CN208498790U - VTOL formula aircraft and hovercar - Google Patents
VTOL formula aircraft and hovercar Download PDFInfo
- Publication number
- CN208498790U CN208498790U CN201820771757.4U CN201820771757U CN208498790U CN 208498790 U CN208498790 U CN 208498790U CN 201820771757 U CN201820771757 U CN 201820771757U CN 208498790 U CN208498790 U CN 208498790U
- Authority
- CN
- China
- Prior art keywords
- frame body
- gyro
- axis
- formula aircraft
- propeller
- 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.)
- Active
Links
Landscapes
- Gyroscopes (AREA)
Abstract
The utility model relates to the technical fields of aircraft, provide a kind of VTOL formula aircraft, comprising: frame body, further includes: gyro is arranged on frame body and can be rotatable around its axis；Driver is arranged on frame body and for driving gyro to rotate；And propeller, it is arranged on frame body and provides lift to frame body.VTOL formula aircraft provided by the utility model, propeller provides lift for frame body and can rise to frame body in the air, gyro is provided on frame body, when thering is external force to touch frame body and push frame body toward a direction, on gyro axis direction, the flight attitude of frame body does not change, i.e., gyro can be avoided frame body because occurring crashing caused by unordered overturning.
Description
Technical field
The utility model belongs to vehicle technology field, more specifically, be related to a kind of VTOL formula aircraft and
Hovercar.
Background technique
In modern society, hovercar using more and more extensive, from taking, to transport package omnipotent.It is existing to fly
Row automobile is usually multiple propellers for being used to generate lift to be provided on frame body, but if one of propeller occurs
Failure is very easy to topple, and has seriously affected the reliability of hovercar.
Utility model content
The purpose of this utility model is to provide a kind of VTOL formula aircraft, to solve existing in the prior art fly
Row automobile is easy to happen the technical issues of toppling during flight.
In order to achieve the above purposes, the technical solution adopted by the utility model is: provides a kind of VTOL formula aircraft, packet
It includes: frame body, further includes:
Gyro is arranged on the frame body and can be rotatable around its axis；
Driver is arranged on the frame body and for driving the gyro to rotate；And
Propeller is arranged on the frame body and to provide lift to the frame body.
It further, further include tail-rotor, the tail-rotor is arranged on the frame body and in the axis with the gyro
Thrust is generated on vertical direction.
Further, first adjuster in the direction for adjusting the propeller axis is provided on the frame body.
Further, second adjuster in the direction for adjusting the gyro axis is provided on the frame body.
Further, the gyro includes at least two rotary bodies with symmetry axis.
Further, at least two rotary body coaxial arrangement.
Further, the axis between each rotary body is arranged in parallel.
Further, the frame body includes support portion and pars contractilis, and the propeller is arranged on the pars contractilis；Or institute
Stating frame body includes support portion and folding part, and the propeller is arranged on the folding part.
Further, shell is provided on the frame body, the shell limits accommodating cavity, is provided in the accommodating cavity
Main circuit board and inertial measurement cluster, the inertial measurement cluster include three axis machines being electrically connected respectively with the main circuit board
Tool gyroscope, three axis accelerometer and three axis magnetometer.
The utility model additionally provides a kind of hovercar, including the VTOL formula aircraft.
The beneficial effect of VTOL formula aircraft provided by the utility model is: compared with prior art, this is practical
New vertical landing formula aircraft, propeller provide lift for frame body and can rise to frame body in the air, be provided on frame body
Gyro, when thering is external force to touch frame body and push frame body toward a direction, on gyro axis direction, the flight of frame body
Posture does not change, i.e., gyro can be avoided frame body because occurring crashing caused by unordered overturning.Driver drives gyro
Speed change rotation or external force push frame body to be likely to that frame body is caused to rotate around the axis of gyro.The utility model can also be applied
In hovercar.
Detailed description of the invention
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new
Some embodiments of type for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the schematic view of the front view of VTOL formula aircraft provided by the embodiment of the utility model；
Fig. 2 is the overlooking structure diagram of VTOL formula aircraft provided by the embodiment of the utility model；
Fig. 3 is the exploded perspective structural schematic diagram of inertial measurement cluster provided by the embodiment of the utility model；
Fig. 4 is that the circle of inertial measurement cluster shown in Fig. 3 shows the enlarged drawing in the portion A；
Fig. 5 is the perspective view of inertial measurement cluster shown in Fig. 3；
Fig. 6 is the cross-sectional view according to the shell of the inertial measurement cluster of the utility model embodiment；
Fig. 7 is the top view according to the shell of the inertial measurement cluster of the utility model embodiment；
Fig. 8 is the side view according to the shell of the inertial measurement cluster of the utility model embodiment；
Fig. 9 is the main view according to the mounting bracket of the inertial measurement cluster of the utility model embodiment；
Figure 10 is the top view according to the mounting bracket of the inertial measurement cluster of the utility model embodiment.
Specific embodiment
In order to which technical problem to be solved in the utility model, technical solution and beneficial effect is more clearly understood, with
Lower combination accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that specific reality described herein
It applies example to be only used to explain the utility model, is not used to limit the utility model.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that the side of the instructions such as term " on ", "lower", "vertical", "horizontal", "top", "bottom" "inner", "outside"
Position or positional relationship are to be based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description the utility model and simplification is retouched
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it should not be understood as limiting the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.The meaning of " plurality " is two or two in the description of the present invention,
More than, unless otherwise specifically defined.
Also referring to Fig. 1 and Fig. 2, now VTOL formula aircraft provided by the utility model is illustrated.Vertically
Landing formula aircraft, comprising: frame body 91, further includes:
The gyro 92 for being arranged on frame body 91 and can be rotatable around its axis；
Driver on frame body 91 and for driving gyro 92 to rotate is set；And
It is arranged on frame body 91 and provides the propeller 93 of lift to frame body 91.
It rises in the air in this way, propeller 93 provides lift and can draw frame body 91 for frame body 91, is arranged on frame body 91
Have a gyro 92, gyro 92 in the rotation, since gyro 92 has by being able to maintain itself under the interference of external thrust
The characteristic constant towards (direction of gyro 92 refers to the direction of 92 axis of gyro).And gyro 92 is arranged on frame body 91, because
This has external force (external force is likely to be to change from the tractive force that external device (ED) hits the either propeller 93 of frame body 91)
When influencing frame body 91 and push frame body 91 toward a direction, on 92 axis direction of gyro, the flight appearance of frame body 91
State does not change that (in brief, frame body 91 is under the promotion of external force, and for gyro 92, frame body 91 can only go out frame body 91
Existing two kinds of situations, it is absolutely not to change that a kind of situation, which is motion state of the frame body 91 before promotion and after pushing,；Another feelings
Condition is that the motion state after pushing is that frame body 91 is rotated around the axis of gyro 92), i.e., gyro 92 can be avoided frame body 91 because going out
Existing unordered overturning (" unordered overturning " refers to that frame body 91 does not remain stationary state or towards fixed direction rotation,
But frame body 91 towards any direction overturn) caused by crash.The rotation of driver driving 92 speed change of gyro (for example gyro 92 is quiet
When only changing between state and state with certain revolving speed, gyro 92 can all generate variable motion) or external force push frame body
91 are likely to that frame body 91 is caused to rotate around the axis of gyro 92.
Further, Fig. 1 and Fig. 2 are please referred to, a kind of tool as VTOL formula aircraft provided by the utility model
Body embodiment, further includes tail-rotor 94, and tail-rotor 94 is arranged on frame body 91 and in the direction vertical with the axis of gyro 92
Upper generation thrust.In this way, when axis rotation of the frame body 91 around gyro 92, since tail-rotor 94 is arranged on frame body 91 and tail-rotor 94
A thrust vertical with 92 axis of gyro can be generated, therefore tail-rotor 94 can control frame body 91 around the rotation of 92 axis of gyro
State, i.e. tail-rotor 94 avoid frame body 91 and appearance when disorderly overturning or frame body 91 are around the rotation of 92 axis of gyro occur
It is out of control and the case where crash.In general, VTOL formula aircraft is during use, frame body 91 can be avoided by tail-rotor 94
Frame body 91 is rotated around the axis of gyro 92, and such frame body 91 can be very steady during flight.
Further, Fig. 1 and Fig. 2 are please referred to, a kind of tool as VTOL formula aircraft provided by the utility model
Body embodiment is provided with first adjuster (not shown) in the direction for adjusting 93 axis of propeller on frame body 91.In this way,
Propeller 93 is made to be that frame body 91 provides the lift of different directions after adjusting the direction of 93 axis of propeller by the first adjuster.
Such as propeller 93 inclination axially forward when, propeller 93 will drive 91 flight forward of frame body；?
93 it is axially receding when, propeller 93 will drive frame body 91 and fly backward.
Further, Fig. 1 and Fig. 2 are please referred to, a kind of tool as VTOL formula aircraft provided by the utility model
Body embodiment is provided with second adjuster (not shown) in the direction for adjusting 92 axis of gyro on frame body 91.In this way, logical
Cross the second adjuster adjust the axis of gyro 92 relative to frame body 91 towards different directions when, frame body 91 is stablized
In different postures.
Further, Fig. 1 and Fig. 2 are please referred to, a kind of tool as VTOL formula aircraft provided by the utility model
Body embodiment, gyro 92 include at least two rotary bodies (not shown) with symmetry axis.In this way, gyro 92 is divided at least
Many different combinations can occur in two rotary bodies, at least two rotary bodies, and acquired effect is all different, such as
The rotation direction of part rotary body can be different from the rotation direction of other part rotary body.In addition, being rotated in starting gyro 92
When, it can successively start and rotate different rotary bodies respectively, so that starting gyro 92 is more convenient.
Further, Fig. 1 and Fig. 2 are please referred to, a kind of tool as VTOL formula aircraft provided by the utility model
Body embodiment, the coaxial arrangement of at least two rotary bodies.In this way, rotary inertia caused by different rotary bodies can be coaxial
Ground is superimposed, and at least two rotary bodies are the equal of a gyro 92 on the whole.
Further, Fig. 1 and Fig. 2 are please referred to, a kind of tool as VTOL formula aircraft provided by the utility model
Body embodiment, the axis between each rotary body are arranged in parallel.In this way, when the volume of frame body 91 is bigger or frame
Body 91 is that area is bigger, can be arranged in parallel between each rotary body, and each rotary body is enabled to be distributed to frame
The different location of body 91 gets on, as long as the axis keeping parallelism of each rotary body.
Further, Fig. 1 and Fig. 2 are please referred to, a kind of tool as VTOL formula aircraft provided by the utility model
Body embodiment, frame body 91 include support portion (not shown) and pars contractilis (not shown), and propeller 93 is arranged on pars contractilis；Or
Frame body 91 includes support portion and folding part (not shown), and propeller 93 is arranged on folding part.In this way, if propeller 93 is arranged
On pars contractilis, when propeller 93 need using when, pars contractilis can stretch out propeller 93 from support portion, either
Propeller 93 outside support portion is contracted on support portion, it is very convenient；If propeller 93 is arranged on folding part, work as spiral
Paddle 93 need using when, folding part can propeller 93 be expanded to from support portion on the outside of support portion, or by support portion
It is very convenient on outer 93 folding storage to support portion of propeller.
Also referring to Fig. 1 and Fig. 2, in one embodiment, VTOL formula aircraft includes: frame body 91, further includes:
It is arranged on the frame body 91 and can be around the gyro 92 of its axis rotation (not shown)；
Driver (not shown) on the frame body 91 and for driving the gyro 92 to rotate is set；
Propeller 93 on the frame body 91 and for generating lift on the axis direction of the gyro 92 is set；With
And
Tail on the frame body 91 and for generating thrust on the direction vertical with the axis of the gyro 92 is set
Paddle 94.
It rises in the air in this way, propeller 93 provides lift and can draw frame body 91 for frame body 91, is arranged on frame body 91
Have a gyro 92, gyro 92 in the rotation, since gyro 92 has by being able to maintain itself under the interference of external thrust
The characteristic constant towards (direction of gyro 92 refers to the direction of 92 axis of gyro).And gyro 92 is arranged on frame body 91, because
This has external force (external force is likely to be to change from the tractive force that external device (ED) hits the either propeller 93 of frame body 91)
When influencing frame body 91 and push frame body 91 toward a direction, on 92 axis direction of gyro, the flight appearance of frame body 91
State does not change that (in brief, frame body 91 is under the promotion of external force, and for gyro 92, frame body 91 can only go out frame body 91
Existing two kinds of situations, it is absolutely not to change that a kind of situation, which is motion state of the frame body 91 before promotion and after pushing,；Another feelings
Condition is that the motion state after pushing is that frame body 91 is rotated around the axis of gyro 92), i.e., gyro 92 can be avoided frame body 91 because going out
Existing unordered overturning (" unordered overturning " refers to that frame body 91 does not remain stationary state or towards fixed direction rotation,
But frame body 91 towards any direction overturn) caused by crash.The rotation of driver driving 92 speed change of gyro (for example gyro 92 is quiet
When only changing between state and state with certain revolving speed, gyro 92 can all generate variable motion) or external force push frame body
91 are likely to that frame body 91 is caused to rotate around the axis of gyro 92.When axis rotation of the frame body 91 around gyro 92, due to tail-rotor
94 are arranged on frame body 91 and tail-rotor 94 can generate a thrust vertical with 92 axis of gyro, therefore tail-rotor 94 can control
Frame body 91 around the rotary state of 92 axis of gyro, i.e., tail-rotor 94 avoid frame body 91 occur disorderly overturning or frame body 91 around top
Occur when the rotation of 92 axis of spiral shell it is out of control and the case where crash.In general, VTOL formula aircraft is during use,
Frame body 91 can be avoided frame body 91 by tail-rotor 94 and rotate around the axis of gyro 92, and such frame body 91 can be non-during flight
Chang Pingwen.
Wherein, the effect of frame body 91, in addition to all parts (all parts include gyro 92, driver, propeller 93 with
And tail-rotor 94) provide support except can also be used to landing when support on the ground.Optionally, the upper end of frame body 91 is set
It is equipped with support plate (not shown), the lower end of frame body 91 is provided with the support leg 95 being used to support on the ground, and support plate can incite somebody to action
Object support is transported above, and certainly, object can also be hung below support plate.
Wherein, " gyro 92 have by be able to maintain under the interference of external thrust itself direction (gyro 92 direction refer to
Be 92 axis of gyro direction) constant characteristic ", the principle of the characteristic is common knowledge, is not repeated herein.Optionally,
The structure of gyro 92 axisymmetricly shape.
Wherein, optionally, in one embodiment, driver is motor, and motor can drive propeller 93 to rotate.At it
In his embodiment, driver can also be other power devices, as long as driver can drive propeller 93 to rotate, herein
It does not limit uniquely.As for the transmission connection between driver and gyro 92, gear drive can be used, belt can also be used
Transmission either other connection types.
Wherein, the quantity of propeller 93 can be individually, relatively simple for structure；The quantity of propeller 93 is also possible at least
Two, in this way, reliability is some higher, VTOL formula is also not easily leaded to when one of propeller 93 breaks down and is flown
The crash of row device.
Wherein, propeller 93 generates lift on 92 axis direction of gyro.In one embodiment, the axis of propeller 93
Axis with gyro 92 is parallel, in this way, the lift that propeller 93 provides all is applied on the axial direction of gyro 92；Another
In one embodiment, in the angle less than 90 ° between the axis of propeller 93 and the axis of gyro 92, at this point, propeller 93 exists
There are one for generating the component of lift to frame body 91 on 92 axis direction of gyro, in addition, propeller 93 is applied to and gyro
Another component in the vertical direction of 92 axis is able to drive frame body 91 and moves in the horizontal direction.
Wherein, optionally, in one embodiment, propeller 93 can adjust the direction of its axis, in this way, propeller 93
Axis change after frame body 91 can be driven mobile towards different level direction and vertical direction, be how to adjust as propeller 93
Its axis direction, this is this field routine techniques, is not repeated herein.
Wherein, tail-rotor 94 can generate the thrust in the axis vertical direction with gyro 92.Driver drives 92 turns of gyro
When dynamic, frame body 91 will receive a torque vertical with 92 axis of gyro, and tail-rotor 94 can balance the torque, to hinder
Only frame body 91 is rotated around 92 axis of gyro.Specifically, in one embodiment, the axis of tail-rotor 94 generates thrust and gyro 92
Between be in non-zero included angle；More specifically, the thrust that tail-rotor 94 generates is vertical with the axial direction of gyro 92；As long as tail-rotor 94 can
It balances gyro 92 and torque is generated to frame body 91, do not limit uniquely herein.Optionally, in one embodiment, tail-rotor 94
Axis and the axial direction of gyro 92 be disjoint, if in the case where intersection, thrust phase that tail-rotor 94 generates frame body 91
Torque is zero for gyro 92, that is to say, that tail-rotor 94 loses the function that it adjusts 91 posture of frame body.
Further, Fig. 1 and Fig. 2 are please referred to, a kind of tool as VTOL formula aircraft provided by the utility model
Body embodiment, the frame body 91 have accommodating chamber (not shown), and the gyro 92 is located in the accommodating chamber.In this way, gyro
92 are not readily susceptible to the influence of external environment in the course of rotation, while if frame body 91 is hit, frame body 91 also can
It is effectively protected gyro 92.Optionally, in one embodiment, accommodating chamber is closed, avoids outer gas stream to gyro 92
It influences.
Further, Fig. 1 and Fig. 2 are please referred to, a kind of tool as VTOL formula aircraft provided by the utility model
Body embodiment, the gyro 92 are bullet.In this way, the gyro 92 of bullet is easier to produce.Meanwhile when frame body 91 is put
When setting on the ground, the gyro 92 of bullet can reduce the danger that frame body 91 topples.
Further, Fig. 1 and Fig. 2 are please referred to, a kind of tool as VTOL formula aircraft provided by the utility model
Body embodiment, the quantity of the propeller 93 are four, and four propellers 93 are in rectangular arranged, the axis of the gyro 92
Line passes through the midpoint of the rectangle.In this way, four propellers 93 make VTOL formula aircraft during flight more
Steadily, VTOL formula aircraft will not be caused to topple one of propeller 93 breaks down.The axis of gyro 92
By the midpoint of above-mentioned rectangle, so that VTOL formula aircraft, in flight course, the gravity of gyro 92 can be by equably
Share on four propellers 93.
Further, Fig. 1 and Fig. 2 are please referred to, a kind of tool as VTOL formula aircraft provided by the utility model
Body embodiment, the upper end of the frame body 91 are provided with parachute (not shown).In this way, parachute can in case of emergency make
VTOL formula aircraft security is obtained to land.
Further, Fig. 1 and Fig. 2 are please referred to, a kind of tool as VTOL formula aircraft provided by the utility model
Body embodiment, 91 lower end of frame body are provided with buffer unit (not shown).In this way, frame body 91 can be when falling
It avoids breaking VTOL formula aircraft under the buffering of buffer unit.Optionally, buffer unit is air bag.
Further, Fig. 3 and Fig. 6 are please referred to, a kind of tool as VTOL formula aircraft provided by the utility model
Body embodiment is provided with shell 1 on the frame body 91, and shell 1 limits accommodating cavity 11, is provided with master in the accommodating cavity 11
Circuit board 3 and inertial measurement cluster (not shown), the inertial measurement cluster include being electrically connected respectively with the main circuit board 3
Three shaft mechanical gyroscopes (not shown), three axis accelerometer (not shown) and three axis magnetometer (not shown).
Shell 1 has accommodating cavity 11.Main circuit board 3 is located in accommodating cavity 11, specifically, as shown in Figure 3 and Figure 6, optional
Ground, main circuit board 3 are located at the top of accommodating cavity 11, that is, are located at the top end of shell 1.Inertial measurement cluster is located in accommodating cavity 11
And be connected with main circuit board 3, inertial measurement cluster includes three shaft mechanical gyroscopes, three shaft mechanical accelerometers and three axis magnetic strength
Meter.
Wherein, optionally, three shaft mechanical gyroscope are as follows: three axis MEMS gyro.
Wherein, optionally, three shaft mechanical accelerometer are as follows: 3 axis MEMS accelerometer
Wherein, in one embodiment, main circuit board 3 is to be electrically connected with propeller 93 and tail-rotor 94 respectively, i.e., main
Data in circuit board 3 can be transported to propeller 93 and tail-rotor 94.Three shaft mechanical gyroscopes, three shaft mechanical accelerometers and three
The data that axis magnetometer obtains also can be delivered to propeller 93 and tail-rotor 94 by main circuit board 3.
Traditionally, VTOL formula aircraft has steady and motor-driven two type games state, and smooth motion state refers to
The state to fly at a constant speed, motor-driven operating status refer to accelerating the state of flight.For convenience of description, clear, by VTOL formula
Aircraft is divided into smooth motion state and motion of automobile state to be described in detail respectively.
Due to there was only three shaft mechanical gyroscopes in traditional inertial measurement cluster, it is in steady in VTOL formula aircraft
When motion state or motion of automobile state, often there is a certain error for the data of three shaft mechanical gyroscopes measurement, and dynamic in height
Under state, big overload environment, the measurement error of gyroscope has the tendency that increase, causes posture clearing inaccuracy.The utility model
In inertial measurement cluster, by setting three axis magnetometer and with three shaft mechanical accelerometer measurements in a closed series, substantially increase vertical
The accuracy of landing formula aircraft measurement data in smooth motion state especially motion of automobile state.
When VTOL formula aircraft is in smooth motion state, inertial measurement cluster is provided needed for calculating aircraft
Total movement parameter, specifically, three shaft mechanical gyroscopes are for measuring angular speed of the VTOL formula aircraft on three axis
Size, three shaft mechanical accelerometers are used to measure the size of acceleration of the VTOL formula aircraft on three axis, three axis
For magnetometer for measuring magnetic field strength of the VTOL formula aircraft on three axis, three shaft mechanical gyroscopes can provide three axis
On angular speed numerical value, i.e. three basic exercise parameters, three shaft mechanical accelerometers can provide the acceleration on three axis
Numerical value is also three basic exercise parameters, likewise, three axis magnetometer can provide the numerical value of the magnetic field strength on three axis,
It is three basic exercise parameters, that is to say, that inertial measurement cluster can provide nine of VTOL formula aircraft substantially at this time
Kinematic parameter.
As a result, in the case where VTOL formula aircraft is in smooth motion state, it is only capable of mentioning with traditional inertial measurement cluster
It is compared for three basic exercise parameters, there is higher accuracy, reduce measurement error, by computer to this nine basic fortune
Analysis, the operation of dynamic parameter, are precisely calculated athletic posture, track, speed of VTOL formula aircraft etc..It needs herein
Illustrate: " analysis, operation, be precisely calculated " above-mentioned parameter, algorithm can use conventional algorithm, as long as can will be above-mentioned
Nine beginning parameter transform models come out.
Fig. 3 to Fig. 9 is please referred to, a kind of specific embodiment party as VTOL formula aircraft provided by the utility model
Formula, inertial measurement cluster further include the first Twin-shaft machinery accelerometer and second that range is respectively greater than three shaft mechanical accelerometers
Twin-shaft machinery accelerometer, the first Twin-shaft machinery accelerometer and the second Twin-shaft machinery accelerometer are respectively provided at the accommodating cavity
In 11 and respectively with the main circuit board 3.Wherein, it should be noted that in specific embodiment shown in Fig. 3, the first twin shaft
Mechanical accelerometer has been previously welded to 6 on the second pinboard, and the second Twin-shaft machinery accelerometer has also been previously welded to
The first Twin-shaft machinery accelerometer and the second Twin-shaft machinery accelerometer are not shown on three pinboards 7, therefore in Fig. 3, in addition, used
Property measurement component be also pre-installed in mounting box 4.
In aircraft smooth motion, using three shaft mechanical accelerometer measures aircraft of the higher small-range of precision
Acceleration, the acceleration information being achieved in that are more accurate and reliable.And in aircraft high dynamic, big overload movement, due to flying
The acceleration of row device has been more than the measurement range of three shaft mechanical accelerometer of small-range, at this time by the first Twin-shaft machinery of wide range
The acceleration of accelerometer and the second Twin-shaft machinery accelerometer measures aircraft, to realize that VTOL formula aircraft is different
Under motion state, i.e. smooth motion state and motion of automobile state, can accurately measure the acceleration of aircraft and with angle speed
Degree parameter and magnetic field strength parameter combine, and the athletic posture and motion profile of aircraft is precisely calculated, is best understood from
The motion state of aircraft.
Wherein, the state of " high dynamic, big overload " refers to above-mentioned motion of automobile state.
First Twin-shaft machinery accelerometer and the second Twin-shaft machinery accelerometer are applied in combination, to functionally be equivalent to
One three shaft mechanical accelerometer, the first Twin-shaft machinery accelerometer and the second Twin-shaft machinery accelerometer being applied in combination are available
Acceleration when measurement VTOL formula aircraft is in high dynamic, big overload motion state.That is, due to inertia measurement
Range of the measurement range of three shaft mechanical accelerometers in component usually than two shaft mechanical accelerometers is small, therefore ought vertically rise
When drop formula aircraft is in motion of automobile state, acceleration alreadys exceed the range of the three shaft mechanicals accelerometer, therefore
By the way that the first Twin-shaft machinery accelerometer and the second Twin-shaft machinery accelerometer that are applied in combination is arranged, fly in VTOL formula
Device can be used for measuring the acceleration of aircraft at this time when being in motor-driven fortune state, so that the track for calculating aircraft provides reliably
Data.
As shown in figure 3, inertial measurement cluster further includes mounting box 4, mounting box 4 is located in accommodating cavity 11, and wherein inertia is surveyed
Amount component is located in mounting box 4.Specifically, mounting box 4 is located on the bottom wall of accommodating cavity 11 by location structure, such as is passed through
Straight pin and/or rhombus pin on mounting box 4 are located on the bottom wall of accommodating cavity 11, are then detachably fastened by bolt
On bottom wall, the fixation of mounting box 4 is realized.
Advantageously, mounting box 4 is made of rigid plastics, such as in a specific example of the utility model, and inertia is surveyed
Component package is measured in a cube rigid plastics box.Inertial measurement cluster preferably not only can be fixed on accommodating
In chamber 11, while the quality of box body can also be mitigated using the mounting box of rigid plastics material, and will not influence inertial measurement cluster
When measuring the movement of VTOL formula aircraft, the precision of items basic parameter, improves the accuracy of measurement data.
Inertial measurement cluster is connected by the first pinboard 5 with main circuit board 3.Specifically, inertial measurement cluster and one
Group flexible cable is connected to the first pinboard 5, and cable extension is connected on main circuit board 3 by the first pinboard 5, inertia measurement group
Part obtains operating voltage by flexible cable externally to export measurement data, and advantageously, the both ends of flexible cable are sealed using colloid
Dress avoids the failure in VTOL formula aircraft high dynamic, big overload movement, improves the stabilization of inertial measurement combination work
Property.
In order to which the first Twin-shaft machinery accelerometer and the second Twin-shaft machinery accelerometer are preferably fixed on accommodating cavity 11
It is interior, avoid the first Twin-shaft machinery accelerometer and the second Twin-shaft machinery accelerometer at work since the vibration of aircraft causes
Damage, inertial measurement cluster further include two storage boxes (not shown go out), and two storage boxes are respectively provided in accommodating cavity 11, wherein
First Twin-shaft machinery accelerometer and the second Twin-shaft machinery accelerometer are respectively provided in two storage boxes.
Optionally, storage box is also made of rigid plastics, such as in a specific example of the utility model, and first pair
Shaft mechanical accelerometer and the second Twin-shaft machinery accelerometer are individually enclosed in two cuboid rigid plastics boxes.Using hard
The storage box of plastic material can not only mitigate the quality of box body, and will not influence inertial measurement cluster in measurement VTOL formula
The precision of items basic parameter, further improves the accuracy of measurement data when aircraft moves.
As shown in figure 3, the first Twin-shaft machinery accelerometer passes through the second pinboard 6 and main circuit board 3.Specifically, the
One Twin-shaft machinery accelerometer and one group of flexible cable are connected to the second pinboard 6, and cable extension is connected to by the second pinboard 6
On main circuit board 3, voltage needed for the first Twin-shaft machinery accelerometer obtains work by this group of flexible cable is surveyed with external output
Data are measured, wherein colloid encapsulation can be used in the both ends of flexible cable, avoids in VTOL formula aircraft high dynamic, greater than carrying
It fails when dynamic, improves the stability of inertial measurement cluster work.
Similarly, the second Twin-shaft machinery accelerometer is connected by third pinboard 7 with main circuit board 3, wherein second
One group of flexible cable also is provided between Twin-shaft machinery accelerometer and third pinboard 7 and main circuit board 3, for second pair
Shaft mechanical accelerometer powers and exports the data of the second Twin-shaft machinery accelerometer measures, and the both ends of this group of flexible cable are preferred
Also it is encapsulated with colloid, avoids the failure when VTOL formula aircraft high dynamic moves, further raising inertia measurement group
The stability of part work.
It is small-sized due to the first Twin-shaft machinery accelerometer and the second Twin-shaft machinery accelerometer, in order to more preferable
Ground is connected with second and third pinboard, and the first Twin-shaft machinery accelerometer is solderable to be connected to the second pinboard 6 and the second biaxial plane
Tool accelerometer is solderable to be connected on third pinboard 7.Here, it should be noted that due to the first Twin-shaft machinery accelerometer and
Second Twin-shaft machinery accelerometer package adds the first Twin-shaft machinery accelerometer and the second Twin-shaft machinery in rigid plastics box
Speedometer, which is respectively welded to the second pinboard 6 and third pinboard 7, should not be understood as mounting box being welded on corresponding pinboard
On, but guide card (not shown) is drawn in one end of packaging cartridge, guide card is welded together with corresponding pinboard.
Below with reference to Fig. 3-Fig. 5, Fig. 9-Figure 10 description according to the installation of the inertial measurement cluster of the utility model embodiment
Bracket 8.
In order to preferably fix the second pinboard 6 with the first Twin-shaft machinery accelerometer and there is the second Twin-shaft machinery
The third pinboard 7 of accelerometer, inertial measurement cluster further include mounting bracket 8, and mounting bracket 8 is located in accommodating cavity 11, and
For fixing the second pinboard 6 and third pinboard 7.
In an example of the utility model, as shown in Fig. 3, Fig. 9, Figure 10, mounting bracket 8 includes the first fixed plate 81
With the second fixed plate 82, the second pinboard 6 is located in the first fixed plate 81, and third pinboard 7 is located in the second fixed plate 82.Its
In, one end of the second fixed plate 82 is connected with one end of the first fixed plate 81 and between the second fixed plate 82 and the first fixed plate 81
Angular range between 90 ° ± 6 ', that is to say, that the non-perpendicularity of the first fixed plate 81 and the second fixed plate 82 is less than 6 '.
Advantageously, in order to improve machining accuracy, the non-perpendicularity between the first fixed plate 81 and the second fixed plate 82 is reduced, first is fixed
Plate 81 and the second fixed plate 82 may be integrally formed.
Theoretically the first fixed plate 81 can be processed into utterly vertical, i.e. folder between two fixed plates with the second fixed plate 82
Angle is just 90 °, but since the factors such as process conditions, process equipment influence, the first fixed plate 81 and the second fixed plate 82
It can not be processed into actual production utterly vertical, but its non-perpendicularity is can be controlled within the scope of one of very little, example
It is as interior 6 ' in controlled.As a result, by the non-perpendicularity of the first fixed plate 81 of control and the second fixed plate 82 less than 6 ', and calculating
When VTOL formula aircraft athletic posture, the non-perpendicularity of the first fixed plate 81 and the second fixed plate 82 is brought into correlation formula
It is calculated, that is to say, that the non-perpendicularity of the first fixed plate 81 and the second fixed plate 82 cannot be ignored to calculating VTOL
The influence of formula aircraft athletic posture and track, to reduce measurement error, to the maximum extent with more accurately calculating aircraft
Athletic posture.
As shown in Fig. 3, Fig. 9 and Figure 10, the center of the first fixed plate 81 is formed with the thickness direction along the first fixed plate 81
The first through portion of the first fixed plate is penetrated through, wherein the second pinboard 6 is located in the first through portion.Specifically, the first through portion
The first mounting hole 811 and first positioning hole 812 including the thickness direction formation along the first fixed plate 81, on the second pinboard 6
With first boss 61, wherein first boss 61 is fastened in first positioning hole 812 and the second pinboard 6 is located in the first installation
In hole 811.
Wherein the first mounting hole 811 is different with the area of first positioning hole 812, that is to say, that as long as the first mounting hole 811
Area it is different from the area of first positioning hole 812, the first mounting hole 811 and the shape of first positioning hole 812 are also just different.By
This, the positioning action of the second pinboard 6 can be realized by the engaging with first boss 61 for first positioning hole 812.Such as at this
In one example of utility model, the first mounting hole 811 is general rectangular hole, and first positioning hole 812 is also general rectangular hole, and
The area of first mounting hole 811 is greater than the area of first positioning hole 812.Certainly, the shape of first positioning hole 812 is also possible to three
Angular hole or other number of edges are greater than three polygonal hole, and first boss 61 has roughly the same with first positioning hole 812 at this time
Appearance profile.
Similarly, the center of the second fixed plate 82 is formed with thickness direction the second fixed plate of perforation along the second fixed plate 82
82 the second through portion, wherein third pinboard 7 is located in the second through portion.Specifically, the second through portion includes solid along second
The second mounting hole 821 and second location hole 822 that the thickness direction of fixed board 7 is formed have second boss on third pinboard 7
71, wherein second boss 71 is fastened in second location hole 822 and third pinboard 7 is located in the second mounting hole 821.
Wherein the second mounting hole 821 is different with the area of second location hole 822, that is to say, that as long as the second mounting hole 821
Area it is different from the area of second location hole 822, the second mounting hole 821 and the shape of second location hole 822 are also just different.By
This, the positioning action of third pinboard 7 can be realized by the engaging with second boss 71 for second location hole 822.Such as at this
In one example of utility model, the second mounting hole 821 is general rectangular hole, and second location hole 822 is also general rectangular hole, and
The area of second mounting hole 821 is greater than the area of second location hole 822.Certainly, the shape of second location hole 822 is also possible to three
Angular hole or other number of edges are greater than three polygonal hole, and second boss 71 has roughly the same with second location hole 822 at this time
Appearance profile.
It is positioned by setting boss with location hole, so as to which the second pinboard 6 and third pinboard 7 is more accurate
Ground is mounted in the first fixed plate 81 and the second fixed plate 82, substantially increases assembly efficiency and assembly precision, when shortening assembly
Between.
Advantageously, rubber pad is equipped on the side of the thickness direction of the second pinboard 6 and third pinboard 7.Specifically
It says, the second pinboard 6 is respectively equipped with one layer of rubber pad along the two sides of its thickness direction, and similarly, third pinboard 7 is along it
Also one layer of rubber pad is respectively equipped on the two sides of thickness direction.At this point, the second pinboard 6 can be each passed through one layer by bolt
Second pinboard 6 is fixed in the first fixed plate 81 by rubber pad, the second pinboard 6 and another layer of rubber pad, and third is transferred
Plate 7 can be each passed through one layer of rubber pad, third pinboard 7 and another layer of rubber pad by bolt and be fixed on third pinboard 7
In second fixed plate 82.
By the way that rubber pad is arranged on the side of 7 thickness direction of the second pinboard 6 and third pinboard respectively, it is effectively isolated
The high-frequency vibration of VTOL formula aircraft, realizes the purpose of damping, buffering, substantially increases the measurement of inertial measurement cluster
Precision.
Below with reference to Fig. 3-Fig. 8 description according to the shell 1 and main electricity of the inertial measurement cluster of the utility model embodiment
Road plate 3.
As shown in Figure 3-Figure 5, shell 1 is cylindrical housings, and along it, circumferentially there are two arcs for formation on the top of cylindrical housings 1
The gap 12 of shape, two of them gap 12 are symmetrical along the axis centre of shell 1.Main circuit board 3 is detachably arranged in circular cylindrical shell
Two arc ends of the top of body 1, wherein 3 long circle of main circuit board, and main circuit board 3 cooperate in two gap 12,
That is two arc ends of main circuit board 3 can be fastened on respectively in two gap 12, main circuit board 3 can pass through multiple bolts
It is fastened on the top of shell 1.
Further, inertial measurement cluster further includes two Shock absorbing cushions 31, and two Shock absorbing cushions 31 are fastened on two respectively and slit
In mouth 12, that is to say, that one of Shock absorbing cushion 31 is equipped between the arc end and a gap 12 of main circuit board 3, it is main
Another Shock absorbing cushion 31 is equipped between another arc end of circuit board 3 and another gap 12.
Being preferably shaped to for Shock absorbing cushion 31 is identical as the shape of gap 12, thus can preferably absorb the flight of VTOL formula
Vibration when device moves, further increases the measurement accuracy of inertial measurement cluster.
According to the inertial measurement cluster of the utility model embodiment, initial alignment is complete using gravitational vectors and geomagnetic fieldvector
At being calculated as the initial of VTOL formula aircraft using gravitational vectors and geomagnetic fieldvector in the distribution of three-dimensional space
Posture, and pass through the several of the inertial measurement cluster of inertial measurement cluster and the first and second Twin-shaft machinery accelerometer measures
The athletic posture and motion profile of VTOL formula aircraft thereafter is calculated in a basic parameter.
Since when VTOL formula aircraft high dynamic, big overload move, the circuit structure on main circuit board 3 is born very
Big impact force, system is powered down to avoid, in such a way that manual switch triggering, logic circuit are self-locking, in inertial measuring unit
After working on power, manual switch movement cannot make inertial measurement cluster power down.It is surveyed in addition, starting inertia in order to facilitate the operation of personnel
Component is measured, the center of top cover 2 can form through-hole 21, wherein the switch for controlling main circuit board 3 exposes from through-hole 21, with side
Just electric circuit works.
In addition, according to the fixed form of the inertial measurement cluster of the utility model embodiment and VTOL formula aircraft
There are many and there is no particular/special requirement, specific fixed form can be selected according to the installation space that VTOL formula aircraft provides
It selects.Such as locating slot, location hole can be processed on the shell 1 of inertial measurement cluster or be realized using bottom, top planes
Positioning, and final fix is realized by bolt.
Fig. 1 to Fig. 5 is please referred to, the utility model also proposed a kind of hovercar, including VTOL formula flight
Device.
Due to using above-mentioned VTOL formula aircraft, propeller 93 is that frame body 91 provides lift and can draw frame body
91 rise in the air, and gyro 92 is provided on frame body 91, and gyro 92 in the rotation, is pushed away since gyro 92 has by outside
The constant characteristic of the direction (direction of gyro 92 refers to the direction of 92 axis of gyro) of itself is able to maintain under the interference of power.And
Gyro 92 be arranged on frame body 91, therefore have external force (external force be likely to be from external device (ED) hit frame body 91 either spiral shell
The tractive force of rotation paddle 93 changes) when influence frame body 91 and push frame body 91 toward a direction, in 92 axis of gyro
On line direction, the flight attitude of frame body 91 do not change (in brief, frame body 91 under the promotion of external force, frame body 91 relative to
For gyro 92, there will be two kinds of situations for frame body 91, and a kind of situation is motion state of the frame body 91 before promotion and after pushing
It is absolutely not to change；Another situation is that the motion state after pushing is that frame body 91 is rotated around the axis of gyro 92), i.e. gyro
92 can be avoided frame body 91 because occur unordered overturning (" unordered overturning " refer to frame body 91 do not remain stationary state or
Do not rotated towards fixed direction, but frame body 91 is overturn towards any direction) caused by crash.Driver drives gyro 92 to become
Speed rotation (for example gyro 92, when changing between stationary state and the state with certain revolving speed, gyro 92 can all generate speed change
Movement) or external force push frame body 91 to be likely to cause frame body 91 to rotate around the axis of gyro 92.When frame body 91 is around gyro 92
Axis rotation when, since tail-rotor 94 is arranged on frame body 91 and tail-rotor 94 can generate one and vertical with 92 axis of gyro push away
Power, therefore tail-rotor 94 can control frame body 91 around the rotary state of 92 axis of gyro, i.e. tail-rotor 94 avoid frame body 91 and nothing occur
Overturn to sequence or frame body 91 is around the rotation of 92 axis of gyro when occur it is out of control and the case where crash.In general, VTOL
During use, frame body 91 can be avoided frame body 91 by tail-rotor 94 and rotates around the axis of gyro 92 formula aircraft, in this way
Frame body 91 can be very steady during flight.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
1. VTOL formula aircraft, comprising: frame body, it is characterised in that: further include:
Gyro is arranged on the frame body and can be rotatable around its axis；
Driver is arranged on the frame body and for driving the gyro to rotate；And
Propeller is arranged on the frame body and provides lift to the frame body.
2. VTOL formula aircraft as described in claim 1, it is characterised in that: further include tail-rotor, the tail-rotor setting exists
On the frame body and for generating thrust on the direction vertical with the axis of the gyro.
3. VTOL formula aircraft as described in claim 1, it is characterised in that: be provided on the frame body for adjusting
State first adjuster in the direction of propeller axis.
4. VTOL formula aircraft as described in claim 1, it is characterised in that: be provided on the frame body for adjusting
State second adjuster in the direction of gyro axis.
5. VTOL formula aircraft as described in claim 1, it is characterised in that: the gyro include at least two have pair
Claim the rotary body of axis.
6. VTOL formula aircraft as claimed in claim 5, it is characterised in that: at least two rotary bodies are coaxially set
It sets.
7. VTOL formula aircraft as claimed in claim 5, it is characterised in that: the axis between each rotary body is mutual
It is arranged in parallel.
8. VTOL formula aircraft as described in claim 1, it is characterised in that: the frame body includes support portion and stretches
Portion, the propeller are arranged on the pars contractilis；Or the frame body includes support portion and folding part, the propeller setting exists
On the folding part.
9. VTOL formula aircraft as claimed in any one of claims 1 to 8, it is characterised in that: be provided on the frame body
Shell, the shell limit accommodating cavity, and main circuit board and inertial measurement cluster are provided in the accommodating cavity, and the inertia is surveyed
Amount component includes three shaft mechanical gyroscopes, three axis accelerometer and the three axis magnetic strength being electrically connected respectively with the main circuit board
Meter.
10. hovercar, it is characterised in that: including VTOL formula aircraft as described in any one of claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820771757.4U CN208498790U (en) | 2018-05-22 | 2018-05-22 | VTOL formula aircraft and hovercar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820771757.4U CN208498790U (en) | 2018-05-22 | 2018-05-22 | VTOL formula aircraft and hovercar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208498790U true CN208498790U (en) | 2019-02-15 |
Family
ID=65293459
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820771757.4U Active CN208498790U (en) | 2018-05-22 | 2018-05-22 | VTOL formula aircraft and hovercar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208498790U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108502155A (en) * | 2018-05-22 | 2018-09-07 | 张立强 | VTOL formula aircraft and hovercar |
-
2018
- 2018-05-22 CN CN201820771757.4U patent/CN208498790U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108502155A (en) * | 2018-05-22 | 2018-09-07 | 张立强 | VTOL formula aircraft and hovercar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2931602B1 (en) | Improved circular force generator devices, systems, and methods for use in an active vibration control system | |
| CN105164015B (en) | Vertically taking off and landing flyer | |
| CN101619971B (en) | Aerophotography gyrostabilized platform with three freedom degrees and large load | |
| KR101638078B1 (en) | Helicopter vibration control system and rotating assembly rotary forces generators for canceling vibrations | |
| JP6453527B1 (en) | Coaxial twin propeller twin motor aircraft | |
| WO2017070982A1 (en) | Motor, pan-tilt, and aircraft | |
| WO2017173733A1 (en) | Unmanned aerial vehicle | |
| CN108602559A (en) | Hybrid more rotors and Fixed Wing AirVehicle | |
| CN104828245B (en) | Aircraft | |
| CN206654190U (en) | City distribution pattern multi-rotor aerocraft with self-protecting device | |
| CN205721377U (en) | A kind of multi-rotor aerocraft | |
| CN208498790U (en) | VTOL formula aircraft and hovercar | |
| KR101812322B1 (en) | Transformable drone | |
| CN207450249U (en) | A kind of unmanned plane rotor pulp distance varying mechanism | |
| KR20220033048A (en) | unmanned aerial vehicle with object loading function | |
| CN206087291U (en) | Realize removing multiaxis aircraft that takes off, supplementary platform that takes off | |
| JP6618000B1 (en) | Electronic component and flying object with the electronic component attached | |
| CN108502155A (en) | VTOL formula aircraft and hovercar | |
| CN205076036U (en) | Aircraft | |
| CN211364916U (en) | Anti-tilt unmanned aerial vehicle structure | |
| CN202018360U (en) | Torsion bar driving type measuring mechanism for rotational inertia of compound pendulums | |
| CN211375430U (en) | Material air-drop device | |
| CN107128483A (en) | Four rotor wing unmanned aerial vehicles and its transmission gear shift structure of a kind of power Redundancy Design | |
| Dunbabin et al. | Vibration isolation for autonomous helicopter flight | |
| JP2021160436A (en) | Method for controlling flying body, flying body, information processing device and information processing system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |