changing the pitch of the lower rotor 30 .

In one embodiment, please refer to FIG. 9, the above-mentioned synchronization structure includes a synchronization push rod 40 and a limit bracket 41, the limit bracket 41 is connected with the main shaft 60, the upper end of the synchronization push rod 40 is connected with the upper ball head 242, and the synchronization push rod 40 is connected with the upper ball head 242. The lower end of the rod 40 is connected with the lower ball head 342, the limit bracket 41 is provided with an upper limit slot 411 and a lower limit slot 412, the upper positioning screw 243 is inserted in the upper limit slot 411, and the lower positioning screw 343 is inserted in the lower limit in slot 412. Two sets of synchronous push rods 40 are used to realize the synchronous pitch changing operation of the upper rotor 20 and the lower rotor 30 . The matching relationship between the limit bracket 41 and the lower positioning screw 343 and the upper positioning screw 243 makes the upper moving plate 24 and the lower moving plate 34 not rotate with the high-speed rotation of the upper rotor pitch changing structure and the lower rotor pitch changing structure during the pitch change process , to improve the accuracy of the entire synchronous pitch change.

In one embodiment, the above-mentioned power source group includes a roll steering gear 43 and a pitch steering gear 42, the number of push rods 47 is two, and the roll steering gear 43 passes through the first swing arm 44 and one of the push rods 47. Connection, the pitch steering gear 42 is connected with another push rod 47 through the second swing arm.

The roll steering gear 43 and the pitch steering gear 42 are respectively connected to the main shaft 60 through the steering gear mounting seat 45. In addition, the above-mentioned limit bracket 41 is connected to the steering gear mounting seat 45. In addition, the outer end of the steering gear mounting seat 45 is also connected to There are mounting brackets 46 which are connected to the inner side wall of the housing 10 .

In one embodiment, please refer to FIG. 3 to FIG. 8 , the outer end of the above-mentioned upper rotor connector 22 is connected to the upper rotor 20 through the sizing clip 50 ; the outer end of the lower rotor connector 32 is connected to the lower rotor through the lower sizing clip 70 . Rotor 30.

The above-mentioned sizing clip 50 is connected with the outer end of the upper rotor connecting piece 22 through a pin, so as to realize the downward folding of the upper rotor 20; The downward folding of the rotor 30 . The upper rotor 20 and the lower rotor 30 are opened when the drone is flying, and the housing 10 can be held in hand to take off and land; when the upper rotor 20 and the lower rotor 30 are folded until the blades are close to the housing 10, the entire drone is displayed in a cylindrical shape Structure, easy to carry and transport.

In one embodiment, the upper rotor motor 25 and the lower rotor motor 35 are both unidirectional rotating motors. Wherein, the upper rotor 20 is a forward rotor, and the lower rotor 30 is a reverse rotor.

In addition, the above-mentioned housing 10 is also connected with an ESC module, a flight control module, a power battery, a receiver power conversion module and a cable; the upper end of the above-mentioned housing 10 is also connected with a GPS antenna to prevent magnetic field interference.

The working process of the drone is first powered by the power battery to each flight control module, the flight control module is powered on, drives the upper rotor motor 25 and the lower rotor motor 35, and drives the motor rotor to rotate through the principle of magnetic induction, thereby driving the upper rotor 20 and the lower rotor. The rotor 30 rotates. When the UAV needs to change its attitude and position, the flight control module sends an instruction to drive the output shafts of the roll steering gear 43 and the pitch steering gear 42 to rotate slightly to generate different swing angles. The swing of the machine 42 is transmitted to the corresponding swing arm, and acts on the upper moving plate 24 through the push rod 47. The upper moving plate 24 will drive the upper connecting plate 231 to change the distance, and then the upper connecting plate 231 will drive the upper rotating tilt plate 23. To change the pitch, the upper rotating tilting disc 23 drives the upper tilting disc 27 to change the pitch, and acts on the upper rotor connecting piece 22 through the upper pitch changing push rod 26, so as to achieve the purpose of changing the pitch of the upper rotor 20, and after the synchronizing structure, acts on the upper rotor 20. The lower ball head 342 further drives the lower moving plate 34 to change the pitch and roll direction, the lower moving plate 34 will drive the lower connecting plate 331 to change the distance, and then the lower connecting plate 331 drives the lower rotating and tilting plate 33 to change the distance, The lower rotating tilt plate 33 drives the lower tilt plate 37 to change the pitch, and acts on the lower rotor connecting piece 32 through the lower pitch change push rod 36, so as to achieve the purpose of changing the pitch of the lower rotor 30, so that the upper rotor pitch changing structure is in the rotating position. At the time, a periodic pitch change is generated along the rotation direction of the up-tilt turntable 27. When the lower rotor pitch-variable structure rotates, a periodic pitch change is generated along the rotation direction of the down-tilt turntable 37, thereby controlling the roll of the UAV. and pitch to change the flight direction of the drone.

The structure design of the upper and lower layers of synchronous pitch change does not require separate pitch control, so that the number of steering gears is small, and the roll and pitch attitude changes of the UAV can be realized only by the drive control of two steering gears. At the same time, the number of steering gears is small, which can save the design weight of the fuselage and greatly improve the flight efficiency and wind resistance effect. The synchronous pitch-change structure ensures that the pitch-change structure of the upper and lower rotors 30 will not cause scattering and turbulence in the air when the rotor blades rotate at high speed, which ensures more stable flight of the UAV and achieves high-precision fixed-point hovering. .

The above-mentioned double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle, by arranging the upper rotor assembly, the lower rotor assembly and the pitch-changing assembly, the power source group in the pitch-changing assembly outputs the power for changing the pitch, and acts on the upper rotor through the push rod 47. After the rotor pitch change structure, the upper rotor 20 is driven to change the pitch, and the lower rotor pitch change structure is driven by the upper rotor pitch change structure through the synchronous structure to perform synchronous pitch change. Quantity can reduce the weight of the fuselage design, improve flight efficiency and wind resistance.

In one embodiment, a control method for a double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle is also provided, including:

The power source group outputs the power to change the roll direction and the pitch direction, and drives the push rod 47 to move. The push rod 47 drives the upper rotor pitch changing structure to rotate in the roll direction and pitch direction, and drives the lower rotor pitch through the synchronous structure. The structure rotates in the roll direction and the pitch direction, so that the upper rotor connecting piece 22 and the lower rotor connecting piece 32 can change the pitch synchronously.

It should be noted that those skilled in the art can clearly understand that, for the specific implementation process of the control method for the above-mentioned double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle, reference may be made to the aforementioned double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle. Corresponding descriptions in the computer embodiments are not repeated here for convenience and brevity of description.

The above only uses examples to further illustrate the technical content of the present invention, so that readers can understand it more easily, but it does not mean that the embodiments of the present invention are limited to this. Any technical extension or re-creation made according to the present invention is subject to the protection of. The protection scope of the present invention is subject to the claims.

Claims (10)

1. The double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle is characterized by comprising a main shaft, an upper rotor assembly, a lower rotor assembly and a variable-pitch assembly, wherein the upper rotor assembly, the lower rotor assembly and the variable-pitch assembly are respectively connected to the main shaft; the upper rotor wing assembly comprises an upper rotor wing variable-pitch structure and an upper rotor wing connecting piece, and the upper rotor wing variable-pitch structure is connected with the upper rotor wing connecting piece; the lower rotor wing assembly comprises a lower rotor wing variable pitch structure and a lower rotor wing connecting piece, and the lower rotor wing variable pitch structure is connected with the lower rotor wing connecting piece; the variable pitch subassembly includes power source group, synchronization structure and push rod, power source group with the push rod is connected, the push rod with go up the rotor variable pitch structural connection, go up the rotor variable pitch structure with connect through synchronization structure between the lower rotor variable pitch structure.

2. The dual-layer synchronous pitch coaxial rotor unmanned aerial vehicle of claim 1, wherein the upper rotor pitch structure comprises an upper pitch bracket, an upper pitch push rod, an upper tilt dial, and an upper rotor disk, the upper pitch bracket is connected to the mast via a bearing, and the upper rotor disk is connected to the upper pitch bracket; the upper tilting turntable is connected with the upper variable pitch bracket, and the upper rotating tilting turntable is connected outside the upper tilting turntable; the upper moving disc is connected to the lower part of the upper rotating and inclining disc and is respectively connected with the synchronous structure and the push rod; the upper rotating inclined rotary disc is connected with the upper rotary wing connecting piece through the upper variable-pitch push rod.

3. The dual-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle as claimed in claim 2, wherein the upper pitch bracket is provided with a bearing hole, a first positioning pin is connected to the inner side of the upper tilting disk, the first positioning pin is inserted into the bearing hole, and the upper moving disk is connected to the lower part of the upper tilting disk through a bearing.

4. The double-deck synchronous pitch coaxial rotor unmanned aerial vehicle of claim 2, wherein an upper positioning screw and an upper ball head are arranged on the outer wall of the upper moving disk, and the upper positioning screw and the upper ball head are respectively connected with the synchronous structure.

5. The dual-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle of claim 4, wherein the lower rotor pitch structure comprises a lower pitch bracket, a lower pitch push rod, a lower inclined rotating disc, a lower rotating inclined rotating disc and a lower moving disc, the lower pitch bracket is connected with the main shaft through a bearing, and the lower rotor connecting piece is connected with the lower pitch bracket; the lower inclined rotary table is connected with the lower variable pitch bracket, and the lower rotary inclined rotary table is connected outside the lower inclined rotary table; the lower movable disc is connected below the lower rotating and inclining rotary disc and is connected with the synchronous structure; the lower rotating inclined rotary disc is connected with the lower rotor wing connecting piece through the lower variable pitch push rod.

6. The double-deck synchronous pitch coaxial rotor unmanned aerial vehicle of claim 5, wherein the outer wall of the lower rotor disc is provided with a lower positioning screw and a lower ball head, and the lower positioning screw and the lower ball head are respectively connected with the synchronizing structure.

7. The dual-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle as claimed in claim 6, wherein the synchronizing structure comprises a synchronizing push rod and a limiting bracket, the limiting bracket is connected with the main shaft, the upper end of the synchronizing push rod is connected with the upper ball head, the lower end of the synchronizing push rod is connected with the lower ball head, the limiting bracket is provided with an upper limiting groove and a lower limiting groove, the upper positioning screw rod is inserted into the upper limiting groove, and the lower positioning screw rod is inserted into the lower limiting groove.

8. The double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle as claimed in claim 1, wherein the power source set comprises two rolling steering engines and two pitching steering engines, the rolling steering engines are connected with one of the push rods through first swing arms, and the pitching steering engines are connected with the other push rod through second swing arms.

9. The dual-layer synchronous pitch coaxial rotor unmanned aerial vehicle of claim 5, wherein the outer end of the upper rotor attachment member is connected to the upper rotor via a sizing clip; the outer end of the lower rotor wing connecting piece is connected with a lower rotor wing through a lower slurry clamp.

10. Control method of double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle, comprising:

the power source group outputs power for changing the rolling direction and the pitching direction, the push rod is driven to move, the push rod drives the upper rotor pitch structure to perform pitch change in the rolling direction and the pitching direction, and the synchronous structure drives the lower rotor pitch structure to perform pitch change in the rolling direction and the pitching direction, so that the upper rotor connecting piece and the lower rotor connecting piece are synchronously pitch-changed.

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