CN103213681A - Six-degree-of-freedom four-shaft aircraft - Google Patents
Six-degree-of-freedom four-shaft aircraft Download PDFInfo
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- CN103213681A CN103213681A CN2013101209293A CN201310120929A CN103213681A CN 103213681 A CN103213681 A CN 103213681A CN 2013101209293 A CN2013101209293 A CN 2013101209293A CN 201310120929 A CN201310120929 A CN 201310120929A CN 103213681 A CN103213681 A CN 103213681A
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Abstract
The invention discloses a six-degree-of-freedom four-shaft aircraft, which comprises a regular tetrahedron consisting of four rods, wherein a hollow circular ball is arranged in the center of the regular tetrahedron; four supporting rods arranged on the hollow circular ball are respectively connected with four peaks of the regular tetrahedron; a battery and a control system are arranged in the hollow circular ball; a gyroscope is arranged in the control system and is connected with a singlechip; the singlechip is also connected with a remote controller; furthermore, four motor rods arranged on the control system penetrate through the hollow circular ball and penetrate through the surfaces of the tetrahedron; and brushless motors and helical paddles are arranged on the motor rods. The six-degree-of-freedom four-shaft aircraft flies in the air by taking the helical paddles as flying engines, is small in size, light in weight and suitable for carrying, can carry a certain task load, has a self-navigation flying property, can finish a specific flying task under a dangerous environment and also can be used for entertainment.
Description
Technical field
The present invention relates to a kind of minute vehicle, be specially a kind of six degree of freedom four-axle aircraft.
Background technology
The existing aircraft that we touched at present, its most can only fly at four-degree-of-freedom, and it is very big influenced by air draught, can not smooth flight.Its two volume is bigger, and structure is compact inadequately, can not fly in narrow space, as archaeology exploratory heading, narrow spaces such as mine.The design of its three self-protection is poor, and screw propeller exposes outside body, touch other objects easily and cause damage, and the anti-ability of falling of aircraft is relatively poor.Can not aloft overturn at last, can not move in the three dimensional space arbitrarily.
Summary of the invention
Technical matters solved by the invention is to provide a kind of six degree of freedom four-axle aircraft, to solve the problem that proposes in the above-mentioned background technology.
Technical matters solved by the invention realizes by the following technical solutions:
The six degree of freedom four-axle aircraft, comprise the positive tetrahedron of forming by four bars, the center of described positive tetrahedron is provided with a georama, georama is provided with four poles and links to each other with four summits of positive tetrahedron respectively, be provided with battery and control system in the described georama, be provided with gyroscope in the described control system, described gyroscope links to each other with micro controller system, described micro controller system also links to each other with remote controller, control system is provided with four motor bars and passes each surface of the vertical tetrahedron of georama simultaneously, on the described motor bar brushless motor and screw propeller is installed.
Further, parallel ground-surface surface with positive tetrahedron is a basal plane, the suffered torque rating of its boring ball and be zero when all screw propellers rotate in the same way, its resultant direction makes progress perpendicular to basal plane, and the rotating speed that changes the screw propeller on the vertical ground motor bar just can be realized rising of the present invention and decline.
Further, surface with the vertical ground of positive tetrahedron is a basal plane, the suffered torque rating of its boring ball and be zero when all screw propellers rotate in the same way, its resultant direction is outside perpendicular to basal plane, and the rotating speed that changes the screw propeller on the surface motor bar abreast just can be realized of the present invention in plane flying.
Further, be basal plane with the arbitrary surfaces of positive tetrahedron, the suffered torque rating of its boring ball and be zero when all screw propellers rotate in the same way, its resultant direction is along wherein arbitrary motor bar direction is outside.When the rotating speed that changes the arbitrary screw propeller on remaining three motor bars just can be realized wing-over of the present invention.
Beneficial effect:
Utilization of the present invention has screw propeller to carry out airflight as flight engine, and size is little, in light weight, be fit to carry; Can also carry certain mission payload, possess the autonomous navigation flight performance, under complexity, dangerous environment, finish specific aerial mission, still can be used for amusement simultaneously.
Description of drawings
Fig. 1 is a structural representation of the present invention.
The specific embodiment
In order to make realization technological means of the present invention, creation characteristic, to reach purpose and effect is easy to understand,, further set forth the present invention below in conjunction with concrete diagram.
As shown in Figure 1, the six degree of freedom four-axle aircraft, comprise the positive tetrahedron of forming by four bars 1, the center of described positive tetrahedron 1 is provided with a georama, georama is provided with four poles 5 and links to each other with four summits of positive tetrahedron 1 respectively, be provided with battery and control system 4 in the described georama, be provided with gyroscope in the described control system 4, described gyroscope links to each other with micro controller system, described micro controller system also links to each other with remote controller, control system 4 is provided with four motor bars 3 and passes the vertical positive tetrahedron of georama 1 each surface simultaneously, and brushless motor and screw propeller 2 are installed on the described motor bar 3.
Parallel ground-surface surface with positive tetrahedron 1 is a basal plane, calculate according to theoretical mechanics, the suffered torque rating of its boring ball and be zero when all screw propellers rotate in the same way, its resultant direction makes progress perpendicular to basal plane, and the rotating speed that changes the screw propeller 2 on the vertical ground motor bar 3 just can be realized rising of the present invention and decline.
Surface with the vertical ground of positive tetrahedron 1 is a basal plane, calculate according to theoretical mechanics, the suffered torque rating of its boring ball and be zero when all screw propellers 2 rotate in the same way, its resultant direction is outside perpendicular to basal plane, and the rotating speed that changes the screw propeller 2 on the surface motor bar 3 abreast just can be realized of the present invention in plane flying.
Arbitrary surfaces with positive tetrahedron 1 is a basal plane, calculate according to theoretical mechanics, the suffered torque rating of its boring ball and be zero when all screw propellers 2 rotate in the same way, its resultant direction is along wherein arbitrary motor bar 3 directions are outside, and the rotating speed that changes the arbitrary screw propeller 2 on remaining three motor bars 3 just can be realized wing-over of the present invention.
Gyroscope in the control system of the present invention can the perception external world situation, its theory of structure, and stressed principle, suffered application force is different fully with existing aircraft during flight.The present invention can carry out vertical lift, plane flying and wing-over, realizes no degree of freedom constrained flight.
More than show and described groundwork of the present invention and principal character and advantage of the present invention.The technical personnel of the industry should be understood; the present invention is not restricted to the described embodiments; that describes in the foregoing description and the specification sheets just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (4)
1. six degree of freedom four-axle aircraft, comprise the positive tetrahedron of forming by four bars, it is characterized in that: the center of described positive tetrahedron is provided with a georama, georama is provided with four poles and links to each other with four summits of positive tetrahedron respectively, be provided with battery and control system in the described georama, be provided with gyroscope in the described control system, described gyroscope links to each other with micro controller system, described micro controller system also links to each other with remote controller, control system is provided with four motor bars and passes each surface of the vertical tetrahedron of georama simultaneously, on the described motor bar brushless motor and screw propeller is installed.
2. six degree of freedom four-axle aircraft according to claim 1, it is characterized in that: the parallel ground-surface surface with positive tetrahedron is a basal plane, the suffered torque rating of its boring ball and be zero when all screw propellers rotate in the same way, its resultant direction makes progress perpendicular to basal plane, and the rotating speed that changes the screw propeller on the vertical ground motor bar just can be realized rising of the present invention and decline.
3. six degree of freedom four-axle aircraft according to claim 1, it is characterized in that: the surface with the vertical ground of positive tetrahedron is a basal plane, the suffered torque rating of its boring ball and be zero when all screw propellers rotate in the same way, its resultant direction is outside perpendicular to basal plane, and the rotating speed that changes the screw propeller on the surface motor bar abreast just can be realized of the present invention in plane flying.
4. six degree of freedom four-axle aircraft according to claim 1, it is characterized in that: the arbitrary surfaces with positive tetrahedron is a basal plane, the suffered torque rating of its boring ball and be zero when all screw propellers rotate in the same way, its resultant direction is along wherein arbitrary motor bar direction is outside, and the rotating speed that changes the arbitrary screw propeller on remaining three motor bars just can be realized wing-over of the present invention.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310120929.3A CN103213681B (en) | 2013-04-09 | 2013-04-09 | Six-degree-of-freedofour-shaft four-shaft aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310120929.3A CN103213681B (en) | 2013-04-09 | 2013-04-09 | Six-degree-of-freedofour-shaft four-shaft aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103213681A true CN103213681A (en) | 2013-07-24 |
| CN103213681B CN103213681B (en) | 2015-10-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310120929.3A Expired - Fee Related CN103213681B (en) | 2013-04-09 | 2013-04-09 | Six-degree-of-freedofour-shaft four-shaft aircraft |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016012790A1 (en) * | 2014-07-23 | 2016-01-28 | Airbus Ds Limited | Improvements in and relating to unmanned aerial vehicles |
| CN106927043A (en) * | 2015-12-31 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of octahedra aircraft |
| CN108791801A (en) * | 2018-06-12 | 2018-11-13 | 北京理工大学 | A kind of unmanned vehicle of four axicons dynamic structure layout |
| CN108791802A (en) * | 2018-06-12 | 2018-11-13 | 北京理工大学 | A kind of unmanned vehicle of positive tetrahedron dynamic structure layout |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5906530A (en) * | 1996-05-30 | 1999-05-25 | Lindsey; Alan | Polyhedral structural systems |
| CN1639500A (en) * | 2002-03-06 | 2005-07-13 | 艾劳埃斯·乌本 | Aircraft |
| WO2006048205A1 (en) * | 2004-11-06 | 2006-05-11 | Stefan Dolch | Rotational speed controlled helicopter |
| CN201400307Y (en) * | 2009-01-14 | 2010-02-10 | 燕高飞 | Annular-wing vertical landing aircraft |
| CN101940845A (en) * | 2010-07-23 | 2011-01-12 | 燕高飞 | Eggshell-shaped outer frame |
| CN202686759U (en) * | 2012-06-26 | 2013-01-23 | 防灾科技学院 | Four-wing flight vehicle |
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2013
- 2013-04-09 CN CN201310120929.3A patent/CN103213681B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5906530A (en) * | 1996-05-30 | 1999-05-25 | Lindsey; Alan | Polyhedral structural systems |
| CN1639500A (en) * | 2002-03-06 | 2005-07-13 | 艾劳埃斯·乌本 | Aircraft |
| WO2006048205A1 (en) * | 2004-11-06 | 2006-05-11 | Stefan Dolch | Rotational speed controlled helicopter |
| CN201400307Y (en) * | 2009-01-14 | 2010-02-10 | 燕高飞 | Annular-wing vertical landing aircraft |
| CN101940845A (en) * | 2010-07-23 | 2011-01-12 | 燕高飞 | Eggshell-shaped outer frame |
| CN202686759U (en) * | 2012-06-26 | 2013-01-23 | 防灾科技学院 | Four-wing flight vehicle |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016012790A1 (en) * | 2014-07-23 | 2016-01-28 | Airbus Ds Limited | Improvements in and relating to unmanned aerial vehicles |
| US20180194463A1 (en) * | 2014-07-23 | 2018-07-12 | Airbus Defence And Space Limited | Unmanned aerial vehicles |
| US10618650B2 (en) | 2014-07-23 | 2020-04-14 | Airbus Defence and Space Ltd. | Unmanned aerial vehicles |
| CN106927043A (en) * | 2015-12-31 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of octahedra aircraft |
| CN106927043B (en) * | 2015-12-31 | 2023-04-25 | 中国科学院沈阳自动化研究所 | Aircraft |
| CN108791801A (en) * | 2018-06-12 | 2018-11-13 | 北京理工大学 | A kind of unmanned vehicle of four axicons dynamic structure layout |
| CN108791802A (en) * | 2018-06-12 | 2018-11-13 | 北京理工大学 | A kind of unmanned vehicle of positive tetrahedron dynamic structure layout |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103213681B (en) | 2015-10-14 |
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Effective date of registration: 20160602 Address after: 236200 Yingshang County of Anhui Province in eight he Zhen Deng Jing Cun Deng Jing Zhuang 28 nature Patentee after: Sun Yibo Address before: 237000 Lu'an Hexi, Anhui Patentee before: West Anhui University |
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Effective date of registration: 20160718 Address after: 237300 Jinzhai modern industrial park, Anhui, Lu'an Patentee after: Anhui Qiao Sen electrical Polytron Technologies Inc Address before: 236200 Yingshang County of Anhui Province in eight he Zhen Deng Jing Cun Deng Jing Zhuang 28 nature Patentee before: Sun Yibo |
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