CN106956768A - Aircraft - Google Patents
Aircraft Download PDFInfo
- Publication number
- CN106956768A CN106956768A CN201710301993.XA CN201710301993A CN106956768A CN 106956768 A CN106956768 A CN 106956768A CN 201710301993 A CN201710301993 A CN 201710301993A CN 106956768 A CN106956768 A CN 106956768A
- Authority
- CN
- China
- Prior art keywords
- main part
- aircraft
- framework
- axial
- limiting component
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/006—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Vibration Dampers (AREA)
Abstract
The present invention, which provides a kind of aircraft, to be included：The aircraft body of the first main part with the first weight and the second main part with the second weight, accommodate the spherical protective cover with three axis accelerometer structure of the aircraft body, wherein, first main part is supported in the three axis accelerometer structure at the position of the geometric center of the neighbouring spherical protective cover, second main part suspension is arranged on below first main part, and first weight and second weight configuration are located at the underface of the geometric center of the spherical protective cover into causing the center of gravity of the aircraft body.The present invention can enough realize the horizontal rolling all around of aircraft in the horizontal plane or even upward wall of climbing is moved, and aircraft body can remain basic horizontal state, it is ensured that the stability of aircraft.
Description
Technical field
The present embodiments relate to technical field of aerospace, more particularly to a kind of aircraft.
Background technology
With the development of science and technology, unmanned plane increasingly be widely applied to life production various aspects for example, with
In in city management, agricultural, geological prospecting, meteorology, shop, rescue and relief work, in terms of video capture.Present unmanned plane often holds
Easily break, and it is just helpless to encounter complex environment, can only break propeller by knocking barrier, can just fall on ground
On, it is therefore desirable to a protective cover is protected to unmanned plane, it is to avoid unmanned plane is damaged.It is directed to above-mentioned situation, prior art
In further occur in that the unmanned plane with protective cover, but in the existing unmanned plane with protective cover, unmanned plane body
Level can not be remained, the influence of cover is easily protected.Once for example, protective cover it is affected by wind shake or with
Outer barrie thing collides, and protective cover will drive the run-off the straight of unmanned plane body or even upset, so as to cause unmanned plane to fly
Capable unstability, and potential safety hazard.
The content of the invention
The embodiment of the present invention provides a kind of aircraft, and the aircraft at least to solve in above-mentioned technical problem can not pacify
The technical problem of full smooth flight.
In some embodiments of the aircraft of the present invention, it includes：
The aircraft body of second main part of the first main part and the second weight with the first weight, accommodates institute
The spherical protective cover with three axis accelerometer structure of aircraft body is stated,
Wherein, first main part is supported on described at the position of the geometric center of the neighbouring spherical protective cover
In three axis accelerometer structure, second main part suspension is arranged on below first main part, first weight and
Second weight configuration into cause the aircraft body center of gravity be located at the spherical protective cover geometric center just under
Side.
In the present embodiment, as the protective cover of aircraft aircraft can be caused any by using three axis accelerometer structure
Basic horizontal state is all in rugged environment all the time.And the water all around of aircraft in the horizontal plane can be realized
Flat rolling or even upward wall of climbing are moved.In addition, in order to ensure the stability of aircraft, also by by the first weight and described
Two weight are designed so that the center of gravity of the aircraft body is located at the underface of the geometric center of the spherical protective cover, so that
Ensure that aircraft more can sensitively be returned to basic horizontal state rapidly by during external environment influence, it is ensured that aircraft
Stability.
In certain embodiments, first main part is arranged on the three axis accelerometer structure by vertical connecting rod
On, first main part is socketed in the vertical connecting rod, is disposed with the vertical connecting rod described for supporting
The stopping means of first main part；Wherein, when the vertical connecting rod is in force-free state, the stopping means is by institute
State the first main part and be maintained at first position；When external force of the vertical connecting rod by axis direction, the spacing dress
Put first main part being limited between the scope of the second place and moved along the axis direction, the second place scope bag
Include the first position.
In the present embodiment, the support for not only realizing aircraft body and three axis accelerometer mechanism by stopping means is installed,
And by stopping means set can also by outside to the impact of aircraft vertical direction (for example, being fallen during aircraft failure
Fall the impact caused) as far as possible to buffering fall, be unlikely to stiff and be directly delivered to aircraft body, aircraft body is made
Into unnecessary damage.
In certain embodiments, the stopping means include being socketed in the first limiting component in the vertical connecting rod and
Second limiting component；Wherein, first limiting component is located on first main element, the second limiting component position
Under second main part；First limiting component and second limiting component are elastomeric element.
Upper and lower surface in the present embodiment by two limiting components respectively to the first main part of aircraft body is entered
Restriction is gone so that the first main part can be maintained in the first limiting component and the second limiting component limited range
Row motion (vertical connecting rod by vertical direction impulsive force when), and because the first limiting component and the second limiting component are adopted
With elastomeric material, so impact of the vertical direction to aircraft body can be cut down.
In certain embodiments, the stopping means includes the first limiting component, the first spring, the second limiting component, the
Two springs；First limiting component limits first spring to support the upper surface of first main part, and described the
Two limiting components limit the second spring to support the lower surface of first main part.
In certain embodiments, multiple propellers, turn of the multiple propeller are installed in first main part
Direction where axle and plane where first main part are at an acute angle.
By by where direction where the rotating shaft of the propeller in aircraft body and the first main part in the present embodiment
Plane mode at an acute angle enables to keep more smooth flight during aircraft flight, before and after being realized beneficial to aircraft
The deflecting campaign in the directions such as left and right, improves the sensitivity of aircraft deflecting campaign.
In certain embodiments, the three axis accelerometer structure includes the first axial framework, outside the described first axial framework
The second axial framework that side is pivotally connected with the described first axial framework and on the outside of the described second axial framework with described second
The 3rd axial framework that axial framework is pivotally connected.The outline of described 3rd axial framework is circular or polyhedron-shaped.
The first axial framework and the second axial framework are annular framework.When the foreign steamer of the 3rd axial framework in the present embodiment
Be conducive to motion of the aircraft on ground or wall when exterior feature is circle, aircraft is conducive to more when for polyhedral structure
Steady quickly landing.
In certain embodiments, the described first axial framework and the second axial framework use rigid material；3rd axle
Elastomeric material is used to framework.
In certain embodiments, the distance between the described 3rd axial framework and described second axial direction framework are set greater than
Described 3rd axial framework largest deformation distance.
Pass through the selection and the setting of distance each other in three axis accelerometer structure different levels structure in the present embodiment
(being set according to the maximum flexibility deformation of selected material distance), adequately achieves to the impact caused by outside adverse circumstances
Buffering, so that while ensure that the safe flight of aircraft, it is to avoid damage to aircraft.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of one embodiment of aircraft of the present invention；
Fig. 2 is the structure of aircraft body and one embodiment of the first axial framework mounting means in aircraft of the present invention
Schematic diagram；
Fig. 3 is one of aircraft body and the first axial framework and the second axial direction framework mounting means in aircraft of the present invention
The structural representation of individual embodiment.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
It should be noted that in the case where not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in figure 1, in some embodiments of the aircraft of the present invention, it includes：
Flight including the first main part 21 with the first weight and the second main part 22 with the second weight
Device main body, accommodates the spherical protective cover 1 with three axis accelerometer structure of the aircraft body,
Wherein, first main part 21 is supported at the position of the geometric center of the neighbouring spherical protective cover 1
In the three axis accelerometer structure, second main part 22 suspension is arranged on the lower section of the first main part 21, and described the
One weight and second weight configuration into cause the aircraft body center of gravity be located at the spherical protective cover 1 geometry in
The underface of the heart.
In the present embodiment, it can make it that aircraft is in office as the protective cover 1 of aircraft by using three axis accelerometer structure
Basic horizontal state is all in what rugged environment all the time.And can realize aircraft in the horizontal plane all around
Horizontal rolling or even upward wall of climbing are moved.In addition, in order to ensure the stability of aircraft, also by by the first weight and described
Second weight configuration into cause the aircraft body center of gravity be located at the spherical protective cover geometric center underface, from
And ensure aircraft by more can sensitively returning to basic horizontal state rapidly during external environment influence, it is ensured that flight
The stability of device.In the present embodiment can by the way that the part of heavier-weight in aircraft body is configured into the second main part,
So as to which the center for ensureing aircraft body can be located at the underface of the geometric center of spherical protective cover.
In certain embodiments, the second main part 22 passes through multiple hanger attachment portion parts 23 and first main part
21 connections, hanger attachment portion part 23 is rigid connecting components, to ensure the phase of the second main part 22 and the first main part 21
To fixation.
As shown in figure 1, in certain embodiments, multiple propellers 24 are installed in first main part 22, it is the multiple
Direction and the place plane of the first main part 21 are at an acute angle where the rotating shaft of propeller 24.By that will fly in the present embodiment
The mode at an acute angle with the place plane of the first main part 21 of direction where the rotating shaft of propeller 24 in device main body is enabled to
More smooth flight is kept during aircraft flight, the deflecting campaign in the direction such as all around is realized beneficial to aircraft, is carried
The sensitivity of aircraft deflecting campaign is risen.
In some embodiments of the invention, aircraft is quadrotor, the first main part of aircraft body
Four propellers 24 are installed, the first main part 21 generally installs the support of propeller 24 on 21.Second main part 22
Control section for installing aircraft, for example, power supply, flying vehicles control mainboard, gyroscope, head, image it is first-class.By inciting somebody to action
Mode of the main centralized configuration of weight of aircraft body in the second main part 22, it is ensured that the center of gravity of aircraft body can
Positioned at the underface of the geometric center of spherical protective cover 1.If necessary, individually can match somebody with somebody to the increase of the second main part 22
Weight, to ensure that aircraft body can remain substantially horizontal attitude in three axis accelerometer structure.
In certain embodiments, first main part 21 is arranged on the three axis accelerometer knot by vertical connecting rod 31
On structure, first main part 21 is socketed in the vertical connecting rod 31, and being disposed with the vertical connecting rod 31 is used for
Support the stopping means of first main part 21；Wherein, it is described when the vertical connecting rod 31 is in force-free state
First main part 21 is maintained at first position by stopping means；When the vertical connecting rod 31 is by the outer of axis direction
During power, first main part 21 is limited between the scope of the second place and moved along the axis direction by the stopping means,
The second place scope includes the first position.
In the present embodiment, the support for not only realizing aircraft body and three axis accelerometer mechanism by stopping means is installed,
And by stopping means set can also by outside to the impact of aircraft vertical direction (for example, being fallen during aircraft failure
Falling the impact caused) buffering as much as possible falls, and it is unlikely to stiff and is directly delivered to aircraft body, aircraft body is made
Into unnecessary damage.
In certain embodiments, the stopping means includes the first limiting component being socketed in the vertical connecting rod 31
With the second limiting component；Wherein, first limiting component is located on first main element 21, second limiting section
Part is located under second main part 21；First limiting component and second limiting component are elastomeric element.
Upper and lower surface in the present embodiment by two limiting components respectively to the first main part 21 of aircraft body
It is defined so that the first main part 21 can be maintained at the first limiting component and the second limiting component limited range
It is interior moved (vertical connecting rod by vertical direction impulsive force when), and due to the first limiting component and the second limiting component
Elastomeric material is used, so impact of the vertical direction to aircraft body can be cut down.
As shown in Fig. 2 the stopping means includes the first limiting component 32, the first spring 33, the in certain embodiments
Two limiting components 32 ', second spring 33 '；First limiting component 32 limits first spring 33 to support described first
The upper surface of main part 21, second limiting component 32 ' limits the second spring 33 ' to support first main part
Points 21 lower surface.
In the present embodiment, because aircraft body 1 remains basic horizontal state under the cooperation of three axis accelerometer structure
(this holding automatically adjusting independent of flight control is that pure mechanic structure is realized), even aircraft
During failure, aircraft body also keep basic horizontal state (the not complete horizontality of basic horizontal state herein, but
Include the small skew state that aircraft occurs in that aircraft body when carrying out winged side or steering), so as to work as aircraft
When hindering for some reason and falling, impulsive force vertically will necessarily be caused to aircraft, at this moment by spacing in the present embodiment
Device can just fall this damping of shocks, it is to avoid impact and damage to aircraft body.
Referring to figs. 1 to Fig. 3, in certain embodiments, the three axis accelerometer structure includes the first axial framework 3, and described
The second axial framework 4 that first axial framework 3 is pivotally connected and the 3rd axial frame being pivotally connected with the described second axial framework 4
Frame 5, the outline of the described 3rd axial framework 5 is circular or polyhedron-shaped, wherein in the first axial framework 3 is located at most
Layer, the second axial framework 4 is located at intermediate layer, and the 3rd axial framework 5 is located at outermost layer.When the 3rd axial framework 5 in the present embodiment
Outline for it is circular when be conducive to motion of the aircraft on ground or wall, be conducive to flight when for polyhedral structure
The more steady quickly landing of device.
In certain embodiments, the first axial axial framework 4 of framework 3 and second can be annular either other shapes
Shape, few this of the present invention is limited.
In certain embodiments, the described first axial axial framework 4 of framework 3 and second uses rigid material；Described 3rd
Axial framework 5 uses elastomeric material.
The the first axial axial framework 4 of framework 3 and second made in the present embodiment using rigid material positioned at inner side is ensured
Firm supporting role to aircraft, making the 3rd axial framework 5 using elastomeric material can not only be to internal flight
Device main body 1 plays a protective role, but also is capable of the impact of absorbing external, so as to indirectly serve protection to aircraft body
Effect.
In certain embodiments, the distance between the described 3rd axial framework 5 and the described second axial framework 4 are set as big
In the described 3rd axial largest deformation distance of framework 5.
In the present embodiment, set by the largest deformation distance according to the 3rd axial framework 5 the 3rd axial framework 5 with
The mode of the distance between second axial framework 4, ensure that when aircraft is hit by the external world, even if the 3rd axial framework
5 deform upon, and will not also be contacted with the second axial framework 4 in intermediate layer so that external impact directly to be transmitted into, at utmost
On reduce impact of the external impact to internal aircraft body 1.
In addition, in certain embodiments can also be by being set in the junction of the 3rd axial axial framework 4 of framework 5 and second
The mode of buffer unit is put to avoid outside punching caused by the direct contact between the 3rd axial axial framework 4 of framework 5 and second
The direct transmission hit.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or to which part technical characteristic progress equivalent；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
1. a kind of aircraft, it is characterised in that including：
The aircraft body of the first main part with the first weight and the second main part with the second weight,
The spherical protective cover with three axis accelerometer structure of the aircraft body is accommodated,
Wherein, first main part is supported on three axle at the position of the geometric center of the neighbouring spherical protective cover
On gyroscope structure, second main part suspension is arranged on below first main part, first weight and described
Second weight configuration into cause the aircraft body center of gravity be located at the spherical protective cover geometric center underface.
2. aircraft according to claim 1, it is characterised in that first main part is installed by vertical connecting rod
In the three axis accelerometer structure, first main part is socketed in the vertical connecting rod, in the vertical connecting rod
It is disposed with the stopping means for supporting first main part；Wherein, when the vertical connecting rod is in force-free state
When, first main part is maintained at first position by the stopping means；When the vertical connecting rod is by axis direction
External force when, first main part is limited between the scope of the second place along the axis direction and transported by the stopping means
Dynamic, the second place scope includes the first position.
3. aircraft according to claim 2, it is characterised in that the stopping means includes being socketed in the vertical connection
The first limiting component and the second limiting component on bar；Wherein, first limiting component be located at first main element it
On, second limiting component is located under second main part；First limiting component and second limiting section
Part is elastomeric element.
4. aircraft according to claim 2, it is characterised in that the stopping means includes the first limiting component, first
Spring, the second limiting component, second spring；First limiting component limits first spring to support first main body
Partial upper surface, second limiting component limits the second spring to support the lower surface of first main part.
5. aircraft according to claim 1, it is characterised in that be provided with multiple spirals in first main part
Oar, direction where the rotating shaft of the multiple propeller and plane where first main part are at an acute angle.
6. aircraft according to claim 1, it is characterised in that the three axis accelerometer structure includes the first axial framework,
The second axial framework for being pivotally connected on the outside of the described first axial framework with the described first axial framework and in second axle
The 3rd axial framework being pivotally connected on the outside of to framework with the described second axial framework.
7. aircraft according to claim 6, it is characterised in that the described first axial framework and the second axial framework
For annular framework.
8. aircraft according to claim 6, it is characterised in that the outline of the described 3rd axial framework to be circular or
It is polyhedron-shaped.
9. the aircraft according to any one of claim 6-8, it is characterised in that the described first axial framework and the second axle
Rigid material is used to framework；Described 3rd axial framework uses elastomeric material.
10. the aircraft according to any one of claim 6-8, it is characterised in that the described 3rd axial framework with it is described
The distance between second axial framework is set greater than the largest deformation distance of the described 3rd axial framework.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710301993.XA CN106956768A (en) | 2017-05-02 | 2017-05-02 | Aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710301993.XA CN106956768A (en) | 2017-05-02 | 2017-05-02 | Aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106956768A true CN106956768A (en) | 2017-07-18 |
Family
ID=59481721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710301993.XA Pending CN106956768A (en) | 2017-05-02 | 2017-05-02 | Aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106956768A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108791837A (en) * | 2018-06-29 | 2018-11-13 | 上海歌尔泰克机器人有限公司 | A kind of unmanned plane during flying device |
| CN108891611A (en) * | 2018-05-22 | 2018-11-27 | 深圳创客空间科技有限公司 | A kind of aircraft |
| CN109159894A (en) * | 2018-08-09 | 2019-01-08 | 北京理工大学 | A kind of air-ground amphibious spherical unmanned plane |
| CN109178341A (en) * | 2018-10-11 | 2019-01-11 | 上海交通大学 | A kind of unmanned plane test protective device |
| CN109432724A (en) * | 2018-12-13 | 2019-03-08 | 福州大学 | Novel body building aircraft and its control method |
| CN109606678A (en) * | 2018-11-22 | 2019-04-12 | 东南大学 | A kind of crawler-type unmanned machine being automatically positioned bridge pad |
| CN112758318A (en) * | 2019-11-06 | 2021-05-07 | 杭州海康机器人技术有限公司 | Unmanned plane |
| CN112839870A (en) * | 2018-06-27 | 2021-05-25 | A·N·麦克唐纳 | Autonomous aircraft with protective cages rotatable in each spherical direction |
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| CN206750129U (en) * | 2017-05-02 | 2017-12-15 | 锐合防务技术（北京）有限公司 | Aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108891611A (en) * | 2018-05-22 | 2018-11-27 | 深圳创客空间科技有限公司 | A kind of aircraft |
| CN112839870A (en) * | 2018-06-27 | 2021-05-25 | A·N·麦克唐纳 | Autonomous aircraft with protective cages rotatable in each spherical direction |
| CN108791837A (en) * | 2018-06-29 | 2018-11-13 | 上海歌尔泰克机器人有限公司 | A kind of unmanned plane during flying device |
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| CN109159894A (en) * | 2018-08-09 | 2019-01-08 | 北京理工大学 | A kind of air-ground amphibious spherical unmanned plane |
| CN109178341A (en) * | 2018-10-11 | 2019-01-11 | 上海交通大学 | A kind of unmanned plane test protective device |
| CN109606678A (en) * | 2018-11-22 | 2019-04-12 | 东南大学 | A kind of crawler-type unmanned machine being automatically positioned bridge pad |
| CN109606678B (en) * | 2018-11-22 | 2021-09-07 | 东南大学 | Crawler-type unmanned aerial vehicle capable of automatically positioning bridge support |
| CN109432724A (en) * | 2018-12-13 | 2019-03-08 | 福州大学 | Novel body building aircraft and its control method |
| CN112758318A (en) * | 2019-11-06 | 2021-05-07 | 杭州海康机器人技术有限公司 | Unmanned plane |
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