CN209833987U - Four-rotor aircraft with deformation and wall surface landing functions - Google Patents
Four-rotor aircraft with deformation and wall surface landing functions Download PDFInfo
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- CN209833987U CN209833987U CN201920197353.3U CN201920197353U CN209833987U CN 209833987 U CN209833987 U CN 209833987U CN 201920197353 U CN201920197353 U CN 201920197353U CN 209833987 U CN209833987 U CN 209833987U
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Abstract
The utility model discloses a four-rotor aircraft with deformation and wall landing functions, which comprises an aircraft body, wherein one side of the aircraft body is provided with a sponge sucker, the top of the aircraft body is provided with a steering engine driving component, the steering engine driving component is respectively provided with a horn and a horn connecting rod, and both ends of the horn and the horn connecting rod are provided with electric propeller components; the utility model discloses at the flight in-process, through rotatory a pair of screw that rises, make four rotor crafts switch over into coaxial anti-oar flight mode. The problem of traditional four rotor crafts can not pass through narrow region because the fuselage volume is too big is solved.
Description
Technical Field
The utility model belongs to the technical field of unmanned aerial vehicle, a have four rotor crafts of deformation and wall landing function concurrently.
Background
The multi-rotor unmanned aerial vehicle is an aerial robot, belongs to the category of special robots, has the advantages of vertical take-off and landing, hovering, high maneuverability, low cost and the like, and is widely applied to the fields of disaster search and rescue, military reconnaissance, map mapping and the like.
However, a four-rotor aircraft generally uses only four-degree-of-freedom control inputs to achieve six-degree-of-freedom motion, and is a typical under-actuated system with limited flexibility, especially when flying in narrow spaces, and airborne reconnaissance and throughput performance are greatly affected and limited. In recent years, the above-mentioned problems for quad-rotor aircraft have received much attention.
Chinese patent (name: a portable foldable four-rotor aircraft, application number 201618769. x, application date: 2016-04-11, publication number: CN105752332B, publication date: 2018-05-22) discloses a portable foldable four-rotor aircraft, wherein a landing gear is rotatably fixed on a cantilever through a third fixing shaft, so that the portable foldable four-rotor aircraft is convenient to carry and transport, but the landing gear is manually folded only when the landing gear does not work, so that the effect of reducing the size is achieved, and the problem that a narrow gap is needed to pass through in the flight process is not solved.
Chinese patent (application number: 201310118990.4; patent name: a flying and wall-climbing amphibious robot and a control method thereof; publication number: 103192987A; published: 2013.07.10) discloses a flying and wall-climbing amphibious robot and a control method thereof, which can perform autonomous switching between flying and wall climbing, wherein when the robot lands on a wall surface, four rotors are in a horizontal posture, the gravity center is far away from the wall surface, and the overturning moment is large.
Secondly, some researchers also provide a vector quad-rotor aircraft, namely, more control inputs are added to realize full driving of the quad-rotor aircraft, and the hovering effect at any position and any attitude is achieved by inclining the independent control position and height of the propeller of the quad-rotor aircraft. Although the proposed concept allows arbitrary determination of the direction of the propeller thrust, it requires rather complex control calculations and is difficult to operate and difficult to use for achieving stable flight.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a have concurrently four rotor crafts of deformation and wall landing function, this rotor craft is at the flight in-process, through rotatory a pair of screw that rises, makes four rotor crafts switch into coaxial anti-oar flight mode. The problem of traditional four rotor crafts can not pass through narrow region because the fuselage volume is too big is solved.
The technical scheme adopted by the utility model is that the four-rotor aircraft with deformation and wall landing functions comprises an aircraft body, wherein a sponge sucker is arranged on one side of the aircraft body, a steering engine driving assembly is arranged at the top of the aircraft body, an arm and an arm connecting rod are respectively arranged on the steering engine driving assembly, and electric propeller assemblies are respectively arranged at two ends of the arm and the arm connecting rod;
the steering engine driving assembly comprises a body cover plate, the body cover plate is arranged at the top of the body, a steering engine is arranged in the body cover plate, and an output shaft of the steering engine is provided with an adapter;
the electric propeller component comprises a hollow cup motor, the output shaft of the hollow cup motor is sequentially provided with a propeller and a locking nut, the propeller is driven to rotate by the hollow cup motor, and the locking nut can prevent the propeller from being separated from the output shaft of the hollow cup motor in the rotating process.
The utility model is also characterized in that,
the center department of horn connecting rod is equipped with the sleeve, and the sleeve forms the sliding pair with the adapter cooperation, and the sleeve drives the horn connecting rod and can reciprocate for the adapter.
The outer wall of the sleeve is provided with a bulge, the center of the machine body cover plate is provided with a spiral track groove, and the bulge and the spiral track groove are matched to form a spiral pair.
The utility model has the advantages as follows:
(1) when the four-rotor aircraft needs to pass through the narrow gap, the flight mode of the four-rotor aircraft is switched to a coaxial reverse-propeller flight mode by rotating the lifting mechanism, the size of the aircraft body is reduced, the aircraft body passes through the narrow gap, and the passing performance and the environment interaction capacity of the four-rotor aircraft are improved.
(2) The flight principle of the coaxial dual-rotor helicopter is simulated, the switching of flight modes can be completed by only installing one steering engine on the helicopter, and the control is simple. And the transmission structure is simple and compact and has small mass. The influence of the deformation process on the whole aircraft system is small, the stability of the flight process is ensured, and the application range of the four-rotor aircraft is widened.
(3) The four-rotor aircraft completes landing and takeoff operations in a coaxial reverse propeller state, stability and reliability are improved, and the working time of the robot is prolonged.
Drawings
Fig. 1 is a schematic structural view of a four-rotor aircraft having both deformation and wall landing functions according to the present invention;
fig. 2 is a schematic view of a connection structure of a steering engine driving assembly and a horn connection connecting rod in the quadrotor aircraft with deformation and wall landing functions;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;
FIG. 4 is a schematic structural view of a sleeve of a quadrotor aircraft with deformation and wall landing functions according to the present invention;
fig. 5 is a schematic structural view of a spiral track groove in a quadrotor aircraft with both deformation and wall landing functions according to the present invention;
fig. 6 is a schematic structural view of an electric propeller assembly in a quad-rotor aircraft with deformation and wall landing functions according to the present invention;
fig. 7 is a schematic view of the coaxial reverse-paddle state of a quad-rotor aircraft with both deformation and wall landing functions according to the present invention;
fig. 8 is a schematic view of the state of the quad-rotor aircraft with deformation and wall landing functions passing through a narrow slit;
fig. 9 is a schematic view of the four-rotor aircraft with deformation and wall landing functions in the wall landing state of the present invention.
In the figure, 1, a machine body and 2, a sponge sucker;
3. the steering engine driving component comprises 301 steering engines, 302 adapters, 303 fuselage cover plates and 304 spiral track grooves;
4. a horn, 5. a horn connecting rod;
6. an electric propeller component 601, a hollow cup motor 602, a propeller 603 and a locking nut;
7. sleeve, 8, bulge, 9, wall.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The utility model relates to a have four rotor crafts of deformation and wall landing function concurrently, as shown in fig. 1, including fuselage 1, one side of fuselage 1 is equipped with sponge sucking disc 2, and steering wheel drive assembly 3 is equipped with at the top of fuselage 1, is equipped with horn 4 and horn connecting rod 5 on the steering wheel drive assembly 3 respectively, and the both ends of horn 4 and horn connecting rod 5 all are equipped with electric screw subassembly 6.
As shown in fig. 2 and 3, the steering engine driving assembly 3 includes a body cover plate 303, the body cover plate 303 is installed at the top of the body 1, a steering engine 301 is arranged in the body cover plate 303, and an adapter 302 is installed on an output shaft of the steering engine 301.
The center department of horn connecting rod 5 is equipped with sleeve 7, and sleeve 7 forms the sliding pair with the cooperation of adapter 302, and sleeve 7 drives horn connecting rod 5 and can reciprocate for adapter 302.
As shown in fig. 4, the outer wall of the sleeve 7 is provided with a protrusion 8;
as shown in fig. 5, a spiral track groove 304 is formed in the center of the body cover 303;
the protrusion 8 on the sleeve 7 is matched with the spiral track groove 304 in the body cover plate 303 to form a spiral pair, and when the adapter 302 rotates, the sleeve 7 drives the arm connecting rod 5 to rotate and lift relative to the body cover plate 303.
As shown in fig. 6, the electric propeller assembly 6 comprises a hollow cup motor 601, a propeller 602 and a lock nut 603, the electric propeller assembly 6 is connected with the horn connecting rod 5, the hollow cup motor 601 is mounted on the horn connecting rod 5, the propeller 602 and the lock nut 603 are sequentially connected with an output shaft of the hollow cup motor 601, the propeller 602 is driven to rotate by the hollow cup motor 601, and the lock nut 603 can prevent the propeller 602 from being separated from the output shaft of the hollow cup motor 601 in the rotating process.
The horn 4 sets up at the top of fuselage apron 303, and electronic screw subassembly 6 is connected with horn 4, and coreless motor 601 installs on horn 4, and screw 602, lock nut 603 are connected with the output shaft of coreless motor 601 in proper order, and screw 602 is rotated by the drive of coreless motor 601, and lock nut 603 can prevent that screw 602 from breaking away from the output shaft of coreless motor 601 at rotatory in-process.
The utility model relates to a have the working process of four rotor crafts of deformation and wall landing function concurrently does, above-mentioned four rotor crafts of flexible have two kinds of flight modes.
The first method comprises the following steps: when flying in an open area, the deformable quadrotor aircraft flies like a common quadrotor aircraft (as shown in figure 1), and the control method is the same as that of the common quadrotor aircraft.
And the second method comprises the following steps: when the deformable quadrotor aircraft needs to pass through the narrow slit, the deformable quadrotor aircraft cannot safely pass through the first flight mode, and the flight mode needs to be switched. At this moment, the steering engine 301 is controlled to rotate in a clockwise (anticlockwise) direction, the output shaft of the steering engine 301 drives the adapter 302 to synchronously rotate, the adapter 302 drives the arm connecting rod 5 to synchronously rotate, the arm connecting rod 5 and the electric propeller assembly 6 installed on the arm connecting rod 5 are enabled to be integrally screwed up under the action of screw pair matching, and the steering engine 301 is closed when the arm connecting rod 5 and the electric propeller assembly 6 installed on the arm connecting rod 5 are integrally rotated by 90 degrees. At this time, the horn connecting rod 5 and the electric propeller assembly 6 mounted on the horn connecting rod 5 rotate 90 ° with respect to the body cover 303 and move upward by a certain lead, and at this time, the electric propeller assembly 6 is in the same vertical plane (as shown in fig. 7), forming a coaxial reverse-propeller flight mode. Meanwhile, the rotating directions of the propellers 602 in the same horizontal plane are the same, and the rotating directions of the upper propeller 602 and the lower propeller 602 are opposite, so that the gyroscopic effect and the aerodynamic torque effect are balanced. The second mode of flight greatly reduces the overall size of the aircraft, making it possible to pass through narrow slots, as shown in fig. 8.
After passing through the narrow slit, the steering engine 301 is controlled to rotate in the counterclockwise direction (clockwise direction), so that the first flight mode can be recovered, the working principle is opposite to that of switching from the first flight mode to the second flight mode, and the detailed description is omitted.
When the wall surface 9 is required to land, the four-rotor aircraft switches the flight mode to the second mode, then gradually approaches the wall surface and performs the landing operation, and the takeoff process is reversed. As shown in fig. 9, the robot perches on the wall surface.
Claims (3)
1. The utility model provides a have four rotor crafts of deformation and wall landing function concurrently which characterized in that: the electric steering engine comprises an engine body, wherein a sponge sucker is arranged on one side of the engine body, a steering engine driving assembly is arranged at the top of the engine body, an engine arm and an engine arm connecting rod are respectively arranged on the steering engine driving assembly, and electric propeller assemblies are respectively arranged at two ends of the engine arm and the engine arm connecting rod;
the steering engine driving assembly comprises a body cover plate, the body cover plate is arranged at the top of the body, a steering engine is arranged in the body cover plate, and an output shaft of the steering engine is provided with an adapter;
the electric propeller component comprises a hollow cup motor, the output shaft of the hollow cup motor is sequentially provided with a propeller and a locking nut, the propeller is driven to rotate by the hollow cup motor, and the locking nut can prevent the propeller from being separated from the output shaft of the hollow cup motor in the rotating process.
2. The quadrotor aircraft with deformation and wall surface landing functions according to claim 1, wherein: the center department of horn connecting rod is equipped with the sleeve, and the sleeve forms the sliding pair with the adapter cooperation, and the sleeve drives the horn connecting rod and can reciprocate for the adapter.
3. The quadrotor aircraft with deformation and wall surface landing functions according to claim 2, wherein: the outer wall of the sleeve is provided with a protrusion, the center of the machine body cover plate is provided with a spiral track groove, and the protrusion is matched with the spiral track groove to form a spiral pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920197353.3U CN209833987U (en) | 2019-02-14 | 2019-02-14 | Four-rotor aircraft with deformation and wall surface landing functions |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920197353.3U CN209833987U (en) | 2019-02-14 | 2019-02-14 | Four-rotor aircraft with deformation and wall surface landing functions |
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| CN209833987U true CN209833987U (en) | 2019-12-24 |
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| CN201920197353.3U Active CN209833987U (en) | 2019-02-14 | 2019-02-14 | Four-rotor aircraft with deformation and wall surface landing functions |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112550682A (en) * | 2020-12-16 | 2021-03-26 | 南京航空航天大学 | Negative surface landing mechanism, rotor unmanned aerial vehicle and landing and takeoff method thereof |
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2019
- 2019-02-14 CN CN201920197353.3U patent/CN209833987U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112550682A (en) * | 2020-12-16 | 2021-03-26 | 南京航空航天大学 | Negative surface landing mechanism, rotor unmanned aerial vehicle and landing and takeoff method thereof |
| CN112550682B (en) * | 2020-12-16 | 2022-04-22 | 南京航空航天大学 | Negative surface landing mechanism, rotor unmanned aerial vehicle and landing and takeoff method thereof |
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