CN107416177A - A kind of bionical spherical structure unmanned plane - Google Patents
A kind of bionical spherical structure unmanned plane Download PDFInfo
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- CN107416177A CN107416177A CN201710479837.2A CN201710479837A CN107416177A CN 107416177 A CN107416177 A CN 107416177A CN 201710479837 A CN201710479837 A CN 201710479837A CN 107416177 A CN107416177 A CN 107416177A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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Abstract
The present invention discloses a kind of bionical spherical structure unmanned plane, has the advantages that portable folding, Automatic-expanding, more landform landings.Wherein copy the wing of ladybug to stick up structure and design is optimized to a quarter spherical shell of unmanned plane, horn shell rim is thicker compared with interior thickness, and appropriate hollow processing is carried out on the basis of structural strength is ensured so that the overall weight of unmanned plane housing minimizes；Unique Automatic-expanding structure design so that unmanned plane can be changed rapidly from folded state to deployed condition, so as to ensure that unmanned plane supports a variety of modes of taking off；Unique fuselage appearance and hollow structure inside design, except ensureing unmanned plane in folded state to the posture during deployed condition from steady, and unmanned plane is landed on sea, and a unmanned plane part is in submerged condition, a part floats over more than liquid level, facilitates unmanned plane to realize multiple water surface landing；The rotor of unmanned plane uses leafy paddle structure, makes full use of the spherical inner space of unmanned plane folded state.
Description
Technical field：
The present invention relates to air line technical field, more particularly to a kind of bionical spherical structure unmanned plane.
Background technology：
Unmanned plane is widely used in the neck such as mapping of taking photo by plane, movies-making, enemy's situation exploration, the condition of a disaster detection, electric inspection process
Domain, it is the outstanding person among aircraft family.Especially multi-rotor unmanned aerial vehicle is a kind of structure novelty, the VTOL of superior performance
Aircraft, there is the characteristics of simple to operate, carrying load capacity is strong, there is extremely important military and civilian value.
Spherical aircraft has symmetrical configuration, occupied little space, spherical housing can be protected as a kind of new aircraft
The advantages that protecting aircraft interior electronic equipment and rotor.Traditional spherical aircraft is mostly single rotor or more rotors, such
Spherical aircraft there is spherical shape and not foldable, lift is produced by rotor to offset itself weight of spherical aircraft
Amount, the posture of aircraft then is adjusted by adjusting control rudder face, realizes the controllable flight of spherical aircraft.And rotor is
Spherical aircraft produces the critical piece of lift, and the size of rotor directly influences the final size of spherical aircraft, it is this not
The overall dimensions that folding spherical structure design directly results in spherical aircraft are larger.For this problem, inventor once applied
Cross a patent《A kind of spherical unmanned plane of portable and collapsible》, the patent combination spherical aircraft and multi-rotor aerocraft it is excellent
A kind of point, it is proposed that concept of the spherical unmanned plane of portable and collapsible.But what is mainly proposed in this patent is a kind of manual
The folding and expanding scheme of formula.It can be made troubles under certain special case to user.
The content of the invention：
The technical problems to be solved by the invention are to be directed to the spherical nothing of portable and collapsible involved in background technology
Some man-machine defects, there is provided a kind of bionical spherical structure unmanned plane, the unmanned plane has portable folding, Automatic-expanding, more
The advantages that landform landing.
The technical solution adopted in the present invention has：A kind of bionical spherical structure unmanned plane, it is characterised in that：Including fuselage,
The fixed height of several horns, the control module equal with horn quantity, power module, signal receiving module, gyro module, air pressure
Module, spacing module, Automatic-expanding module；
The fuselage is divided into two parts up and down, and back is spherical crown shape housing, and several mounting grooves of its skin cut are used
Coordinate in being installed with horn, make unmanned plane generally spherical in folded state, underbelly is streamlined hollow shell, streamlined
Hollow shell is used to install control module, Automatic-expanding module and power module；
The horn includes horn housing, rotating shaft, shaft mounting hole, motor, more blade rotors, and the horn housing is four points
One of dome shape, the horn shell rim part it is thick compared with center section, the horn housing carries out hollow processing, the motor
It is arranged in the cambered surface of horn housing, the output shaft fixed connection of rotating shaft and motor on more blade rotors, the horn housing
One end is hinged by rotating shaft and fuselage, and rotating shaft is installed in shaft mounting hole so that horn housing can be with respect to fuselage around the shaft
Rotate.
The control module and power module, signal receiving module, gyro module, the fixed high module of air pressure, Automatic-expanding
The motor of module and each horn is electrically connected, the fixed high module of the signal receiving module, gyro module, air pressure and automatic
Expansion module is arranged in fuselage, and the signal receiving module is used to receive the order of remote control and passes it to control mould
Block；The gyro module is used to measure unmanned plane with respect to posture, acceleration and the angular speed with ground and passes it to control
Molding block；The fixed high module of the air pressure is used to measure the height of aircraft and passes it to control module；The control module
For controlling the motor of each horn to work according to the input of signal receiving module, gyro module, the fixed high module of air pressure；
The Automatic-expanding module includes straight line steering wheel, self-lock chuck, diagonal puller system and self-lock chuck mating holes,
The self-lock chuck is fixedly connected with straight line steering wheel and is arranged at machine positioned at the bottom of straight line steering wheel, the self-lock chuck mating holes
On arm housing, the diagonal puller system is separately mounted on two horns in diagonal positions, the self-lock chuck
It is provided with the cylindrical boss being engaged with self-lock chuck mating holes.
Further, the control line of the straight line steering wheel and the rudder control interface of control module are electrically connected, straight line rudder
Machine is commonly mounted in streamlined hollow shell with power module and control module.
Further, when the unmanned plane horn is in folded state, horn goes to complete with the spacing module of underbelly
Complete to be bonded, the self-lock chuck mating holes on horn housing is engaged with the cylindrical boss on self-lock chuck, more blade rotors
And motor is hidden in fuselage inner chamber, unmanned plane is integrally spherical in shape.
Further, when the unmanned plane is in deployed condition, control module sends the control signal of Automatic-expanding, straight line
Steering wheel works, and self-lock chuck mutually separates after moving along a straight line upwards with self-lock chuck mating holes, and horn is flipped up specified threshold
Fuselage and the reversible lock of horn position under deployed condition are completed during value under spacing module and the collective effect of diagonal puller system
It is fixed.
Further, the horn also includes support bar and support bar mounting hole, and the support bar is installed on support bar peace
Fill in hole, to prevent unmanned plane lift of more blade rotors in deployed condition from causing the deformation of horn.
Further, a motor is installed respectively on each horn, horn is provided with motor bore, the motor and
Motor bore is connected in interference fit, and more blade rotors are arranged on the output shaft of motor.
Further, the motor is hollow-cup motor or plate-like brushless electric machine.
Further, the support bar is cylindrical carbon fiber support bar.
The present invention has the advantages that：.
1. copying the wing of ladybug to stick up structure optimizes design, horn housing knot to a quarter spherical shell of unmanned plane
Structure has the following advantages that：Spherical shell edge thickness is thicker, and interior thickness is relatively thin, and is carried out suitably on the basis of structural strength is ensured
Hollow processing so that the overall weight of unmanned plane housing minimizes；
2. unique Automatic-expanding structure design so that unmanned plane can be changed rapidly from folded state to deployed condition,
So as to ensure that unmanned plane supports a variety of modes of taking off (ground is taken off, hand throws winged, catapult-assisted take-off etc.)；
3. unique fuselage appearance and hollow structure inside design, except ensureing unmanned plane in folded state to deployed condition
During posture from steady, and unmanned plane is landed on sea, and a unmanned plane part is in submerged condition, one
Part floats over more than liquid level, facilitates unmanned plane to realize multiple water surface landing；
4. unmanned plane deployed condition is in four rotor modes, the streamlined hollow shell structure of underbelly is except with air-flow
The effect of guiding, and for installing the equipment such as control module and power supply so that for unmanned plane in deployed condition, unmanned plane is overall
Center of gravity on the lower, increases the flight stability of unmanned plane；
5. the rotor of unmanned plane uses leafy paddle structure, the spherical inner space of unmanned plane folded state is made full use of.
Brief description of the drawings：
Side view when Fig. 1 is deployed condition of the present invention；
Top view when Fig. 2 is deployed condition of the present invention；
Structural representation when Fig. 3 is folded state of the present invention；
Fig. 4 is the structural representation of fuselage of the present invention；
Fig. 5 is the structural representation of horn of the present invention.
In figure：
1- horn housings, 2- power modules, 3- control modules, 4- self-lock chucks, 5- straight line steering wheels, the streamlined hollow shells of 6-
Body, 7- spherical crown shape housings, the diagonal puller systems of 8-, 9- self-lock chuck mating holes, 10- support bar mounting holes, the more blade rotors of 11-,
12- motors, 13- shaft mounting holes, 14- support bars.
Embodiment：
The present invention is further illustrated below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, the bionical spherical structure unmanned plane of the present invention, including fuselage, several horns, power module,
Control module, the spacing module equal with horn quantity and rotating shaft, Automatic-expanding module.
It is spherical crown shape housing 7 that fuselage, which is divided into two parts, back up and down, several mounting grooves of its skin cut be used for
Horn installation coordinates, and makes unmanned plane generally spherical in folded state；Underbelly is a cross streamlined hollow shell
6, streamlined hollow shell 6 is used to install control module 3, Automatic-expanding module and power module 2, and streamlined hollow shell
6 can ensure unmanned plane after drop in water surface, and unmanned plane top half floats on more than the water surface, facilitates unmanned plane in surface motions
And unmanned plane takes off from the water surface is repeatedly secondary.And the fuselage of the bionical spherical structure unmanned plane also there is certain air-flow to be oriented to work
With completing hand and throw to fly or during catapult-assisted take-off (remaining mode of taking off is similar) in unmanned plane, unmanned plane Automatic-expanding in the air, nothing
The man-machine Automatic-expanding of spherical crown shape housing 7 can be provided similar to the same resistance of parachute, and then streamlined hollow shell 6 carries
For certain air-flow guiding force, ensure the whereabouts posture of unmanned plane so that unmanned plane automatic stabilisation posture in dropping process, subtract
The small degree of dependence to flying control, it is easy to personnel to be manipulated, and then smoothly complete aerial mission.
Comprising horn housing 1, rotating shaft, shaft mounting hole 13, motor 12, (motor is that hollow-cup motor or plate-like are brushless to horn
Motor), more blade rotors 11, support bar 14, support bar mounting hole 10, wherein, horn housing 1 is a quarter dome shape, is copied
Ladybug wing sticks up structure (ladybug wing alice edge profile thickness is thicker, and center section thickness is compared relatively thin with edge contour thickness), should
The marginal portion of horn housing 1 is thicker, and center section is relatively thin, and carries out appropriate hollow out to horn housing 1, is ensureing structural strength
On the basis of, unmanned plane total quality is reduced to greatest extent.Hollow-cup motor (or plate-like brushless electric machine) is arranged on horn housing 1
Cambered surface in, rotating shaft on more blade rotors 11 and the output shaft fixed connection of hollow-cup motor (or plate-like brushless electric machine)；Horn housing 1
It is arranged on fuselage to be used to install in the mounting groove of horn, one end is hinged by rotating shaft and fuselage, and rotating shaft is installed on shaft mounting hole
In 13 so that horn housing 1 can rotate around the axis with respect to fuselage.Support bar 14 is installed in support bar mounting hole 10, and is propped up
The characteristics of strut 14 has light weight, and intensity is high, prevent unmanned plane lift of more blade rotors in deployed condition from causing horn
Deformation.Spacing module is corresponded with horn and set, the rotational angle for the relative fuselage of horn housing 1 in its corresponding horn
To carry out the monodirectional locking of rotating shaft during default angle threshold.
Automatic-expanding module includes straight line steering wheel 5, self-lock chuck 4, diagonal puller system 8 and self-lock chuck mating holes 9,
Self-lock chuck mating holes 9 is arranged on horn housing 1, and wherein self-lock chuck 4 is fixedly connected with straight line steering wheel 5, positioned at straight line rudder
Four cylindrical bosses are arranged at the bottom of machine 5, the top of self-lock chuck 4, coordinate for being connected with horn housing 1, complete unmanned plane
Bidirectional self-locking in spherical state, in Automatic-expanding, straight line steering wheel 5 drives self-lock chuck 4 to draw high upwards, releases self-locking.
Diagonal puller system 8 shares two, is separately mounted on two horns in diagonal positions, the control line of straight line steering wheel 5
It is electrically connected with the rudder control interface of control module 3, the hardware components and power module 2 and control module 3 of straight line steering wheel 5 are common
With being arranged in streamlined hollow shell 6, straight line steering wheel 5, power module 2 and control module 3 in streamlined hollow shell 6
Particular location it is unlimited, can meet assembling and performance requirement on the premise of do appropriate adjustment.By straight line steering wheel 5 and right
Angle puller system 8 controls the Automatic-expanding of unmanned plane, completes hand and throw to fly or during catapult-assisted take-off (remaining mode of taking off is similar),
Unmanned plane Automatic-expanding in the air, is smoothed out aerial mission.
When unmanned plane is in folded state, the horn housing 1 of each horn fits with the vacancy position of fuselage surface, group
Into spheroid, in this case, the rolling of unmanned plane on the ground can be realized by adjusting the rotating speed of blade rotor 11 more than four
Advance.
When unmanned plane is in deployed condition, spacing module locks in the presence of torsion spring to horn so that Ge Geji
More blade rotors 11 of arm are in horizontality.
Control module determines high module, Automatic-expanding with power module, signal receiving module, gyro module, air pressure respectively
The hollow-cup motor of module and each horn is electrically connected, wherein, signal receiving module, gyro module, air pressure Ding Gaomo
Block and Automatic-expanding module are arranged in fuselage；Signal receiving module is used to receive the order of remote control and passes it to control
Molding block；Gyro module is used to measure unmanned plane with respect to posture, acceleration and the angular speed with ground and passes it to control
Molding block；The fixed high module of air pressure is used to measure the height of aircraft and passes it to control module；Control module is used for basis
The input of the fixed high module of signal receiving module, gyro module, air pressure controls the motor work of each horn.
Novel ball unmanned plane of the present invention has as above teaching reform except hardware components, functionally has following special
Color：Unmanned plane has the function of one-touch expansion, supports that (ground landing, hand throwing type landing, liquid level rise environment how with a varied topography
Drop) landing function, there is good environmental suitability.
Just by the novel ball unmanned plane of four of horn it is below that example illustrates：
Four horns are hinged by diameter 1.2mm rotating shaft and fuselage respectively, and pass through in diagonal positions horn it is right
Angle puller system (such as parts (extension spring, torsion spring) of rubber band or other generation pulling force) is mutually drawn, the diagonal puller system two-by-two
Pulling force and torque are provided when unmanned plane is changed from folded state to deployed condition, complete the smooth conversion of the process, and
After conversion, the diagonal puller system and spacing module collective effect, the Bidirectional locking of horn is completed；Each installation one on four horns
Individual motor, motor are connected with horn motor bore in interference fit, and blade rotor is separately mounted on the output shaft of motor more than four.
Back is spherical crown shape, and several mounting grooves of its skin cut are used for and horn installation coordinates, and unmanned plane is existed
Folded state is generally spherical, and unmanned plane can realize that unmanned plane exists by adjusting the rotating speed of blade rotor more than four under folded state
Rolling on ground is advanced；One streamlined hollow shell is arranged at bottom, for installing control module, Automatic-expanding module and power supply
The equipment such as module, and hollow streamlined hollow shell ensures unmanned plane after drop in water surface, the floating of unmanned plane top half
More than the water surface, unmanned plane is facilitated to be taken off in surface motions and unmanned plane from the water surface is repeatedly secondary.
Horn housing is a quarter dome shape (with the streamlined strip housing phase referred in the patent before inventor
Than housing profile distribution is more uniform, and the effect of protection rotor is more preferable compared with the housing of streamlined strip), copy wooden dipper
Worm wing sticks up structure (ladybug wing alice edge profile thickness is thicker, and center section thickness is compared relatively thin with marginal portion), the horn shell
Body marginal portion is thicker, and center section is relatively thin, and carries out appropriate hollow out to horn housing, on the basis of structural strength is ensured,
Unmanned plane overall dimensions are reduced to greatest extent.The horn housing has the function that to protect rotor, leafy when preventing from surprisingly occurring
Rotor is damaged, and protection staff safety, prevents unmanned plane rotor from accidentally injuring surrounding people.
Hollow-cup motor and more blade rotors are respectively the power and lift unit of unmanned plane, and power is provided for unmanned plane during flying
And lift, diagonal puller system and spacing modular structure collective effect, make unmanned plane can be with Automatic-expanding, and keep unmanned plane
In deployed condition, overall structure is stable, make unmanned plane horn will not because of the disturbance that self gravitation and rotor wing rotation introduce and
Voluntary activity, and then ensure the reliability of unmanned plane during flying.
Automatic-expanding module includes straight line steering wheel, self-lock chuck, diagonal puller system, and the self-locking card of horn housing upper end
Disk mating holes forms.Wherein self-lock chuck is fixedly connected with straight line steering wheel, positioned at the bottom of straight line steering wheel, the top of self-lock chuck
There are four cylindrical bosses, for connecting cooperation with horn housing, bidirectional self-locking of the unmanned plane in spherical state is completed, certainly
During dynamic expansion, straight line servo driving self-lock chuck is drawn high upwards, releases self-locking.Diagonal puller system shares two, installs respectively
On two horns in diagonal positions, the control line of straight line steering wheel and the rudder control interface of control module electrically connect
Connect, hardware components and the power module and control module of straight line steering wheel are commonly mounted in the streamlined hollow shell of fuselage, straight line
The particular location in the streamlined hollow shell of fuselage of steering wheel, power module and control module is unlimited, can meet to assemble
And appropriate adjustment is done on the premise of performance requirement.
Receiving module is used for receiving the control signal of remote control, gyroscope and the fixed high module collective effect of air pressure, controls mould
Block makes the flight attitude of unmanned plane more steady by pid regulator parameters.The control of hollow-cup motor interface and hollow-cup motor
Line connects.The external 3.7 volts of lithium batteries of power interface, for system power supply.
As shown in figure 3, be the stored collapsed state of unmanned plane, using manual mode respectively by four horns of aircraft around
The rotating shaft for horn and fuselage is rotated down, until horn merges completely with fuselage, the self-lock chuck mating holes on horn housing
It is nested with the Correspondent cy linder shape boss on self-lock chuck, completes self-locking of the unmanned plane under self-locking state, now aircraft
It is overall spherical in shape.
The detailed process that the horn of unmanned plane is folded is as follows：
First, horn is downwardly turned over using manual mode so that horn overcomes the effect of diagonal puller system, around fuselage with
The pivoted downward of horn, when horn, which is gone to, to be bonded completely with the position limiting structure of underbelly, four on horn housing
Self-lock chuck mating holes coordinates with four cylindrical bosses on self-lock chuck respectively, and now more blade rotors and hollow-cup motor are hidden
In fuselage inner chamber, unmanned plane is integrally spherical in shape, completes the self-locking of folded state unmanned plane.For ensureing that unmanned plane will not carry
During cause horn relative with fuselage movable due to external interference, make unmanned plane keep spherical state, be further easy to use
Family carries.
As shown in Figure 1, it is the deployed condition of unmanned plane.Deployed condition aircraft is in four rotor states, due to aircraft
Control module and power module are installed in the streamlined hollow shell of fuselage so that on the lower, flight is very for the center of gravity of unmanned plane
Steadily, the course of work is as follows, and original state unmanned plane is in folded state, and control module sends the control signal of Automatic-expanding, directly
Line steering wheel works, and then straight line servo driving self-lock chuck moves along a straight line upwards, and the unmanned plane in folded state releases self-locking,
In the presence of puller system, four horns of unmanned plane are flipped up, and are gone to after specified threshold, in spacing module and diagonally
Fuselage and the Bidirectional locking of horn position under deployed condition are completed under the collective effect of puller system.
The detailed process that the horn of unmanned plane is deployed is as follows：
Original state unmanned plane is in folded state, and unmanned plane switches on power (power supply design parameter is unlimited), no-manned machine distant control
Communicated with unmanned aerial vehicle (UAV) control module to after code, the control terminal of remote control sends the control signal of Automatic-expanding, the reception of control module
Module receives the signal, and the number of converting to is handled so that straight line steering wheel works, then straight line servo driving self-lock chuck
Linear motion upwards, after four roundlet cylindrical end tangs on self-lock chuck skid off the self-lock chuck mating holes of horn housing,
Unmanned plane in folded state releases self-locking, and in the presence of puller system, four horns of unmanned plane are flipped up, and are gone to
After specified threshold, horn housing and spacing module contact, the now axis of rotor centers axis hole and unmanned aerial vehicle body center line
It is parallel, fuselage and the reversible lock of horn position under deployed condition are completed under spacing module and the collective effect of diagonal puller system
It is fixed, ensure the fixation of aircraft relative position of horn and fuselage in state of flight, and then ensure the reliability of flight.
As shown in figure 4, the structure chart for spherical aircraft fuselage.The top half of fuselage is wall thickness 2mm spherical shell
Buster arm housing part, ensure that unmanned plane is spherical in folded state generally one, then add on this basis cross
Streamlined hollow shell, such curved-surface structure at pneumatically aspect there is air-flow to be oriented to, and ensure that aircraft throws winged or bullet in hand
The stability from folded state to attitude of flight vehicle during Automatic-expanding State Transferring during taking off is penetrated, and body shell is also
For installing the parts such as control module, power module, straight line steering wheel so that unmanned plane entirety center of gravity on the lower, improves unmanned plane and flown
Capable stability, when unmanned plane lands, the streamlined hollow shell of fuselage contacts to earth at first, plays protection rotor, protects aircraft
The effect of internal electronic equipment, and the body shell of inner hollow causes unmanned plane to ensure that nobody when the water surface is landed
The horn of machine is floated on the water surface, facilitates unmanned plane to carry out multiple landing on the water surface.
As shown in figure 5, horn is supported by the horn housing of a quarter dome shape and a diameter of 1mm cylindrical carbon fiber
Bar composition, horn housing play a part of to protect rotor, and rotor is all exposed to outer rotor accidental injury by undermining when preventing unexpected occur
Enclose personnel.A quarter dome shape horn housing is the spherical crown portion that fuselage is then cut off using hollow ball shape as and its quartering
Get, diameter 1.2mm holes are the shaft mounting holes that horn connects with fuselage；1mm cylindrical holes are horn and carbon fiber support rod
Support bar mounting hole；Diameter 7mm hole is the motor installing hole of hollow-cup motor；And the shell moulding to obtaining is opened up
Optimization hollow processing is flutterred, and copies the wing of ladybug to stick up structure, edge thickness is carried out to housing, the design of intermediate thin, is greatly improved
The intensity of housing, and maximumlly mitigate the quality of rotor protective casing.Cylindrical carbon fiber support bar has light weight,
The characteristics of intensity is high, prevent unmanned plane lift of rotor in deployed condition from causing the deformation of horn.
The present invention breaches traditional four rotor wing unmanned aerial vehicle configuration designs, using new foldable spherical designs.Unmanned plane
With two states：Stored collapsed state, expansion use state.
When switching to state of flight by folded state, unmanned plane switches on power (power supply design parameter is unlimited), no-manned machine distant control
Communicated with unmanned aerial vehicle (UAV) control module to after code, the control terminal of remote control sends the control signal of Automatic-expanding, the reception of control module
Module receives the signal, and the number of converting to is handled so that straight line steering wheel works, then straight line servo driving self-lock chuck
Linear motion upwards, after four roundlet cylindrical end tangs on self-lock chuck skid off the self-lock chuck mating holes of horn housing,
Unmanned plane in folded state releases self-locking, and in the presence of diagonal puller system, four horns of unmanned plane are flipped up,
Go to after specified threshold, horn housing and spacing module contact, now in the axis and unmanned aerial vehicle body of rotor centers axis hole
Heart line is parallel, and fuselage and pair of horn position under deployed condition are completed under spacing module and the collective effect of diagonal puller system
To locking, ensure the fixation of aircraft relative position of horn and fuselage in state of flight, and then ensure the reliability of flight.
When being converted to folded state by state of flight, first, horn is downwardly turned over using manual mode so that horn overcomes
The effect of diagonal puller system, around the pivoted downward of fuselage and horn, when horn goes to the spacing module with underbelly
When being bonded completely, four self-lock chuck mating holes on horn housing are matched somebody with somebody with four cylindrical bosses on self-lock chuck respectively
Close, now rotor and hollow-cup motor are hidden in fuselage inner chamber, and unmanned plane is integrally spherical in shape, complete folded state unmanned plane oneself
Lock.For ensureing that unmanned plane will not cause horn relative with fuselage movable in carrying process due to external interference, make nobody
Machine keeps spherical state, is further easy to user to carry.
Those skilled in the art of the present technique are it is understood that unless otherwise defined, all terms used herein (including skill
Art term and scientific terminology) with the general understanding identical meaning with the those of ordinary skill in art of the present invention.Also
It should be understood that those terms defined in such as general dictionary should be understood that with the context of prior art
The consistent meaning of meaning, and unless defined as here, will not be explained with the implication of idealization or overly formal.
Above-described embodiment, the purpose of the present invention, technical scheme and beneficial effect are carried out further
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not limited to this hair
It is bright, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., it should be included in the present invention
Protection domain within.
Claims (8)
- A kind of 1. bionical spherical structure unmanned plane, it is characterised in that：Including fuselage, several horns, equal with horn quantity The fixed high module of control module, power module, signal receiving module, gyro module, air pressure, spacing module, Automatic-expanding module；The fuselage is divided into two parts up and down, and back is spherical crown shape housing (7), and several mounting grooves of its skin cut are used for Install and coordinate with horn, make unmanned plane generally spherical in folded state, underbelly is streamlined hollow shell (6), streamline Type hollow shell (6) is used to install control module (3), Automatic-expanding module and power module (2)；The horn includes horn housing (1), rotating shaft, shaft mounting hole (13), motor (12), more blade rotors (11), the machine Arm housing (1) is a quarter dome shape, and horn housing (1) marginal portion is thick compared with center section, the horn housing (1) Carry out hollow processing, the motor (12) is arranged in the cambered surface of horn housing (1), the rotating shaft on more blade rotors (11) with The output shaft fixed connection of motor (12), the horn housing (1) are hinged by rotating shaft and fuselage, and rotating shaft is installed on shaft mounting hole (13) in so that horn housing (1) can rotate around the axis with respect to fuselage.The control module and power module, signal receiving module, gyro module, the fixed high module of air pressure, Automatic-expanding module And the motor of each horn is electrically connected, the fixed high module of the signal receiving module, gyro module, air pressure and Automatic-expanding Module is arranged in fuselage, and the signal receiving module is used to receive the order of remote control and passes it to control module； The gyro module is used to measure unmanned plane with respect to posture, acceleration and the angular speed with ground and passes it to control mould Block；The fixed high module of the air pressure is used to measure the height of aircraft and passes it to control module；The control module is used for The motor of each horn is controlled to work according to the input of signal receiving module, gyro module, the fixed high module of air pressure；The Automatic-expanding module is matched somebody with somebody including straight line steering wheel (5), self-lock chuck (4), diagonal puller system (8) and self-lock chuck Close hole (9), the self-lock chuck (4) is fixedly connected with straight line steering wheel (5) and positioned at the bottom of straight line steering wheel (5), the self-locking Chuck mating holes (9) is arranged on horn housing (1), and the diagonal puller system (8) is separately mounted to be in diagonal positions Two horns on, the self-lock chuck (4) provided with the cylindrical boss being engaged with self-lock chuck mating holes (9).
- 2. bionical spherical structure unmanned plane as claimed in claim 1, it is characterised in that：The control line of the straight line steering wheel (5) It is electrically connected with the rudder control interface of control module (3), straight line steering wheel (5) and power module (2) and control module (3) are common In streamlined hollow shell (6).
- 3. bionical spherical structure unmanned plane as claimed in claim 2, it is characterised in that：The unmanned plane horn is in rugosity During state, horn is gone to be bonded completely with the spacing module of underbelly, self-lock chuck mating holes and self-locking card on horn housing Cylindrical boss on disk is engaged, and more blade rotors and motor are hidden in fuselage inner chamber, and unmanned plane is integrally spherical in shape.
- 4. bionical spherical structure unmanned plane as claimed in claim 2, it is characterised in that：The unmanned plane is in deployed condition When, control module sends the control signal of Automatic-expanding, the work of straight line steering wheel, self-lock chuck upwards after linear motion with self-locking card Disk mating holes mutually separates, when horn is flipped up specified threshold under spacing module and the collective effect of diagonal puller system Complete fuselage and the Bidirectional locking of horn position under deployed condition.
- 5. bionical spherical structure unmanned plane as claimed in claim 1, it is characterised in that：The horn also includes support bar (14) With support bar mounting hole (10), the support bar (14) is installed in support bar mounting hole (10), to prevent unmanned plane from deploying The lift of more blade rotors causes the deformation of horn during state.
- 6. bionical spherical structure unmanned plane as claimed in claim 1, it is characterised in that：One is installed respectively on each horn Individual motor, horn are provided with motor bore, and the motor connects with motor bore in interference fit, and more blade rotors are arranged on motor Output shaft on.
- 7. bionical spherical structure unmanned plane as claimed in claim 1, it is characterised in that：The motor (12) is hollow-cup motor Or plate-like brushless electric machine.
- 8. bionical spherical structure unmanned plane as claimed in claim 5, it is characterised in that：The support bar (14) is cylindrical carbon Fiber support bar.
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| CN201710479837.2A CN107416177B (en) | 2017-06-22 | 2017-06-22 | Bionic spherical unmanned aerial vehicle |
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| CN201710479837.2A CN107416177B (en) | 2017-06-22 | 2017-06-22 | Bionic spherical unmanned aerial vehicle |
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| CN107416177A true CN107416177A (en) | 2017-12-01 |
| CN107416177B CN107416177B (en) | 2023-06-13 |
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| CN201710479837.2A Active CN107416177B (en) | 2017-06-22 | 2017-06-22 | Bionic spherical unmanned aerial vehicle |
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| CN108910014A (en) * | 2018-05-31 | 2018-11-30 | 南京航空航天大学 | A kind of folding multi-rotor unmanned aerial vehicle |
| CN109502017A (en) * | 2018-12-06 | 2019-03-22 | 谢亿民工程科技南京有限公司 | A kind of bionical unmanned plane of topological optimization and its design method |
| CN109606610A (en) * | 2018-10-24 | 2019-04-12 | 浙江大年科技有限公司 | A kind of geometry folding unmanned plane |
| CN110844069A (en) * | 2019-11-20 | 2020-02-28 | 北京特种机械研究所 | Miniature foldable wheel-shaped aircraft |
| CN111186572A (en) * | 2020-01-08 | 2020-05-22 | 中国人民武装警察部队工程大学 | Variant cross-medium aircraft |
| CN111776214A (en) * | 2020-06-17 | 2020-10-16 | 广东工业大学 | Real-time imaging device for road survey |
| CN113148129A (en) * | 2021-05-13 | 2021-07-23 | 北京理工大学 | Throwing formula rotor can independently expand type unmanned aerial vehicle |
| CN113665809A (en) * | 2021-08-06 | 2021-11-19 | 北京航空航天大学 | Distributed multi-dwelling spherical unmanned system |
| CN114194389A (en) * | 2021-12-30 | 2022-03-18 | 奥飞娱乐股份有限公司 | Deformable rolling aircraft |
| CN115610647A (en) * | 2022-11-01 | 2023-01-17 | 浙江大学 | Torpedo type four-rotor aircraft |
| CN117382941A (en) * | 2023-12-11 | 2024-01-12 | 山东字节信息科技有限公司 | Single rotor unmanned aerial vehicle |
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| CN108910014B (en) * | 2018-05-31 | 2023-09-26 | 南京航空航天大学 | Foldable multi-rotor unmanned aerial vehicle |
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| CN109606610A (en) * | 2018-10-24 | 2019-04-12 | 浙江大年科技有限公司 | A kind of geometry folding unmanned plane |
| CN109606610B (en) * | 2018-10-24 | 2022-03-11 | 浙江大年科技有限公司 | Unmanned aerial vehicle is folded to geometry |
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| CN109502017B (en) * | 2018-12-06 | 2024-02-27 | 南京阿米巴工程结构优化研究院有限公司 | Topology optimization bionic unmanned aerial vehicle and design method thereof |
| CN110844069A (en) * | 2019-11-20 | 2020-02-28 | 北京特种机械研究所 | Miniature foldable wheel-shaped aircraft |
| CN110844069B (en) * | 2019-11-20 | 2022-01-14 | 北京特种机械研究所 | Miniature foldable wheel-shaped aircraft |
| CN111186572A (en) * | 2020-01-08 | 2020-05-22 | 中国人民武装警察部队工程大学 | Variant cross-medium aircraft |
| CN111186572B (en) * | 2020-01-08 | 2021-06-01 | 中国人民武装警察部队工程大学 | Variant cross-medium aircraft |
| CN111776214A (en) * | 2020-06-17 | 2020-10-16 | 广东工业大学 | Real-time imaging device for road survey |
| CN113148129A (en) * | 2021-05-13 | 2021-07-23 | 北京理工大学 | Throwing formula rotor can independently expand type unmanned aerial vehicle |
| CN113665809A (en) * | 2021-08-06 | 2021-11-19 | 北京航空航天大学 | Distributed multi-dwelling spherical unmanned system |
| CN113665809B (en) * | 2021-08-06 | 2024-02-02 | 北京航空航天大学 | Distributed multi-dwelling spherical unmanned system |
| CN114194389A (en) * | 2021-12-30 | 2022-03-18 | 奥飞娱乐股份有限公司 | Deformable rolling aircraft |
| CN115610647A (en) * | 2022-11-01 | 2023-01-17 | 浙江大学 | Torpedo type four-rotor aircraft |
| CN117382941A (en) * | 2023-12-11 | 2024-01-12 | 山东字节信息科技有限公司 | Single rotor unmanned aerial vehicle |
| CN117382941B (en) * | 2023-12-11 | 2024-03-05 | 山东字节信息科技有限公司 | Single rotor unmanned aerial vehicle |
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