CN103213681B - Six-degree-of-freedofour-shaft four-shaft aircraft - Google Patents
Six-degree-of-freedofour-shaft four-shaft aircraft Download PDFInfo
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- CN103213681B CN103213681B CN201310120929.3A CN201310120929A CN103213681B CN 103213681 B CN103213681 B CN 103213681B CN 201310120929 A CN201310120929 A CN 201310120929A CN 103213681 B CN103213681 B CN 103213681B
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- georama
- positive tetrahedron
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Abstract
Six-degree-of-freedofour-shaft four-shaft aircraft, comprise the positive tetrahedron be made up of four bars, the center of described positive tetrahedron is provided with a georama, georama is provided with four poles and is connected with four summits of positive tetrahedron respectively, battery and control system is provided with in described georama, gyroscope is provided with in described control system, described gyroscope is connected with micro controller system, described micro controller system is also connected with remote controller, control system is provided with four motor bars through each surface of the vertical tetrahedron of georama simultaneously, and described motor bar is provided with brushless motor and screw propeller.The present invention utilizes has screw propeller as flight engine to carry out airflight, and size is little, lightweight, be applicable to carrying; Certain mission payload can also be carried, possess autonomous navigation flight performance, under complicated, dangerous environment, complete specific aerial mission, still may be used for amusement simultaneously.
Description
Technical field
The present invention relates to a kind of minute vehicle, be specially a kind of six-degree-of-freedofour-shaft four-shaft aircraft.
Background technology
Our existing aircraft of touching at present, its most can only fly at four-degree-of-freedom, and affect very large by air draught, can not smooth flight.Its two volume is comparatively large, constructs compact not, can not fly in narrow space, as archaeology exploratory heading, and the narrow spaces such as mine.The design comparison of its three self-protection is poor, and screw propeller is exposed outside body, easily touches other objects and causes damage, and the anti-ability of falling of aircraft is poor.Finally aloft can not overturn, can not move in any three dimensional space.
Summary of the invention
Technical matters solved by the invention is to provide a kind of six-degree-of-freedofour-shaft four-shaft aircraft, to solve the problem proposed in above-mentioned background technology.
Technical matters solved by the invention realizes by the following technical solutions:
Six-degree-of-freedofour-shaft four-shaft aircraft, comprise the positive tetrahedron be made up of four bars, the center of described positive tetrahedron is provided with a georama, georama is provided with four poles and is connected with four summits of positive tetrahedron respectively, battery and control system is provided with in described georama, gyroscope is provided with in described control system, described gyroscope is connected with micro controller system, described micro controller system is also connected with remote controller, control system is provided with four motor bars through each surface of the vertical tetrahedron of georama simultaneously, and described motor bar is provided with brushless motor and screw propeller.
Further, with the surface on the parallel ground of positive tetrahedron for basal plane, the torque rating suffered by its boring ball and be zero when all screw propeller rotating in same directions, perpendicular to basal plane upwards, the rotating speed changing the screw propeller on vertical ground motor bar just can realize rising of the present invention and decline to its resultant direction.
Further, with the surface of the vertical ground of positive tetrahedron for basal plane, the torque rating suffered by its boring ball and be zero when all screw propeller rotating in same directions, its resultant direction is outside perpendicular to basal plane, and the rotating speed changing the screw propeller on the motor bar of parallel ground just can realize of the present invention in plane flying.
Further, with the arbitrary surfaces of positive tetrahedron for basal plane, the torque rating suffered by its boring ball and be zero when all screw propeller rotating in same directions, its resultant direction is along wherein arbitrary motor bar direction is outside.When the rotating speed changing the arbitrary screw propeller on remaining three motor bars just can realize wing-over of the present invention.
Beneficial effect:
The present invention utilizes has screw propeller as flight engine to carry out airflight, and size is little, lightweight, be applicable to carrying; Certain mission payload can also be carried, possess autonomous navigation flight performance, under complicated, dangerous environment, complete specific aerial mission, still may be used for amusement simultaneously.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Detailed description of the invention
In order to make actualizing technology means of the present invention, creation characteristic, reach object and effect is easy to understand, below in conjunction with concrete diagram, set forth the present invention further.
As shown in Figure 1, six-degree-of-freedofour-shaft four-shaft aircraft, comprise the positive tetrahedron 1 be made up of four bars, the center of described positive tetrahedron 1 is provided with a georama, georama is provided with four poles 5 and is connected with four summits of positive tetrahedron 1 respectively, battery and control system 4 is provided with in described georama, gyroscope is provided with in described control system 4, described gyroscope is connected with micro controller system, described micro controller system is also connected with remote controller, control system 4 is provided with four motor bars 3 through each surface of the vertical positive tetrahedron 1 of georama simultaneously, described motor bar 3 is provided with brushless motor and screw propeller 2.
Embodiment 1,
With the surface on the parallel ground of positive tetrahedron 1 for basal plane, calculate according to theoretical mechanics, the torque rating suffered by its boring ball and be zero when all screw propeller rotating in same directions, perpendicular to basal plane upwards, the rotating speed changing the screw propeller 2 on vertical ground motor bar 3 just can realize rising of the present invention and decline to its resultant direction.
Embodiment 2,
With the surface of the vertical ground of positive tetrahedron 1 for basal plane, calculate according to theoretical mechanics, the torque rating suffered by its boring ball and be zero when all screw propeller 2 rotating in same directions, its resultant direction is outside perpendicular to basal plane, and the rotating speed changing the screw propeller 2 on parallel ground motor bar 3 just can realize of the present invention in plane flying.
Embodiment 3,
With the arbitrary surfaces of positive tetrahedron 1 for basal plane, calculate according to theoretical mechanics, the torque rating suffered by its boring ball and be zero when all screw propeller 2 rotating in same directions, its resultant direction is along wherein arbitrary motor bar 3 direction is outside, and the rotating speed changing the arbitrary screw propeller 2 on remaining three motor bars 3 just can realize wing-over of the present invention.
Gyroscope in control system of the present invention can perception external world situation, and its theory of structure, Force principle, during flight, suffered application force is completely different with existing aircraft.The present invention can carry out vertical lift, plane flying and wing-over, realizes without degree of freedom constrained flight.
More than show and describe 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; what describe in above-described embodiment and 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 (1)
1. six-degree-of-freedofour-shaft four-shaft aircraft, comprise the positive tetrahedron be made up of six roots of sensation bar, it is characterized in that: the center of described positive tetrahedron is provided with a georama, georama is provided with four poles and is connected with four summits of positive tetrahedron respectively, battery and control system is provided with in described georama, gyroscope is provided with in described control system, described gyroscope is connected with micro controller system, described micro controller system is also connected with remote controller, control system is provided with four motor bars through each surface of the vertical tetrahedron of georama simultaneously, described motor bar is provided with brushless motor and screw propeller,
The mode of six-degree-of-freedofour-shaft four-shaft aircraft is as follows:
(1) with the surface on the parallel ground of positive tetrahedron for basal plane, when all screw propeller rotating in same directions, torque rating suffered by its boring ball and be zero, perpendicular to basal plane upwards, the rotating speed changing the screw propeller on vertical ground motor bar just can realize rising and the decline of this six-degree-of-freedofour-shaft four-shaft aircraft to its resultant direction;
(2) with the surface of the vertical ground of positive tetrahedron for basal plane, when all screw propeller rotating in same directions, torque rating suffered by its boring ball and be zero, its resultant direction is outside perpendicular to basal plane, and the rotating speed changing the screw propeller on the motor bar of parallel ground just can realize this six-degree-of-freedofour-shaft four-shaft aircraft in plane flying;
(3) with the arbitrary surfaces of positive tetrahedron for basal plane, the torque rating suffered by its boring ball and be zero when all screw propeller rotating in same directions, its resultant direction is along wherein arbitrary motor bar direction is outside, and the rotating speed changing the arbitrary screw propeller on remaining three motor bars just can realize the wing-over of this six-degree-of-freedofour-shaft four-shaft aircraft.
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 CN103213681A (en) | 2013-07-24 |
| CN103213681B true 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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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2528489A (en) * | 2014-07-23 | 2016-01-27 | Cassidian Ltd | Improvements in and relating to unmanned aerial vehicles |
| CN106927043B (en) * | 2015-12-31 | 2023-04-25 | 中国科学院沈阳自动化研究所 | Aircraft |
| CN108791802B (en) * | 2018-06-12 | 2019-10-25 | 北京理工大学 | A kind of unmanned vehicle of positive tetrahedron dynamic structure layout |
| 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 |
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 |
-
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 |
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| CN103213681A (en) | 2013-07-24 |
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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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