CN100389048C - Articulated type double-rotor flying robot - Google Patents
Articulated type double-rotor flying robot Download PDFInfo
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- CN100389048C CN100389048C CNB2006100240829A CN200610024082A CN100389048C CN 100389048 C CN100389048 C CN 100389048C CN B2006100240829 A CNB2006100240829 A CN B2006100240829A CN 200610024082 A CN200610024082 A CN 200610024082A CN 100389048 C CN100389048 C CN 100389048C
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- aileron
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Abstract
The present invention relates to an articulated flying robot with double rotary wings, which belongs to the technical field of robots. The present invention comprises a Hooke's hinge driver, a Hooke's hinge, a left auxiliary wing, a left rotary wing driver, a left rotary wing, a right rotary wing, a right rotary wing driver, a right auxiliary wing, an attitude sensor, a machine body and a power source, wherein the left rotary wing and the left rotary wing driver are directly fixed on the left auxiliary wing; the right rotary wing and the right rotary wing driver are directly fixed on the right auxiliary wing; the left and the right auxiliary wings are hinged together by the Hooke's hinge, and the relative position between the left and the right auxiliary wings is controlled by Hooke's hinge drive commands generated according to the information of the attitude sensor and external remote control commands automatically by the Hooke's hinge driver; the attitude sensor is arranged on the machine body; the power source is arranged below the machine body. The present invention has the advantages of high automation, simple structure, light additional weight, and flexible movement, and can fully utilize the lift force generated by the rotation of rotary wings. The present invention is particularly suitable for flight operation in narrow space and hovering operating conditions, and can improve design modes of the existing microminiature flight robots fundamentally.
Description
Technical field
What the present invention relates to is the device in a kind of Robotics field, specifically, relates to a kind of articulated type double-rotor flying robot.
Background technology
Existing rotor flying robot adopts helicopter structure mostly, and this micro-miniaturisation to himself size has brought very adverse influence.The rotor control mechanism of someone helicopter is very complicated, and especially its core component---the structure of auto-bank unit is more complicated.For general depopulated helicopter, because load carrying ability is limited, structure is relatively simple, has done certain simplification on the steering unit of rotor.Microminiature flying robot's load carrying ability is very little, even need weigh to restrain, and only it is further simplified and simply dwindling or the very difficult design objective that reaches fully rotor control mechanism.Because when the steering unit of design microminiature rotor flying robot, the transmission of being made up of parts such as miniature high-speed bearing, speed reduction gearings and the complex component of rotor control mechanism will increase difficulty of processing greatly when small-sized, cause tooling cost to increase significantly, and problems such as some position insufficient strength very likely occur.Especially concerning with hover and Ultra-Low Speed motion (hereinafter to be referred as Ultra-Low Speed) for the job requirements of main operating mode, the deficiency that existing mature technology is exposed is then more obvious, and this function/mechanism's complexity ratio that mainly is presented as the auto-bank unit that is used for flicon in this state reduces greatly.
Find through literature search prior art, the Lv Jun of Tsing-Hua University just waits (2002 the 42nd volumes of Tsing-Hua University's journal o. 11th, the 1484th page to 1487 pages, the title of article: " design of micro-unmanned helicopter rotor control mechanism and analysis ") proposition utilizes the micro-unmanned helicopter rotor control mechanism of force of inertia effect and elastic properties of materials performance, it quickened by the moment of motor, utilize the force of inertia of rotor blade, reach the purpose that the control rotor replaces auto-bank unit thereby elastic link is out of shape.This is simple in structure, added weight is light, solved owing to adopt the deficiency that auto-bank unit brought, but, exist the deficiency that the working control effect depends on motor characteristic, the mechanical constant of every motor and electric constant are also inequality, and the lag effect of generation has inconsistency, and flicon exists uncertain factor.Simultaneously, the elastomer structure that is adopted has also aggravated this uncertainty.In addition, though existing four rotor even distribution types in twos the flying robot of inversion structures also broken away from auto-bank unit, it is big etc. not enough to there is compact in size difficulty and energy consumption.
Summary of the invention
The present invention is directed to problems of the prior art, a kind of articulated type double-rotor flying robot is provided, make it hinged and do not need auto-bank unit by fuselage, and it is simple in structure, in light weight, reduce cost, and be specially adapted to flying robot's design of special purpose.
The present invention is achieved by the following technical solutions, the present invention includes: left and right rotor, left and right rotor driving controller, left and right aileron, Hooke's hinge, Hooke's hinge driving controller, attitude sensor, body, propulsion source.The left-handed wing and left-handed wing driving controller directly are fixed on the port aileron, the dextrorotation wing and dextrorotation wing driving controller directly are fixed on the starboard aileron, port aileron and starboard aileron are hinged by Hooke's hinge, position between it is relative generates Hooke's hinge driving command and execution automatically by the signal and the exterior action command of Hooke's hinge driving controller according to attitude sensor.Downside at port aileron and starboard aileron is installed with body, and attitude sensor is installed in the central authorities of body, and propulsion source is installed in the bottom of body.
The Hooke's hinge driving controller is installed in the intersection of left and right aileron, and its mouth is connected with starboard aileron with port aileron respectively with fixed end, can make port aileron and starboard aileron realize 270 ° relatively rotating along its total axis.The Hooke's hinge driving controller carries out automatic guidance according to the flicon instruction of attitude sensor signal that is installed in body center and operating personal to the angle between the left and right aileron, to keep flying robot's hovering when the floating state stable, and make robot according to instruction flight, to finish all kinds of job requirements.
The present invention has can distinguish the independent left and right rotor of rotative speed and the Hooke's hinge formula joint of a position-controllable controlled, simple in structure, has alleviated overall weight; Motion does not have coupling, be convenient to realize automatic guidance and the reliability that improves system, simultaneously, can avoid the complicated flight control system of total displacement of conventional helicopter and feathering, reduce flying robot's cost of manufacture and micro-miniaturisation difficulty greatly, and can effectively reduce the service life of flight noise, prolongation rotor blade; In addition, the present invention dismantles easily, and is easy to assembly, is suitable for the individual and carries.
Degree of automation height of the present invention, simple in structure, added weight is light, can make full use of rotor and rotate the lift that is produced, when realizing replacing auto-bank unit, the independence control of Hooke's hinge joint and three motors of left and right rotor makes that this flying robot's motion is flexible, and the present invention is particularly suitable for narrow space and the flight operation of the operating mode of hovering, and can fundamentally improve existing microminiature flying robot's Design Mode.
Description of drawings
Fig. 1 is a structural representation of the present invention
The specific embodiment
As shown in Figure 1, the present invention includes: Hooke's hinge driving controller 1, Hooke's hinge 2, port aileron 3, left-handed wing driving controller 4, the left-handed wing 5, the dextrorotation wing 6, dextrorotation wing driving controller 7, starboard aileron 8, attitude sensor 9, body 10 and propulsion source 11.Annexation is: the left-handed wing 5 and left-handed wing driving controller 4 directly are fixed on the port aileron 3, the dextrorotation wing 6 and dextrorotation wing driving controller 7 directly are fixed on the starboard aileron 8, port aileron 3 and starboard aileron 8 are hinged by Hooke's hinge 2, position between it is relative generates Hooke's hinge driving command and execution automatically by the signal and the exterior action command of Hooke's hinge driving controller 1 according to attitude sensor 9.Downside at port aileron 3 and starboard aileron 8 is installed with body 10, and attitude sensor 9 is installed in the central authorities of body 10, and propulsion source 11 is installed in the bottom of body 10.
Left-handed wing driving controller 4 and dextrorotation wing driving controller 7 are DC machine, all adopt the PWM mode to control, and the left-handed wing 5, the dextrorotation wing 6 connect firmly with the mouth of left-handed wing driving controller 4, dextrorotation wing driving controller 7 respectively.
Hooke's hinge driving controller 1 is installed in the intersection of left and right aileron 3,8, and its mouth is connected with starboard aileron 8 with port aileron 3 respectively with fixed end, can make port aileron 3 and starboard aileron 8 realize 270 ° relatively rotating along its total axis.Hooke's hinge 2 can be realized 270 ° rotation around its S. A..The present invention realizes the attitude control of flying robot left and right sides deflecting direction degree of freedom by the coordination of the left-handed wing 5, the dextrorotation wing 6; By the angle control of Hooke's hinge 2, realize the attitude control of flying robot's pitching up and down, left and right sides inclination direction degree of freedom.
Hooke's hinge driving controller 1 carries out automatic guidance according to being installed in the signal that the attitude sensor 9 on the body 10 passed back to the angle of Hooke's hinge 2, to keep flying robot's hovering when the floating state stable.Simultaneously, it can carry out data exchange with the outside by wireless telecommunications again, according to the angle of the flicon of operating personal instruction automatically regulating Hooke's hinge 2, thereby guarantees that robot flies according to telecommand, to finish all kinds of job requirements.
During work, the angle of Hooke's hinge 2 is in the initial condition that sets in advance, the left-handed wing 5 and the dextrorotation wing 6 are rotated, and progressively increase their rotative speed, when the basic built on stilts of body, Hooke's hinge driving controller 1 generates driving command and drives Hooke's hinge 2 according to the signal of attitude sensor 9 and turns an angle, by to the angular adjustment between port aileron 3 and the starboard aileron 8, reach flying robot's posture balancing, continue to improve the speed of revolutions of the left-handed wing 5 and the dextrorotation wing 6, the flying robot quickens to rise, Hooke's hinge driving controller 1 is constantly according to the angle of the Signal Regulation Hooke's hinge 2 of attitude sensor 9 in the whole process, make the flying robot maintain stabilized conditions all the time, and the coordination by the left-handed wing 5 and the dextrorotation wing 6, generate peripheral operation and instruct desired path of motion.
Claims (7)
1. articulated rotor flying robot, comprise: Hooke's hinge driving controller (1), Hooke's hinge (2), port aileron (3), left-handed wing driving controller (4), the left-handed wing (5), the dextrorotation wing (6), dextrorotation wing driving controller (7), starboard aileron (8), attitude sensor (9), body (10) and propulsion source (11), it is characterized in that, the left-handed wing (5) and left-handed wing driving controller (4) directly are fixed on the port aileron (3), the dextrorotation wing (6) and dextrorotation wing driving controller (7) directly are fixed on the starboard aileron (8), port aileron (3) and starboard aileron (8) are hinged by Hooke's hinge (2), its relative position generates the Hooke's hinge driving command by Hooke's hinge driving controller (1) automatically according to the information of attitude sensor (9) and exterior telecommand and controls, attitude sensor (9) is arranged on the body (10), and propulsion source (11) is located at the bottom of body (10).
2. articulated type double-rotor flying robot according to claim 1 is characterized in that, left-handed wing driving controller (4) and dextrorotation wing driving controller (7) are DC machine, all adopt the PWM mode to control.
3. articulated type double-rotor flying robot according to claim 1 is characterized in that, the left-handed wing (5), the dextrorotation wing (6) connect firmly with the mouth of left-handed wing driving controller (4), dextrorotation wing driving controller (7) respectively.
4. articulated type double-rotor flying robot according to claim 1 is characterized in that, Hooke's hinge driving controller (1) is located at the intersection of left and right aileron (3,8), and its mouth is connected with starboard aileron (8) with port aileron (3) respectively with fixed end.
5. articulated type double-rotor flying robot according to claim 1, it is characterized in that, Hooke's hinge (2) can be realized 270 ° rotation around its S. A., by the angle control to Hooke's hinge (2), realizes the attitude control of flying robot's pitching up and down, left and right sides inclination direction degree of freedom.
6. according to claim 1 or 3 described articulated type double-rotor flying robots, it is characterized in that Hooke's hinge driving controller (1) carries out automatic guidance according to being installed in the signal that the attitude sensor (9) on the fuselage (10) passed back to the angle of Hooke's hinge (2).
7. according to claim 1 or 3 described articulated type double-rotor flying robots, it is characterized in that Hooke's hinge driving controller (1) carries out data exchange by the wireless telecommunications external world, according to the angle of the flicon of operating personal instruction automatically regulating Hooke's hinge (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100240829A CN100389048C (en) | 2006-02-23 | 2006-02-23 | Articulated type double-rotor flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100240829A CN100389048C (en) | 2006-02-23 | 2006-02-23 | Articulated type double-rotor flying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1807185A CN1807185A (en) | 2006-07-26 |
| CN100389048C true CN100389048C (en) | 2008-05-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2006100240829A Expired - Fee Related CN100389048C (en) | 2006-02-23 | 2006-02-23 | Articulated type double-rotor flying robot |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2936775B1 (en) * | 2008-10-07 | 2010-09-24 | Eurocopter France | DEVICE FOR DRIVING THE FIRST AND SECOND ROTORS OF SUSTENTATION OF A BIROTOR GIRAVION IN TANDEM |
| CN101491898B (en) * | 2009-03-09 | 2011-01-05 | 北京航空航天大学 | Multi-rotor wheel-leg type multifunctional air robot and sports programming method thereof |
| DE202013012547U1 (en) | 2012-11-15 | 2017-07-03 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle with multiple rotors |
| CN103963967B (en) * | 2014-04-30 | 2016-06-01 | 中国科学院长春光学精密机械与物理研究所 | Multiple bladed rotors tandem aircraft |
| CN103963969A (en) * | 2014-04-30 | 2014-08-06 | 中国科学院长春光学精密机械与物理研究所 | Aircraft with multiple layers of rotary wings of circumferentially distributed rotary planes |
| CN106094857A (en) * | 2016-08-22 | 2016-11-09 | 京东方科技集团股份有限公司 | The flight control method of unmanned plane, wearable device and unmanned plane, device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2718487A1 (en) * | 1977-04-26 | 1978-11-02 | Ulrich Goebel | Helicopter capable of flying and hovering upside-down - has two rotor axes capable of being swivelled in relation to support pipe and in relation to each other |
| US4874291A (en) * | 1987-05-25 | 1989-10-17 | University Of Sydney | Rotor arrangement for a rotorcraft |
| JPH066199B2 (en) * | 1988-02-05 | 1994-01-26 | 株式会社キーエンス | Vertical takeoff and landing toys |
-
2006
- 2006-02-23 CN CNB2006100240829A patent/CN100389048C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2718487A1 (en) * | 1977-04-26 | 1978-11-02 | Ulrich Goebel | Helicopter capable of flying and hovering upside-down - has two rotor axes capable of being swivelled in relation to support pipe and in relation to each other |
| US4874291A (en) * | 1987-05-25 | 1989-10-17 | University Of Sydney | Rotor arrangement for a rotorcraft |
| JPH066199B2 (en) * | 1988-02-05 | 1994-01-26 | 株式会社キーエンス | Vertical takeoff and landing toys |
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| Publication number | Publication date |
|---|---|
| CN1807185A (en) | 2006-07-26 |
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Owner name: NINGBO XINGJIAN AEROSPACE MACHINERY PLANT Free format text: FORMER OWNER: SHANGHAI JIAOTONG UNIV. Effective date: 20081024 |
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Effective date of registration: 20081024 Address after: Ningbo Yinzhou District City, Wan Hing Road No. 369 Patentee after: Ningbo Xingjian Space Manufactory Address before: No. 800, Dongchuan Road, Shanghai, Minhang District Patentee before: Shanghai Jiao Tong University |
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Owner name: NINGBO XINGJIAN SPACE MACHINERY CO., LTD. Free format text: FORMER NAME: NINGBO XINGJIAN SPACE MANUFACTORY |
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Address after: Yinzhou District Shiqi Street West Yangcun 315153 Zhejiang city of Ningbo Province Patentee after: Ningbo Xingjian Space Manufactory Inc. Address before: 315100 Ningbo Yinzhou District City, Wan Hing Road No. 369 Patentee before: Ningbo Xingjian Space Manufactory |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080521 Termination date: 20130223 |