The invention provides a seesaw type three-rotor unmanned aerial vehicle which comprises a cross-shaped vehicle body used for forming a main body supporting structure of the unmanned aerial vehicle. The cross-shaped machine body comprises a first support arm, a second support arm, a third support arm and a fourth support arm; a gravity center adjusting mechanism is arranged at the end of the first supporting arm and used for dynamically adjusting the gravity center position of the machine body. A first main lift rotor is arranged at the end part of the second support arm and is used for providing lift; a second main lift rotor is arranged at the end part of the fourth support arm and is used for being matched with the first main lift rotor to provide lift; a negative lift rotor and a negative lift rotor steering mechanism are arranged at the end part of the third support arm, are used for providing pulling force, and are matched with the gravity center adjusting mechanism, the first main lift rotor and the second main lift rotor to control the pitching and heading of the unmanned aerial vehicle. By adopting the negative lift rotors and the gravity center adjusting mechanism, decoupling of pitching, rolling and course control of the three-rotor unmanned aerial vehicle is realized, the control difficulty is reduced, and meanwhile, the flight stability and the control precision are improved.
本发明提出了一种跷跷板式三旋翼无人机,包括:十字型机体,用于形成无人机的主体支撑结构;十字型机体包括第一支臂、第二支臂、第三支臂和第四支臂;第一支臂端部设置有重心调节机构,用于动态调整机体的重心位置;第二支臂端部设置有第一主升力旋翼,用于提供升力;第四支臂端部设置有第二主升力旋翼,用于与第一主升力旋翼配合一起提供升力;第三支臂端部设置有负升力旋翼及负升力旋翼转向机构,用于提供拉力,并与重心调节机构、第一主升力旋翼和第二主升力旋翼配合控制无人机的俯仰和航向。本申请通过采用负升力旋翼和重心调节机构,实现三旋翼无人机俯仰、滚转和航向控制的解耦,降低控制难度,同时提高飞行稳定性和控制精度。
Seesaw type three-rotor unmanned aerial vehicle
一种跷跷板式三旋翼无人机
2025-02-14
Patent
Electronic Resource
Chinese
IPC: | B64U |
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