CN203318681U

CN203318681U - Four-rotor unmanned aerial vehicle provided with spheroidal protection cover

Info

Publication number: CN203318681U
Application number: CN2013203018027U
Authority: CN
Inventors: 陈永东; 王伟; 王昱
Original assignee: Nanjing University of Information Science and Technology
Current assignee: Nanjing University of Information Science and Technology
Priority date: 2013-05-29
Filing date: 2013-05-29
Publication date: 2013-12-04
Anticipated expiration: 2023-05-29

Abstract

The utility model discloses a self-protecting aerial vehicle which is of a special mechanical structure and can automatically adjust level of planes of four rotors when landing and in particular relates to a four-rotor unmanned aerial vehicle provided with a spheroidal protection cover. The four-rotor unmanned aerial vehicle provided with the spheroidal protection cover comprises a spherical netty outer layer protection structure, an inner layer support ring, an outer layer support ring and an internal cross-shaped aerial vehicle body, wherein a rotor support is connected with an inner layer support ring bearing, and the inner layer support ring is connected with an outer layer support full bearing. The four-rotor unmanned aerial vehicle provided with the spheroidal protection cover has the characteristic that the aerial vehicle body is ensured to be in a spherical protecting net when the aerial vehicle flies, lands and falls, and planes of four rotors can be automatically adjusted when the aerial vehicle lands, so that the aerial vehicle maintains horizontal.

Description

A kind of four rotor unmanned aircrafts with the ball-type protective case

Technical field

The utility model relates to a kind of quadrotor of special mechanical structure, especially can carry out the quadrotor that fuselage protection and landing condition are not subject to the special mechanical structure of surrounding environment restriction.

Background technology

The quadrotor technology is ripe on control algorithm and manufacture craft; At present the method for main protection aircraft is to rely on the controller performance of selecting suitable control algorithm to improve aircraft, improve the control quality of aircraft, thereby the protection aircraft but seldom has by the physical construction of design aircraft and protects unmanned plane.But always there is certain deficiency in control algorithm, add various external interference, the possibility that aircraft still exists damaged in collision even to crash.Secondly, quadrotor, when taking off, must keep four rotor plane levels, could take off smoothly; Quadrotor, after landing, is subject to the landing point environmental limit, while again taking off, needs manually to adjust fuselage and makes the aircraft rotor planar horizontal, and this has just increased the operation complexity of aircraft flight.

Summary of the invention

The invention provides a kind of technical scheme that can overcome the above problems.

The present invention realizes in the following way:

A kind of four rotor unmanned aircrafts with the ball-type protective case, comprise the criss-cross aircraft fuselage, the axostylus axostyle of criss-cross aircraft fuselage of take is X-axis, another root axostylus axostyle is Y-axis, it is characterized in that: described aircraft also comprises protecting sheathing, internal layer bracket loop on X-axis and the outer bracket loop on Y-axis, described X-axis axostylus axostyle two ends are fixed on the internal layer bracket loop, described internal layer bracket loop can be around the X-axis spindle rotation, described Y-axis axostylus axostyle two ends are rotationally connected through internal layer bracket loop and outer bracket loop, described Y-axis axostylus axostyle and internal layer bracket loop are flexibly connected, described protecting sheathing is fixedly connected with internal layer bracket loop or outer bracket loop, described protecting sheathing is spherical.

As further innovation of the present utility model, described X-axis axostylus axostyle and bracket loop are dynamically connected by bearing rotary, and described Y-axis axostylus axostyle and bracket loop are dynamically connected by bearing rotary.

As further innovation of the present utility model, described internal layer bracket loop and outer bracket loop are annulus.

As further innovation of the present utility model, described protecting sheathing is hard metal net or elastoplast net.

Beneficial effect of the present invention is:

1. the utility model is by arranging protecting sheathing and X, the Y bracket loop, screened housing guarantees that aircraft is in flight, land and while falling aircraft fuselage within spherical guard net, and while landing, fuselage can not blocked by rough earth's surface, aircraft fuselage can be because the weight of cross structure center aircraft body structure in protecting sheathing simultaneously, can allow aircraft in flight, when landing and taking off, can the similar center of gravity by self keep the steady of body, make it the maintenance level, facilitate aircraft landing under any attitude and environment, also having eliminated lands can't restart because of the inclination of aircraft fuselage smoothly, the time loss and the inconvenience that have reduced artificial adjustment and caused, also reduced the operation easier of quadrotor.

2. the turning point place rotated adopts bearing to substitute dryness friction in the past, has guaranteed the smooth and reliability rotated, and has also increased the tolerance of aircraft to varying environment, has extended the cycle of maintenance simultaneously.

3. protecting sheathing is set to spherically, and aircraft also can be turned round normally under many complex environments, and simultaneously spherical windage is angular less than some rules, the spherical reliability of aircraft fuselage when rotating that also increased.

4. bracket loop adopts annular arrangement, and than square other shapes such as grade, annular arrangement has the smooth row of better rotation and stability.

5. protecting sheathing adopts hard metal net or elastoplast net, has guaranteed the shatter-resistant performance of aircraft, has also further improved the tolerance of aircraft to varying environment simultaneously.

The accompanying drawing explanation

Fig. 1 is the physical structure schematic diagram.

Fig. 2 is internal layer bracket loop schematic diagram.

Shown in Fig. 1, Fig. 2 lower right corner, coordinate is the fuselage system of axes, and x axle, y axle are respectively two rotor arm place straight lines.

The specific embodiment

As shown in Figure 1; 1 is netted protecting sheathing; quadrotor and rotor and all the other all parts are the inside in outer layer protection net 1 all; for realizing that the comprehensive of four rotor plane rotates freely; and the impact of avoiding the landing point surface condition again to take off on aircraft, so design outer layer protection net is globosity.

As depicted in figs. 1 and 2,6 is the internal layer bracket loop, bearing 2, bearing 3 are fixed on internal layer bracket loop 6, two rotor arms on fuselage coordinate x axle are connected with bearing 2, bearing 3, two rotor arm ends on the y direction of principal axis are not connected with the internal layer bracket loop, so just realized rotor arm on the x axle along the rotation of x axle, namely can make four rotor plane along the 360 degree rotations of x axle; Bearing 4, bearing 5 are fixed on outer bracket loop 7; Internal layer bracket loop 6 is connected with outer bracket loop 7 with bearing 5 by bearing 4, so just can make the 360 degree rotations of four rotor plane along the y axle; So just realized the all-directional rotation of four rotor plane.

As shown in fig. 1,9 is article carrying platform, for the devices such as master control board, battery, wireless communication module are installed; The center of gravity that point 8 is aircraft, be positioned at the below of four rotor plane, and be positioned on the z axle; During device on article carrying platform 9 is installed, the setting device installation site, make center of gravity be positioned at a little 8 places repeatedly; Like this, aircraft lands or while falling, due to Action of Gravity Field, aircraft four rotor arm vertical directions are stressed to be equated, four rotor plane remain horizontality, so just can unattended automatic adjustment four rotor plane levels, ready for again taking off.

This quadrotor that carries out the special machine design, can overcome well that general aircraft exists fragile, can't again take off, need while taking off the artificial defect of adjusting the rotor plane level after falling, guarantee that there is the normal operation in the indefinite external interference of defect, intensity of a great variety, physical construction Shortcomings and dangerous complicated various situations such as flight environment of vehicle in aircraft at control algorithm, has improved range of use and the degree of automation of aircraft greatly; So the present invention has very high economic benefit and Practical Benefit, in future, can be with a wide range of applications.

Claims

1. four rotor unmanned aircrafts with the ball-type protective case, comprise the criss-cross aircraft fuselage, and the axostylus axostyle of criss-cross aircraft fuselage of take is X-axis, and the perpendicular axostylus axostyle of another root and X-axis is Y-axis, and the intersection point of X-axis, Y-axis is round dot, it is characterized in that: also comprise protecting sheathing (1), internal layer bracket loop (6) and outer bracket loop (7), the two ends of described X-axis axostylus axostyle are located by connecting with internal layer bracket loop (6) respectively, described internal layer bracket loop (6) can be around the X-axis spindle rotation, described Y-axis axostylus axostyle two ends are through being rotationally connected with outer bracket loop (7) after internal layer bracket loop (6), described Y-axis axostylus axostyle and internal layer bracket loop (6) are flexibly connected, internal layer bracket loop (6) does not rotate with the rotation of Y-axis axostylus axostyle, described protecting sheathing is fixedly connected with internal layer bracket loop (6) or outer bracket loop (7), described protecting sheathing (1) is spherical.

2. four rotor unmanned aircrafts with the ball-type protective case as claimed in claim 1; it is characterized in that: the two ends of described X-axis axostylus axostyle are rotationally connected by bearing and internal layer bracket loop (6), and the two ends of described Y-axis axostylus axostyle are rotationally connected by bearing and outer bracket loop (7).

3. four rotor unmanned aircrafts with the ball-type protective case as claimed in claim 1, it is characterized in that: described internal layer bracket loop and outer bracket loop are annulus.

4. four rotor unmanned aircrafts with the ball-type protective case as claimed in claim 1, it is characterized in that: described protecting sheathing is hard metal net or elastoplast net.