CN206141250U - Electronic amphibious aircraft - Google Patents
Electronic amphibious aircraft Download PDFInfo
- Publication number
- CN206141250U CN206141250U CN201621137622.XU CN201621137622U CN206141250U CN 206141250 U CN206141250 U CN 206141250U CN 201621137622 U CN201621137622 U CN 201621137622U CN 206141250 U CN206141250 U CN 206141250U
- Authority
- CN
- China
- Prior art keywords
- motor
- rotor
- flight
- land
- control
- 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.)
- Expired - Fee Related
Links
Landscapes
- Toys (AREA)
Abstract
The utility model discloses electronic amphibious aircraft is formed by two parts device combination of empty land, need during the use to carry out assembly combination with the land line structure body and flight structure, fix, then can use the remote controller to control the motion of this device, when being in the land, reach the land mesh of freely walking through remote control unit control wheel slew velocity, when when aerial, the air travel of remote control unit control this system of procedure is flown to control through the installation, make its demand that satisfies the work of going in various different environment, simple structure, convenient operation, be applicable to dual -usely, the security against fire, survey rescue and tourist recreation.
Description
Technical field
This utility model is related to the field of land sky unmanned plane, and particularly a kind of electronic amphibious aircraft can be applicable to military affairs
The fields such as monitoring, public security investigation, deep woods fire prevention, security against fire, site reconnaissance, emergency aid, tourism shooting, electric power troubleshooting.
Background technology
With China's support energetically in recent years, in recent years aeronautical and space technology growth momentum is swift and violent, and technology constantly develops
It is perfect.Unmanned vehicle independent airmanship is always for many years the focus of aviation field research, and deposits in actual applications
In substantial amounts of demand, major advantage includes：System low cost of manufacture, in the task of execution, personnel's injury is little, with excellent behaviour
Control property and motility etc..And rotary aircraft, compared with Fixed Wing AirVehicle, its advantage also includes：Aircraft takeoff and landing
Requisite space is few, and the controllability under the intensive environment of barrier is strong, and attitude of flight vehicle holding capacity is high.Small-sized four rotor flies
Row device it is advantageous that its frame for movement is relatively simple compared with other aircraft, and need to only pass through four motors of change
Rotating speed is capable of achieving control, and flight maneuver ability is more flexible.On the other hand, small-sized quadrotor has higher behaviour
Control performance, and take off with small area, spiral, fly, the ability of landing.But disclosure satisfy that various environmental aspects
Aircraft always is the focus and difficult point of research.
Using four rotors as the direct driving force source flown, rotor is symmetrically distributed in before body quadrotor
Afterwards, left and right four direction, four rotors are in sustained height plane, and the structure and radius of four rotors are all identical, rotor 1
With the rotate counterclockwise of rotor 3, rotor 2 and rotor 4 turn clockwise, and four motors are symmetrically installed on the support of aircraft
End, support intermediate space lays flight-control computer and external equipment.But inevitably, quadrotor has one
Fatal weakness, i.e., can only carry out airflight, and adaptive capacity to environment is poor.
Utility model content
In view of the shortcomings of the prior art, this utility model provides a kind of electronic amphibious aircraft, by land row structure
The simple connection of body and flight structure body, the characteristics of realize land and air double-used so as to meet the travel operation in various varying environments
Demand, structure is relatively easy, is easy to operation, it is adaptable to dual-use, security against fire, exploration rescue and tourist recreation.
This utility model structure includes：Land row structure, flight structure body and remote control unit, have four above flight structure body
Individual aperture land row structure carries out assembling and combines with flight structure body by bolt, and is powered using same power supply；
Described flight structure body includes rotor, support, flight motor and flies control device, and flight structure body is using four rotations
Used as the direct driving force source flown, rotor is symmetrically distributed in the four direction around of body to the wing, and four rotors are in same
Elevation plane, and the structure and radius of four rotors are all identical, rotor one and the rotate counterclockwise of rotor three, rotor two and rotor four
Turn clockwise, rotor is arranged on flight motor, and four flight motors are symmetrically installed on the bracket end of aircraft, in support
Between space lay fly control device；
Described winged control device includes that radio-frequency communication module, processor, x-y axle gyroscopes, z-axis gyroscope and three axles accelerate
Degree meter；
Described winged control device adopts APM flight control systems, uses two-stage pid control mode, and the first order is navigation level,
The second level is controlled stage.Navigation level PID control seeks to solve the problems, such as aircraft such as how predetermined air speed flight in predetermined altitude,
And the target problem that flies to of how turning, the angle of pitch, throttle and the roll angle of aircraft needs are provided by algorithm, then give control
Level processed is controlled resolving.The task of controlled stage is exactly the angle of pitch, throttle, the roll angle according to needs, current with reference to aircraft
Attitude algorithm goes out suitable servos control amount, makes aircraft keep the predetermined angle of pitch, roll angle and deflection.Finally by steering wheel
Controlled quentity controlled variable is converted into specific semaphore and is exported to steering wheel by controlled stage.It is noted that the controlled quentity controlled variable of throttle is in navigation
What level determined.Throttle Opening Control amount do not resolved in controlled stage, and directly give servos control level.And for the control of rudder
System, navigation level does not provide the resolving of rudder amount, but by controlled stage directly calculation rudder controlled quentity controlled variable, rudder is then given again
Machine controlled stage.
The sensing node of described gyroscope, accelerometer and GPS employings, sensing aspect is mainly used in collection body fortune
The dynamic collecting work with flying hour evidence, and data are converted into into the signal of telecommunication, hardware circuit can be initialized after sensing node is powered,
Afterwards taken at regular intervals data is activation gives attitude algorithm system；
The control node that described processor is adopted, the data fusion that collection is come is calculated, and draws body in current shape
State information.Such as body speed, direction and horizontal plane angle keep body to be maintained at setting state；
Described land row mechanism body includes wheel, land row motor, carbon fiber car body and land control device, and land control device is arranged on
Carbon fiber vehicle body, direct driving force source of the land row motor as wheel；
Described land sky device includes radio receiver and wireless launcher；
The connection ， Hong of described six lines of radio receiver -connect positive and negative, one group of adjacent HUANGBAI(sic) line connects motor, altogether may be used
Two motors of control；
Two button controls, one motor one up and down on the left of described wireless launcher；The button of left and right two on right side
Controlled motor two, presses the button above wireless launcher left side, and motor should be rotated forward, if not right, by the Huang on motor
White line is exchanged. and same, the button for pressing the wireless launcher right side left side is to rotate forward by motor two；Wireless sending out is pressed simultaneously
The button of button and the wireless launcher right side left side above injection device left side, Herba Plantaginis enter；Press wireless launcher simultaneously
The button on the button and wireless launcher right side right side below left side, car is retreated;Simultaneously the contrary button in the left and right sides is pressed,
Car pivot turn is balance burden while lay a motor, two motors work can just reach target effect simultaneously.
Described wireless launcher circuit uses HQ516TX-CQB integrated circuits；
Described radio receiver circuit uses HQ516RX integrated circuits；
A length of 240 millimeters of described carbon fiber car body, a width of 195 millimeters, a height of 70 millimeters, described rotor it is a length of
250 millimeters, a width of 185 millimeters.
The beneficial effects of the utility model：This utility model is combined by land sky two parts device, need to be by land when using
Row structure and flight structure body carry out assembling combination, are fixed, and then can be controlled this device fortune using remote control
It is dynamic.When in land, control wheel velocity of rotation by remote control unit and reach land freely to walk purpose.When in aerial
When, the airflight of the system is controlled by installing the remote control unit for flying control program.This utility model is being connected by simple, real
Existing land and air double-used the characteristics of so as to meet the demand of the travel operation in various varying environments, with simple structure, conveniently make
With the suitability is wide, is easy to the advantage for operating.This utility model does not need mechanical linkage to change inclining during propeller rotational
Rake angle, which simplifies design and the maintenance work of helicopter, and the configuration mode of four motors can allow each propeller
Single propeller of the diameter less than conventional remote controls helicopter（Tail-rotor is not included）, so as to reduce flight course in produce it is dynamic
Energy.This can allow helicopter to reduce when bumping against other objects and damage, and less airscrew diameter means plane-hop more
Safety.
Description of the drawings
Fig. 1 is four rotor flying version schematic diagrams；
Fig. 2 moves schematic diagram for four rotor flying structures along each degree of freedom；
Fig. 3 is four rotor flying structures and land route structure power supply the principle figure；
Fig. 4 is that four rotor flying structures are launched and receive signal principle figure；
Fig. 5 is four rotor flying structure plane graphs；
Fig. 6 is land row structure schematic diagram；
Fig. 7 is land row module wireless launcher circuit diagram；
Fig. 8 is land row module radio receiver circuit diagram；
In figure：1 rotor, 2 supports, 3 flight motors, 4 fly control device, 5 wheels, 6 land row motors, 7 carbon fiber car bodies, 8 lands
Control device.
Specific embodiment
A kind of detailed construction of electronic amphibious aircraft of this utility model is illustrated in conjunction with the embodiments.
As shown in Figure 1 this utility model structure includes：Land row structure, flight structure body and remote control unit, flight structure
There are four apertures above body, land row structure carries out assembling and combines with flight structure body by bolt, and enters using same power supply
Row power supply；
Described flight structure body includes rotor 1, support 2, flight motor 3 and flies control device 4, and flight structure body adopts four
Used as the direct driving force source flown, rotor 1 is symmetrically distributed in the four direction around of body, four rotors 1 to individual rotor 1
In sustained height plane, and the structure and radius of four rotors are all identical, rotor one and the rotate counterclockwise of rotor three, rotor two
Turn clockwise with rotor four, rotor 1 is arranged on flight motor 3, four flight motors 3 are symmetrically installed on propping up for aircraft
On frame 2, the intermediate space of support 2 is laid and flies control device 4；
Described winged control device 4 adds including radio-frequency communication module, processor, x-y axle gyroscopes, z-axis gyroscope and three axles
Velometer；
Described winged control device 4 adopts APM flight control systems, uses two-stage pid control mode, and the first order is navigation
Level, the second level is controlled stage.Navigation level PID control seeks to solve aircraft such as how predetermined air speed and flies asking in predetermined altitude
Topic, and the target problem that flies to of how turning, by algorithm the angle of pitch, throttle and the roll angle of aircraft needs, Ran Houjiao are given
Resolving is controlled to controlled stage.The task of controlled stage is exactly, according to the angle of pitch, throttle, the roll angle for needing, to work as with reference to aircraft
Front attitude algorithm goes out suitable servos control amount, makes aircraft keep the predetermined angle of pitch, roll angle and deflection.Finally by
Controlled quentity controlled variable is converted into specific semaphore and is exported to steering wheel by servos control level.It is noted that the controlled quentity controlled variable of throttle be
Navigation level determines.Throttle Opening Control amount do not resolved in controlled stage, and directly give servos control level.And for rudder
Control, navigation level do not provide the resolving of rudder amount, but by controlled stage directly calculation rudder controlled quentity controlled variable, then hands over again
Give servos control level；
The sensing node of described gyroscope, accelerometer and GPS employings, sensing aspect is mainly used in collection body fortune
The dynamic collecting work with flying hour evidence, and data are converted into into the signal of telecommunication, hardware circuit can be initialized after sensing node is powered,
Afterwards taken at regular intervals data is activation gives attitude algorithm system；
The control node that described processor is adopted, the data fusion that collection is come is calculated, and draws body in current shape
State information.Such as body speed, direction and horizontal plane angle keep body to be maintained at setting state；
Described land row mechanism body includes wheel 5, land row motor 6, carbon fiber car body 7 and land control device 8, land control device 8
Inside carbon fiber car body 7, direct driving force source of the land row motor 6 as wheel 5；
Described land sky device 8 includes radio receiver and wireless launcher；
The connection ， Hong of described six lines of radio receiver -connect positive and negative, one group of adjacent HUANGBAI(sic) line connects motor, altogether may be used
Two motors of control；
Two button controls, one motor one up and down on the left of described wireless launcher；The button of left and right two on right side
Controlled motor two, presses the button above wireless launcher left side, and motor should be rotated forward, if not right, by the Huang on motor
White line is exchanged. and same, the button for pressing the wireless launcher right side left side is to rotate forward by motor two；Wireless sending out is pressed simultaneously
The button of button and the wireless launcher right side left side above injection device left side, Herba Plantaginis enter；Press wireless launcher simultaneously
The button on the button and wireless launcher right side right side below left side, car is retreated;Simultaneously the contrary button in the left and right sides is pressed,
Car pivot turn is balance burden while lay a motor, two motors work can just reach target effect simultaneously.
Described wireless launcher circuit uses HQ516TX-CQB integrated circuits；
Described radio receiver circuit uses HQ516RX integrated circuits；
A length of 240 millimeters of described carbon fiber car body 7, a width of 195 millimeters, a height of 70 millimeters, the length of described rotor 1
For 250 millimeters, a width of 185 millimeters.
Operation principle of the present utility model
Electronic amphibious aircraft is combined by empty land two parts device, need to be by land row structure and flight structure when using
Body carries out assembling combination, is fixed, and then can be controlled the motion of this device using remote control.When in land,
Wheel velocity of rotation is controlled by remote control unit and reaches land freely to walk purpose.When being in aerial, by installing control journey is flown
The remote control unit of sequence controls the airflight of the system.
Electronic amphibious aircraft, it is typically characterised by having four with propeller on four summits of cross fixing axle
Motor, can in the air realize the action such as hover, roll, go off course and move up and down as Aeschna melanictera.Relative to ratio
For the close conventional remote controls helicopter of size, aircraft does not need mechanical linkage to change inclining during propeller rotational
Rake angle, which simplifies design and the maintenance work of helicopter, and the configuration mode of four motors can allow each propeller
Single propeller of the diameter less than conventional remote controls helicopter（Tail-rotor is not included）, so as to reduce flight course in produce it is dynamic
Energy.This can allow helicopter to reduce when bumping against other objects and damage.For Miniature remote control aircraft, less propeller is straight
Footpath means that plane-hop is safer.
It is a kind of remotely-piloted vehicle by embedded Control on electronic amphibious aerocraft real.Its hardware include fuselage and
Remote control.Fuselage critical piece has processor, X-Y axle gyroscopes, Z axis gyroscope, X-Y-Z axis accelerometers, radio communication mould
Block and four motor.Software adopts the RTOS real time operating systems of uc/OS-II.In flight course, CPU receives remote control
The flight directive that device sends, while the measurement result of gyroscope and accelerometer can be read, then sends signal adjustment motor
Rotating speed, so as to allow helicopter according to operator wish fly.
Electronic amphibious aircraft has 6 degree of freedom in space（Translate and spinning movement along 3 coordinate axess respectively）, this
The control of 6 degree of freedom can be realized by adjusting the rotating speed of different motors.The motor 1 of quadrotor and motor
While 3 rotate counterclockwise, motor 2 and motor 4 turn clockwise, thus when aircraft balance flight when, gyroscopic effect and
Air force moment of torsion effect is cancelled.Four-axle aircraft major impetus can be somebody's turn to do from four rotors on body by control
The direction of rotation of the four rotors driving force different from the different generations of speed, the active force control after the synthesis on four direction
The kinestate of body processed.So wanting precise control body attitude, it is necessary to the size of precise control direction driving force.
Sporting flying principle：
Motor 1 and motor 3 make rotate counterclockwise, and motor 2 and motor 4 turn clockwise, it is stipulated that square along x-axis
It is referred to as travelling forward to motion, arrow represents that this motor speed is improved above the plane of movement of rotor, in lower section this electricity is represented
Machine rotating speed declines.
Vertical movement：Two direction of motor rotation on diagonal are identical, adjacent two motors then rotation direction
On the contrary.When identical positioned at two motor speeds on diagonal, motor rotates the counteracting force for producing and just cancels each other out, and only produces
The downward thrust of life.Increase the output of four motors simultaneously, rotor rotating speed increases the pulling force increase so that total, works as total pulling force
When being enough to overcome the weight of whole machine, quadrotor just liftoff vertical ascent；Conversely, while reducing the output work of four motors
Rate, quadrotor then vertically declines, until balance landing, realizes the vertical movement along z-axis.When external disturbance amount is
When zero, when the lift that rotor is produced is equal to the deadweight of aircraft, aircraft just keeps floating state.
Elevating movement：When motor 1 and motor 4 rotating speed less than motor 3 and motor 2 rotating speed, then motor 1 and the institute of motor 4
In direction, lift is less than another side, therefore body is inclined to the direction of motor 1 and 4.The regulation direction is front, i.e., fly before body, otherwise
Fly backward.The rotating speed of motor 1 rises, and the rotating speed of motor 3 declines（Knots modification size should be equal）, motor 2, motor 4
Rotating speed keeps constant.Because the lift of rotor 1 rises, the drop in lift of rotor 3, the unbalanced moments of generation make fuselage around
Y axles rotate, and in the same manner, when the rotating speed of motor 1 declines, the rotating speed of motor 3 rises, and fuselage is just around y-axis to another direction rotation
Turn, realize the elevating movement of aircraft.
Laterally distribution：Change the rotating speed of motor 2 and motor 4, keep the rotating speed of motor 1 and motor 3 constant, then can make
Fuselage rotates around x axles（Forward and reverse）, realize the rolling movement of aircraft.
Yawing rotation：Because air drag effect can form the reaction torque contrary with rotation direction during rotor rotational,
In order to overcome reaction torque to affect, two in four rotors can be made to rotate forward, two reversions, and each rotor rotational on diagonal
Direction is identical.The size of reaction torque is relevant with rotor rotating speed, when four motor speeds are identical, the reaction torque that four rotors are produced
Mutually balance, quadrotor does not rotate；When four motor speeds are incomplete same, unbalanced reaction torque can draw
Play quadrotor to rotate.If identical along de-rotation motor speed, horizontal torsion is offset.If rotating clockwise motor speed
More than motor is rotated counterclockwise, then body is because be subject to counteracting force rotate counterclockwise in the horizontal direction.Conversely, then clockwise
Rotation.When the rotating speed of motor 1 and motor 3 rises, when the rotating speed of motor 2 and motor 4 declines, rotor 1 and rotor 3 pairs
The reaction torque of fuselage is more than the reaction torque of rotor 2 and rotor 4 to fuselage, and fuselage just turns in the presence of reaction torque more than needed around z-axis
It is dynamic, the yawing rotation of aircraft is realized, turn to contrary with the steering of motor 1, motor 3.
Move forward and backward：Want the motion around realizing aircraft in the horizontal plane, it is necessary in the horizontal plane to flight
Device applies certain power.Increase the rotating speed of motor 3, increase pulling force, it is corresponding to reduce the rotating speed of motor 1, reduce pulling force, while protecting
Hold other two motor speeds constant, reaction torque still will keep balance.There is a certain degree of inclination first in aircraft, so as to
Make rotor thrust produce horizontal component, therefore the front winged motion of aircraft can be realized.Flight and flight forward just phase backward
Instead.（Aircraft can also produce the horizontal movement along x, y-axis while pitching, tumbling motion is produced.）
Tendency motion：Due to symmetrical configuration, thus tendency flight operation principle with move forward and backward it is just the same.
Land row motion principle：
Two button controls, one motor one up and down on the left of wireless launcher；The button control electricity of left and right two on right side
Machine two, presses the button above wireless launcher left side, and motor should be rotated forward, if not right, by the HUANGBAI(sic) line pair on motor
Adjust. same, the button for pressing the wireless launcher right side left side is to rotate forward by motor two；Press wireless launcher simultaneously
The button on the button and wireless launcher right side left side above left side, Herba Plantaginis enter；Under pressing wireless launcher left side simultaneously
The button in face and the button on the wireless launcher right side right side, car is retreated;Press the contrary button in the left and right sides, car original place simultaneously
Turn, be balance burden while one motor of placement, two motors can just reach target effect while working, by controlling wheel
Velocity of rotation reaches land and freely walks purpose.
As shown in Figure 7 described wireless launcher is represented respectively using HQ516TX-CQB integrated circuit A0 and A1
Left and right two motor, and B0 and B1 control respectively rotating and reverse for two motor.When A0 and B0 is connected
When, left motor is rotated forward;When A1 and B0 is connected, right motor is rotated forward;When A0 and B1 is connected, left motor is anti-
Turn;When A1 and B1 is connected, right motor reversion.By the combination of these four control functions, before realizing remote operated vehicle
Enter, retreat, turning left and right-hand rotation function.A3 ends are that transmitter module is totally switched.Shown is that radio transmitter is logical in transmitting terminal
The amplification of resistance R1, R4 and audion C945 is crossed, sends different using control end A0, A1, the difference of B0, B1 signal
Control frequency, the signal of receiving terminal is controlled by this；
As shown in Figure 8 described radio receiver is made up of using HQ516RX integrated circuits 17 pins, wherein
A0, A1, A2, A3 control respectively rotating and reverse for left and right two motor.When A0, A2 receive current signal simultaneously,
Two motor are rotated forward, so that remote operated vehicle advances;When A1, A3 receive current signal simultaneously, the reversion of two motor, so as to
Retreat remote operated vehicle;It is left when A0, A3 receive current signal (or only A0 or A3 receives current signal) simultaneously
(when only A0 or A3 is received, only left motor is rotated forward or right motor is anti-for motor rotating forward and the reversion of right motor
Turn) so that remote operated vehicle is turned right;When A1, A2 receive current signal simultaneously, (or only A1 or A1 receives electric current
Signal) when, (when only A0 or A3 is received, only left motor is inverted or right for left motor reversion and the rotating forward of right motor
Motor is rotated forward) so that remote operated vehicle is turned left.By the Signal Regulation of this 4 control ends, dolly right-hand rotation, a left side are realized
Turn, move forward and backward function.When dolly receiver module receives the signal from transmitter module, by elements such as VT1, L2
Tuning, then by the amplification of amplifier IC remote control amplifying circuit ABERX69A, input signal control end E3, by integrated electricity
Road HQ516RX is controlled to input signal, so as to control signal output A0, A1, the output of A2, A3 signal code；
When emitter sends left motor to be rotated forward, through receiving circuit decoding, the A0 ports output high level of HQ516RX.This
When, turn on VT15 through resistance R1, its collector potential declines, and by resistance R4, turns on VT12, while by
Raising in VT15 emitter stages current potential turns on VT13.Now power supply Jing VT12, motor, VT13 and power cathode (are grounded
End) circuit communication, left motor rotates forward.Conversely, when emitter sends left motor and inverts, decode through receiving circuit,
The A1 ports output high level of HQ516RX now, through resistance R2 VT16 is turned on, and its collector potential declines, and leads to
Resistance R3 is crossed, VT14 is turned on, simultaneously because VT16 emitter stages current potential is raised VT113 is turned on.Now power supply Jing
The circuit communication of VT14, motor, VT11 and power cathode (earth terminal), left motor reversion；The working method of right motor
As the working method of left motor；
Software design：
In APM flight control systems, two-stage pid control mode is used, the first order is navigation level, and the second level is control
Level, the calculating of level of navigating concentrates on the update_current_flight_mode of medium_loop () and fastloop ()
In () function, controlled stage is concentrated in the stabilize () function of fastloop ().Navigation level PID control seeks to solve
Aircraft such as how fly in the problem of predetermined altitude by predetermined air speed, and the target problem that flies to of how turning, and is given by algorithm
The angle of pitch, throttle and roll angle that aircraft needs, then give controlled stage and are controlled resolving.The task of controlled stage is exactly foundation
The angle of pitch of needs, throttle, roll angle, with reference to the current attitude algorithm of aircraft suitable servos control amount is gone out, and keeps aircraft
The predetermined angle of pitch, roll angle and deflection.Controlled quentity controlled variable is converted into into tool finally by servos control level set_servos_4 ()
The pwm semaphores of body are exported to steering wheel.It is noted that the controlled quentity controlled variable of throttle is determined in navigation level.In controlled stage not
Throttle Opening Control amount is resolved, and directly gives servos control level.And for the control of rudder, the navigation level not side of being given
To the resolving of rudder amount, but by controlled stage directly calculation rudder controlled quentity controlled variable, servos control level is then given again.
Sensing node：Sensing aspect is mainly used in the collecting work of collection body movement and flying hour evidence, including top
Data are simultaneously converted into the signal of telecommunication by spiral shell instrument, accelerometer, GPS etc., and hardware circuit can be initialized after sensing node is powered, Zhi Houding
Phase gathered data is sent to attitude algorithm system.
Control node：Control node will gather the data fusion calculating for coming, and draw body in current status information.Such as machine
Body speed, direction and horizontal plane angle etc. keep body to be maintained at setting state.
This utility model is further described below in conjunction with accompanying drawing：
Battery
Voltage:14.8V/16.8V capacity:4000mAh continuous discharges:25C (66A) weight is about:360g sizes (mm):
L137*W42*H28
Motor
Title:Bright space X2216 parameters:KV values:880 1,100 1,250 1,400 2450 diameters of axle:3mm weight:68g
Maximum pull:1500g.
Test data：
| Test oar (in) | Voltage (V) | Load current (A) | Pulling force (G) | Power is imitated（G/W） |
| 1045 | 10 | 23.5 | 1200 | 5.1 |
| 1045 | 11 | 26.5 | 1350 | 4.63 |
| 1045 | 12 | 30.2 | 1520 | 4.19 |
Electricity adjusts fan-out capability：Follow current 30A, transient current 40A（No less than 10 seconds）；Power input：2-3 section lithium electricity
Pond group or 5-9 section nickel-hydrogen/nickel-cadmium battery groups；BEC is exported：5V 2A （Linear voltage stabilization pattern-linear mode）；Throttle
Signal frequency range（Refresh rate）：50Hz—432Hz；Maximum speed：2 210000 revs/min of pole motors, 6 pole motors
70000 revs/min, 12 35000 revs/min of pole motors；Size：68mm（It is long）*25mm（It is wide）*8mm（It is high）；Weight：37g；
Refresh rate：621Hz；
Carbon plate, carbon pipe
Model：3k materials：Carbon fiber heatproof：500（℃）Color：Black product certification：3C/UL angularities：0.5
（mm）
Coefficient of elasticity（Representative value）：Plain weave carbon fiber plate of 20 msi (138 Gpa) has the coefficient of elasticity of 6msi
Ultimate tensile strength（Representative value）：500 ksi(3.5 Gpa)
Bulk density：83 lbs/ft3
Proportion：1.4-1.5g/cm
High temperature resistant：2500 degree
Voltage stabilizing meter
Fan-out capability：5V 3A or 6V 3A（Can be switched by jumper cap）；
Power input：5.5-26V (2-6 section lithium battery groups or 5-18 section nickel-hydrogen/nickel-cadmium battery groups)
Size：43mm*17mm*7mm (long * width * is high)
Weight：11g
Ripple：Less than 50mVp-p（2A/12V）.
Claims (6)
1. electronic amphibious aircraft includes：Land row structure, flight structure body and remote control unit, there is four above flight structure body
Aperture land row structure carries out assembling and combines with flight structure body by bolt, and is powered using same power supply；
Described flight structure body includes rotor, support, flight motor and flies control device, and flight structure body is made using four rotors
For the direct driving force source of flight, rotor be symmetrically distributed in body around four direction, four rotors are in sustained height
Plane, and the structure and radius of four rotors are all identical, rotor one and the rotate counterclockwise of rotor three, rotor two and the up time of rotor four
Pin rotates, and rotor is arranged on flight motor, and four flight motors are symmetrically installed on empty in the middle of the bracket end of aircraft, support
Between lay fly control device；
Described land row mechanism body includes wheel, land row motor, carbon fiber car body and land control device, and it is fine that land control device is arranged on carbon
Dimension vehicle body, direct driving force source of the land row motor as wheel.
2. electronic amphibious aircraft according to claim 1, it is characterised in that：Described winged control device includes radio communication
Module, processor, x-y axle gyroscopes, z-axis gyroscope and three axis accelerometer.
3. electronic amphibious aircraft according to claim 1, it is characterised in that：Described land sky device includes wireless receiving
Device and wireless launcher.
4. electronic amphibious aircraft according to claim 3, it is characterised in that：Described six lines of radio receiver
Connection ， Hong -connect positive and negative, one group of adjacent HUANGBAI(sic) line connects motor, altogether can control two motors；It is balance burden while laying one
Individual motor, two motors work simultaneously can just reach target effect.
5. electronic amphibious aircraft according to claim 3, it is characterised in that：Described wireless launcher circuit is adopted
Be HQ516TX-CQB integrated circuits；Described radio receiver circuit uses HQ516RX integrated circuits.
6. electronic amphibious aircraft according to claim 1, it is characterised in that：A length of the 240 of described carbon fiber car body
Millimeter, a width of 195 millimeters, a height of 70 millimeters, a length of 250 millimeters, a width of 185 millimeters of described rotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621137622.XU CN206141250U (en) | 2016-10-19 | 2016-10-19 | Electronic amphibious aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621137622.XU CN206141250U (en) | 2016-10-19 | 2016-10-19 | Electronic amphibious aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206141250U true CN206141250U (en) | 2017-05-03 |
Family
ID=58622890
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621137622.XU Expired - Fee Related CN206141250U (en) | 2016-10-19 | 2016-10-19 | Electronic amphibious aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206141250U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107990939A (en) * | 2017-12-04 | 2018-05-04 | 北京理工大学 | A kind of multipurpose real-time monitoring system for complex environment based on Internet of Things |
| CN108189633A (en) * | 2017-12-20 | 2018-06-22 | 深圳先进技术研究院 | A kind of land and air double-used machine people Reconnaissance system |
-
2016
- 2016-10-19 CN CN201621137622.XU patent/CN206141250U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107990939A (en) * | 2017-12-04 | 2018-05-04 | 北京理工大学 | A kind of multipurpose real-time monitoring system for complex environment based on Internet of Things |
| CN108189633A (en) * | 2017-12-20 | 2018-06-22 | 深圳先进技术研究院 | A kind of land and air double-used machine people Reconnaissance system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Phan et al. | Towards the long-endurance flight of an insect-inspired, tailless, two-winged, flapping-wing flying robot | |
| US11999460B2 (en) | Unmanned ellipsoid multi-rotor airship and respective method of construction | |
| CN102917765B (en) | Planform configuration for stability of a powered kite and a system and method for use of same | |
| US8167234B1 (en) | Insect-like micro air vehicle having perching, energy scavenging, crawling, and offensive payload capabilities | |
| EP1688167B1 (en) | Model airplane | |
| CN103387051B (en) | Quadrotor | |
| CN206242832U (en) | Land and air double-used quadrotor | |
| CN106114853A (en) | A kind of push-button aircraft | |
| CN101208513A (en) | Ultralight airfoils for wind energy conversion | |
| US8579226B2 (en) | Power assisted toy flying device | |
| CN108146608B (en) | Rotor and inflatable air bag combined type floating aircraft with vector thrust | |
| Krashanitsa et al. | Flight dynamics of a flapping-wing air vehicle | |
| CN206141250U (en) | Electronic amphibious aircraft | |
| CN103950537A (en) | Control method and device of variable pitch aircraft | |
| Gupta et al. | Design and development of remote controlled autonomous synchronic hexaroter aerial (ASHA) robot | |
| JP2009234551A (en) | Vertical takeoff and landing aircraft having main wing installation angle changing device | |
| CN109606680A (en) | The multi-modal aircraft of a kind of pair of hair full vector and flight system | |
| CN203528810U (en) | Unmanned plane | |
| CN108427432B (en) | Non-planar three-rotor aircraft and control method | |
| CN107757914A (en) | Double dynamical VTOL fixed-wing unmanned plane | |
| US20110089287A1 (en) | Power assisted toy flying device | |
| CN202753709U (en) | Upright vertical take-off and landing aircraft | |
| CN113200145B (en) | Portable micro coaxial double-propeller unmanned aerial vehicle and control method thereof | |
| CN111891353B (en) | Six-degree-of-freedom motion full-decoupling control micro unmanned aerial vehicle structure based on vector thrust | |
| CN102756806A (en) | Upright-standing vertical take-off and landing airplane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170503 Termination date: 20171019 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |