TW201536632A - Dual-motor pitch-variable multi-rotor flight vehicle - Google Patents

Abstract

The present invention discloses a dual-motor pitch-variable multi-rotor flight vehicle, which comprises a frame, at least two power sources mounted to the frame, a transmission mechanism engaged with each of the power sources, and at least four pitch-variable rotor mechanisms that are symmetrically arranged on the frame and coupled to the transmission mechanism to be driven thereby. The power sources respectively supply rotating power in opposite directions to each of the pitch-variable rotor mechanisms to individually operate the pitch-variable rotor mechanisms in equal number, so as to induce a lifting force and selectively allow the power sources to supply different rotational speeds. Furthermore, in combination with a differential control of the corresponding one of the pitch-variable rotor mechanisms for different pitch angles, the operation response time and the flexibility of deviation controllability can be increased during the flight of the dual-motor pitch-variable multi-rotor flight vehicle.

Description

Dual motor variable pitch multi-rotor aircraft

The invention relates to the technical field of a rotorcraft, in particular to a dual-motor variable-pitch multi-rotor aircraft capable of shortening a rotorcraft, a response time during flight, and an improved yaw handling sensitivity.

According to the conventional multi-rotor structure, such as China Patent Publication No. M453639, "Eight Rotor Disaster Rescue Off-road Vehicle-Loading Robot", as disclosed in the prior art, each rotor is independently connected to a motor motor and driven by a motor motor. The rotor is actuated to generate the corresponding lift force of the rotor, and then the control of the motor speed is used to achieve the direction change and flight of the flight.

Although the previous case of M453639 can achieve the purpose of flight, air stagnation, etc., there are still many unfinished features in the structure. For example, each rotor must be independently equipped with a motor motor and motor speed controller, except motor motor and motor. In addition to the increased cost of the speed controller, it also causes an increase in the overall weight, and excessive power consumption cannot fly for a long time. Furthermore, the rotor of the prior case cannot be operated at a variable pitch angle. Therefore, the flight motion during flight can be adjusted simply by controlling the rotational speed of the motor motor. Therefore, all flight operations can only be achieved by the difference in rotational speed. , often caused by poor control or response, and poor response speed in the harsh or strong wind environment. This lack will cause the action response to be too slow during flight. Instant response, or manipulation of flight skills is difficult, and the environment and scope of limited applications are missing.

In order to solve the lack of M453639's previous case, the industry also proposed the previous case No. M388969 as a solution. A single power source is used to connect multiple rotors with gears and belts, and the rotors are synchronized. The matching servo motor allows each rotor to selectively adjust the pitch to achieve flight control. However, the multi-rotor is powered by a single motor, so the rotational speed of each rotor is consistent, so that the response time and directness of the yaw flight action are still limited, and it is impossible to match the different rotational speeds to obtain a faster yaw flight response capability. Moreover, the rotation of the rotors in the same direction ignores the problem of counter torque. According to the common rotor type of the general helicopter type, the horizontal rotor is responsible for the lift, and a small vertical tail rotor is placed at the tail to counteract the counter torque generated by the horizontal rotor. Although the counter-torque mode of offsetting the horizontal rotor has many forms of design, the problem of the counter-torque generated when the horizontal main rotor rotates is confirmed. The most obvious method is to provide a horizontal rotor in another direction of rotation to offset In the connection relationship of the power transmission of the previous case No. M388969, each horizontal rotor is designed to rotate in the same direction. The cost of the motor is reduced, but there is no relevant treatment in the counter-torque offset, although it can still fly, however; the overall handling and flight control sensitivity is not ideal.

In view of the above problems and deficiencies of the prior art, one of the present invention The purpose is to provide a dual-motor variable-pitch multi-rotor aircraft, which can be further changed by changing the rotational speed of each rotor by changing the angle of inclination of each rotor (pitch adjustment of the rotor). The action response speed during yaw flight, and thus achieves many functions such as easy handling, overall volume reduction, and increased load specific product and offset counter torque.

According to the above object of the present invention, a dual-motor variable-pitch multi-rotor aircraft is provided, which mainly comprises a frame, at least two power sources disposed on the frame, a transmission mechanism engaged with each power source, and at least four sets of symmetry Disposed in the frame and connected to the transmission mechanism, and the variable-pitch rotor mechanism driven by the same, respectively, provides the opposite rotational power to each variable-pitch rotor mechanism by each power source, so that the variable-pitch rotor mechanisms, etc. The respective actuations form lift, and selectively enable each power source to provide different rotational speeds to cooperate with the corresponding variable-pitch rotor mechanisms to accelerate the action response of the dual-motor variable-pitch multi-rotor aircraft of the present invention during flight. Time and sensitivity of handling.

100‧‧‧Rack

200‧‧‧Power source

220‧‧‧First power source

240‧‧‧second power source

222‧‧‧First drive gear

242‧‧‧Second drive gear

300‧‧‧Transmission mechanism

320‧‧‧Upper gear

340‧‧‧lower gear

400‧‧‧Variable Pitch Rotor Mechanism

410‧‧‧passive gear

420‧‧‧ Pulley

430‧‧‧Support tube

440‧‧‧ shaft unit

442‧‧‧Variable Pitch Rotor Clip Device

450‧‧‧ Forward and reverse rotor

460‧‧‧Servo motor

470‧‧‧Land

1 is a perspective view of an embodiment of a dual motor variable pitch multi-rotor aircraft of the present invention.

Fig. 2 is a schematic view showing a partial member of the embodiment shown in Fig. 1.

Fig. 3 is a schematic view showing another partial view of the embodiment shown in Fig. 1.

Fig. 4 is a schematic exploded view of a partial member of the embodiment shown in Fig. 1.

Hereinafter, the structural embodiment of the dual-motor variable-pitch multi-rotor aircraft of the present invention will be further described with reference to the related drawings. In order to facilitate the understanding of the embodiments of the present invention, the same components are denoted by the same reference numerals.

Referring to Figures 1 to 4, a dual-motor variable-pitch rotorcraft structure of the present invention mainly includes: a frame 100, at least two power sources 200 disposed on the frame, and a power source 200 meshing transmission mechanism 300, at least four sets of symmetrical arrangement in the frame 100, and connected to the transmission mechanism 300, and the variable-pitch rotor mechanism 400 driven by the same, each of the power sources 200 respectively provide the opposite rotational power to Each of the variable-pitch rotor mechanisms 400 causes the variable pitch rotor mechanisms 400 to generate matched lifts and positive and negative torques, respectively, and the respective rotational speeds of the respective power sources 200 are varied to match the corresponding rotational speeds. The variable pitch rotor mechanism 400 pitch control shortens the action response time of the yaw flight of the present invention and improves the sensitivity of the control.

The power source 200 is disposed on the frame 100, and includes a first power source 220 that provides a first direction of rotation, and a second power source 240 that provides a second direction of rotation, and the first and second power sources 220 and 240. The output ends are respectively connected to a first driving gear 222 and a second driving gear 242. When implemented, each power source 200 can be a motor or an engine.

The transmission mechanism 300 includes a gear 320 and a lower gear 340 disposed on one of the racks 100 in series but not interlocked, and the upper and lower gears 320 and 340. They are respectively disposed on the first plane and the second plane having the height difference.

Each of the variable pitch rotor mechanisms 400 is symmetrically disposed on the frame 100. The variable pitch rotor mechanism 400 includes a driven gear 410 meshing with the transmission mechanism 300, and a pulley 420 coupled in series with the driven gear 410. a support tube 430 fixed to the frame 100 at one end, a shaft unit 440 pivoted at the other end of the support tube 430, a variable pitch rotor clip disposed on the shaft unit 440 and yawable relative to the shaft unit 440 The sheet device 442 and the two forward and reverse rotors 450 disposed at two ends of the variable pitch rotor clip device 442, and the forward and reverse rotors 450 are synchronously rotated and linked by the movement of the rotating shaft unit 440, and the connecting shaft unit 440 and the pulley 420 are connected. The belt 470, the belt transmits the power of the pulley 420, and the linked rotating shaft unit 440 moves the forward and reverse rotor 450, and a servo motor 460 connected to the variable pitch rotor clamping device 442. The servo motor 460 is selectively controlled by the user. The variable pitch rotor clip device 442 is driven to perform pitch control, which is to adjust the wing angle change of the two forward and reverse rotors 450 to obtain the control of the forward and reverse rotor 450 lift. Knowing skills). In practice, each variable-pitch rotor mechanism 400 is in an equal number of groups, and is respectively meshed with the gear 320 or the lower gear 340 of the transmission mechanism 300 by the driven gear 410, and the servo motor 460 is a conventional remote control technology, so Repeat more.

Therefore, the above description is a dual-motor variable-pitch multi-rotor aircraft provided by a preferred embodiment of the present invention, each component and its assembly manner, and then its use characteristics are as follows: In implementation, the transmission mechanism 300 Height difference (first and second planes) The design of the position) allows the components that mesh with the transmission mechanism 300 to be arranged in a three-dimensional manner, thereby greatly reducing the plane area occupied by the components.

The first and second power sources 220 and 240 respectively provide powers of the first rotation direction and the second rotation direction, and the first and second rotation directions are opposite, so that the first and second output ends of the first and second power sources 220 and 240 are The drive gears 222, 242 drive the upper and lower gears 320, 340 to engage the variable pitch rotor mechanisms 400 that are in mesh with the upper and lower gears 320, 340.

The driven gears of the variable-pitch rotor mechanisms 400 are driven by the upper and lower gears 320, 340, and the pulleys 242 are synchronously linked, and the power of the first and second power sources 220, 240 is transmitted by the belt 470 to move the rotating shaft unit 440. The variable pitch rotor clip device 442 and the forward and reverse rotor 450 are rotated, and the servo motor 460 is started to control the variable pitch rotor clip device 442 provided on the shaft unit 440 for pitch control, and the pitch control can adjust two positive and negative The angle of the flap of the rotor 450 is varied to obtain the lift of the forward and reverse rotor 450. Since the variable pitch rotor mechanisms 400 are coupled to the first and second power sources 220 and 240 by a symmetrical number, the variable pitch rotor mechanisms 400 and the like respectively generate the rotors in the first direction and the second direction respectively, thereby mutually Offset the positive and negative torque.

The remote control servo motor 460 is operated in conjunction with a remote control device (not shown) to adjust the pitch control of the variable pitch rotor clip device 442 on the spindle unit 440 to change the tilt of each wing of the forward and reverse rotor 450. The angle is such that the lift generated by the rotation of the forward and reverse rotors 450 is converted into a pushing force by the inclination change of each wing, and can cooperate with the rotation speeds of the first and second power sources 220 and 240. Adjusting and accelerating the control performance and response time of the dual-motor variable-pitch multi-rotor aircraft of the present invention.

The above description is only for the preferred embodiment of the present invention, and is intended to clarify the features of the present invention, and is not intended to limit the scope of the embodiments of the present invention. Changes that are well known to those skilled in the art are still within the scope of the invention.

100‧‧‧Rack

242‧‧‧Second drive gear

400‧‧‧Variable Pitch Rotor Mechanism

410‧‧‧passive gear

420‧‧‧ Pulley

430‧‧‧Support tube

440‧‧‧ shaft unit

442‧‧‧Variable Pitch Rotor Clip Device

450‧‧‧ Forward and reverse rotor

460‧‧‧Servo motor

470‧‧‧Land

Claims (6)

A dual-motor variable-pitch multi-rotor aircraft mainly includes: a frame; at least two power sources are disposed in the frame, including a first power source providing a first direction of rotation, and providing a second rotation a second power source of the direction, and the output ends of the first power source and the second power source are respectively sleeved with a first driving gear and a second driving gear; a transmission mechanism includes a non-coupling device disposed on the machine One of the upper gear and the lower gear, and the upper gear and the lower gear respectively mesh with the corresponding first drive gear and the second drive gear; and at least four sets of variable pitch rotor mechanisms, each of the variable pitch The rotor mechanism is symmetrically disposed on the frame and meshes with the upper gear and the lower gear in a symmetrical number, wherein each of the variable pitch rotor mechanisms includes a driven gear and a pulley connected in series with the driven gear a support tube fixed at one end of the frame, a shaft unit pivoted at the other end of the support tube, a variable pitch rotor clip device pivoted on the shaft unit, and two connected to Variable pitch rotor clamp means forward and reverse rotor plate of a belt connecting the pulleys and of the spindle unit, and a driving variable-pitch rotor of the clip apparatus for pitch control of the servo motor. The dual motor variable pitch multi-rotor aircraft of claim 1, wherein the upper gear and the lower gear are stacked on the frame and have a height difference. Double-motor variable-pitch multi-rotor flight as described in claim 1 The first power source is a motor or an engine. The dual-motor variable-pitch multi-rotor aircraft of claim 1, wherein the second power source is a motor or an engine. The dual motor variable pitch multi-rotor aircraft of claim 1, wherein the variable pitch rotor mechanism is meshed with the upper gear by the driven gear. The dual motor variable pitch multi-rotor aircraft of claim 1, wherein the variable pitch rotor mechanism is meshed with the lower gear by the driven gear.