CN102785775A - Multi-rotor aircraft with rolling function - Google Patents
Multi-rotor aircraft with rolling function Download PDFInfo
- Publication number
- CN102785775A CN102785775A CN2012102796562A CN201210279656A CN102785775A CN 102785775 A CN102785775 A CN 102785775A CN 2012102796562 A CN2012102796562 A CN 2012102796562A CN 201210279656 A CN201210279656 A CN 201210279656A CN 102785775 A CN102785775 A CN 102785775A
- Authority
- CN
- China
- Prior art keywords
- power unit
- aircraft
- connecting arm
- rotor
- rotor aerocraft
- 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.)
- Granted
Links
Images
Abstract
The invention relates to the fields of an airplane model and an aircraft, in particular to a multi-rotor aircraft with a rolling function. The multi-rotor aircraft comprises three circular rings, a connecting arm, six power units, an energy source, a flight control system, a load, a machine body and a machine body upper cover, wherein rotating centers of three power units are in the same flat surface, the rotating centers of the other three power units are in the other flat surface, the two flat surfaces are parallel but not are coincided, and lift vectors and moment vectors generated by the six power units are mutually orthogonal. Force vector and torque in any direction can be generated by regulating the rotating speed and the direction of rotors of the six power units, the decoupling of motion and gesture of the aircraft can be realized, different motion and gesture variations can be finished by the aircraft, the aircraft can move forwards along the ground or cross obstacles by matching with the circular rings, and the aircraft has extremely high flexibility and controllability.
Description
Technical field
The present invention relates to aircraft and model plane field, particularly a kind of multi-rotor aerocraft with rolling function.
Background technology
The multi-rotor aerocraft of function such as have VTOL and hover; Not only play an important role in military field; In the on-the-spot relief of disaster, hazardous environment is detected, traffic monitoring, electric power cruises and a plurality of fields such as shooting in the air also show the huge applications potentiality, receives much concern.
Present multi-rotor aerocraft mainly contains versions such as four rotors, six rotors, eight rotors, 12 rotors; Such as multi-rotor aerocraft of Xaircraft, German Microdrone company, Canadian Dranganflyer company etc.; Be characterized in changing rotor lift and level of torque, realize the change of attitude of flight vehicle and motion, in view of structure through the rotating speed size of controlling a plurality of rotors; Its centre of gration all at grade; The common problem that exists is: aircraft self is a motion coupled system, and aloft sense of motion and attitude coupling are restricting the raising of aircraft alerting ability and road-holding property.Therefore, it is imperative to develop a kind of new structure aircraft with high degree of flexibility and road-holding property.
Summary of the invention
To the problems referred to above, alerting ability and the relatively poor problem of road-holding property for the multi-rotor aerocraft that solves prior art the invention provides a kind of multi-rotor aerocraft with rolling function.
In order to solve the problems of the technologies described above, the multi-rotor aerocraft with rolling function of the present invention is specific as follows:
A kind of multi-rotor aerocraft with rolling function comprises:
Plane of living in is mutually orthogonal, three annulus that the radius that connects together of criss-cross equates; Any two said annulus are respectively equipped with connecting joint in cross one another position;
The ball-shaped body is arranged on the position of three said circle ring center;
Connecting arm is separately positioned between each said connecting joint and the said body;
Six said connecting arms are in respectively on three orthogonal straight lines; Two said connecting arms on the straight line direction are respectively equipped with a power unit on the symmetric position of relative three said circle ring center;
The inside of said body is provided with to a plurality of said power units provide the energy source of power, and the flight control system of controlling a plurality of said power units.
In the technique scheme, the bottom of said body also is provided with the load that plays equilibrium activity.
In the technique scheme, said power unit is arranged on the midway location of said connecting arm.
In the technique scheme, the rotation axis of the said power unit on two said connecting arms of same rectilinear direction is parallel to each other; The rotation axis of the said power unit on the said connecting arm of different rectilinear directions is vertical each other.
In the technique scheme, said connecting joint comprise: cooperate the last casting die and the piece under pressure that compress.
In the technique scheme, said power unit comprises: permanent-magnet brushless DC electric machine, motor cabinet, bearing, actuator and rotor;
Said permanent-magnet brushless DC electric machine is fixed on the motor cabinet, its upper end with the axle mounting rotor, the lower end installation of driver; Said motor cabinet is fixed on the said bearing; Said bearing is a hollow cylinder.
In the technique scheme, the rotor blade of said power unit is double end reverse symmetry aerofoil profile or the reverse asymmetric airfoil of double end.
In the technique scheme, said connecting arm is connected through interior fitting, external piece and said body;
The fitting outside face is spherical in said, and is identical with body interior surface curvature radius; Said external piece outside face is spherical, and is identical with said body outer surface curvature radius.
In the technique scheme, said in fitting, said external piece and said body, be equipped with a plurality of through holes that are used for cabling and mechanical connection.
In the technique scheme, said connecting arm is for installing the hollow structure of lead.
Multi-rotor aerocraft with rolling function of the present invention has following beneficial effect:
Carry out space layout through six power units according to described regular mounting structure system of axes; Can make the aircraft vector that any direction all has power and moment in the space; Avoided traditional multi-rotor aerocraft not have the problem of power and moment vector along a certain direction; Thereby make aircraft to keep balance or flight under the attitude arbitrarily in any direction; Be connected three annulus of arm end can also advance or clear the jumps along ground surface, so this aircraft have high alerting ability.
Since in six power units per two rotation axiss respectively with the x axle; The y axle, the z axle is parallel, so the lift of per two power units and the lift vector and the moment vector quadrature of moment vector and other two pairs of power units in six power units; Therefore keeping under the identical power cell cases; This combined power unit goes up required lift in any direction and moment is minimum, can effectively practice thrift the energy of aircraft, improves the flight efficiency of aircraft.
Because the lift vector of per two power units and the lift vector and the moment vector quadrature of moment vector and other two pairs of power units in six power units of aircraft; Therefore the component of aircraft all strong and moment on three of body axis system XYZ has increased aircraft road-holding property and stability effectively.
Because the lift of per two power units and the lift and the moment vector quadrature of moment vector and other two pairs of power units in six power units of aircraft; Make that the sense of motion and the attitude of aircraft are full decoupled; Reduce the flight control system difficulty effectively, improved the control system reliability.
When aircraft certain or some power unit breaks down; As long as two power units that assurance aircraft lift direction is identical or the power unit normal operation of three lift vector quadratures; This aircraft gets final product safe landing, and therefore, this aircraft has stronger fault-tolerant ability and safety.
The rotor of aircraft places within the annulus, has reduced the rotor probability of damage, has avoided personnel's injury, safety, good protective.
Description of drawings
Fig. 1 representes the structural representation with a kind of specific embodiment of multi-rotor aerocraft of rolling function of the present invention.
Fig. 2 representes the structure space position view of the specific embodiment shown in Figure 1.
Fig. 3 representes centre of gration perspective view on face 20 or 21 of the specific embodiment shown in Figure 1.
Fig. 4 representes the annulus mounting structure scheme drawing of the specific embodiment shown in Figure 1.
Fig. 5 representes the connecting arm and the body mounting structure scheme drawing of the specific embodiment shown in Figure 1.
Fig. 6 representes the power unit structure scheme drawing of the specific embodiment shown in Figure 1.
Fig. 7 representes the connecting arm and the power unit mounting structure scheme drawing of the specific embodiment shown in Figure 1.
Reference numeral is expressed as among the figure:
1-3, annulus; 4-9, connecting arm; 10-15, power unit;
18, load; 19, body; 20, plane; 21, plane; 22, circumference; 23, circumference; 24, interior fitting; 25, external piece; 26, interior fitting, 27, external piece; 28, bolt; 50, piece under pressure; 51, go up casting die; 66, the plane in the middle of the plane 20 and 21; 67, organism top case;
201, permanent-magnet brushless DC electric machine; 202, motor cabinet; 203, bearing; 204, actuator; 205, rotor;
The quadrntnt ring of 2-1/4, annulus 2; / 2nd annulus of 3-1/2, annulus 3;
101, the centre of gration of power unit 10; 111, the centre of gration of power unit 11;
121, the centre of gration of power unit 12; 131, the centre of gration of power unit 13;
141, the centre of gration of power unit 14; 151, the centre of gration of power unit 15.
The specific embodiment
Invention thought of the present invention is: a kind of multi-rotor aerocraft with rolling function comprises that plane of living in is mutually orthogonal, three annulus that the radius that connects together of criss-cross equates; Wherein, any two said annulus are respectively equipped with connecting joint in cross one another position, in order to connect two annulus.In addition, multi-rotor aerocraft of the present invention also comprises the position ball-shaped body that is arranged on three said circle ring center, and six connecting arms, and each connecting arm is separately positioned between each said connecting joint and the said body.
In the multi-rotor aerocraft with rolling function of the present invention, six said connecting arms are in respectively on three orthogonal straight lines.Two said connecting arms on same rectilinear direction are respectively equipped with a power unit on the symmetric position of relative three said circle ring center.The rotation axis of the said power unit on two said connecting arms of same rectilinear direction is parallel to each other; The rotation axis of the said power unit on the said connecting arm of different rectilinear directions is vertical each other.The inside of said body is provided with to a plurality of said power units provide the energy source of power, and the flight control system of controlling a plurality of said power units.The bottom of said body also is provided with the load that plays equilibrium activity.
In order to make the object of the invention, technical scheme and advantage clearer, below in conjunction with embodiment, the present invention is further elaborated, should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
Fig. 1 to 7 shows a kind of specific embodiment of multi-rotor aerocraft with rolling function of the present invention.Like Fig. 1, shown in 2; Multi-rotor aerocraft with rolling function of the present invention comprises: annulus 1, annulus 2, annulus 3, connecting arm 4-connecting arm 9 (comprising connecting arm 4, connecting arm 5, connecting arm 6, connecting arm 7, connecting arm 8 and connecting arm 9); Six power units: power unit 10-power unit 15 (comprise power unit 10, comprise power unit 11, comprise power unit 12, comprise power unit 13, comprise power unit 14 and power unit 15); Energy source, flight control system, load 18; Body 19, organism top case 67.Body 19 is a hollow ball shape, and body 19 connects power unit 10-power unit 15 respectively through connecting arm 4-connecting arm 9; Energy source and flight control system are installed in body 19 inside, and load 18 is installed in body 19 bottoms.Body 19 adopts carbon fibre material or glass fiber material to process.
The centre of gration of power unit 10, power unit 11, power unit 12 on plane 20, and become 120 the degree angles be evenly distributed on the circumference 22; The centre of gration of power unit 13, power unit 14, power unit 15 on plane 21, and become 120 the degree angles be evenly distributed on the circumference 23; Parallel but the coplane not in plane 20 and plane 21, the projection of circumference 22 on plane 21 overlaps with circumference 23.
The structure coordinate system of aircraft, its initial point is the mid point of circumference 22 centers of circle and circumference 23 circle center line connectings, and xyz axle and plane 20 or 21 are pointed to up all in angle of 45 degrees, and rectangular coordinate system satisfies the right-handed system rule.
The geometric center lines of connecting arm 4, connecting arm 7 is parallel with the x axle, and connecting arm 5 is parallel with the y axle with connecting arm 8 geometric center lines, and connecting arm 6 is parallel with the z axle with connecting arm 9 geometric center lines, and connecting arm is a hollow structure, and hollow space is installed lead.
The centre of gration of six power units projects into 60 degree angle rectangular distributions on plane 20 or plane 21, as shown in Figure 3.
The radius of annulus 1, annulus 2, annulus 3 equates that annulus 1 is through the end points of connecting arm 4, connecting arm 7, connecting arm 5, connecting arm 8, and annulus 1 geometric center lines is through the xy plane; Annulus 2 is through the end points of connecting arm 5, connecting arm 8, connecting arm 6, connecting arm 9, and annulus 2 geometric center lines are through the yz plane; Annulus 3 is through the end points of connecting arm 6, connecting arm 9, connecting arm 4, connecting arm 7, and annulus 3 geometric center lines are through the zx plane.
As shown in Figure 5, being connected through interior fitting 24, external piece 25 of said body 19 and connecting arm 4-connecting arm 9 cooperates with body 19, adopts mechanical and bonding dual mode is fixed simultaneously; Interior fitting 24 outside faces are spherical, and identical with body 19 interior surface curvature radiuses, and external piece 25 outside faces are spherical; And identical with body 19 outer surface curvature radius, interior fitting 24, external piece 25 are equipped with five through holes with body 19, and two through holes are used for mechanical connection; Its excess-three through hole cabling, through hole alignment during installation matches bonding with the inside face of body 19 spherical of interior fitting 24; The through hole alignment, the spherical of external piece 25 matches bonding with the outside face of body 19, the through hole alignment; Utilize two bolts to pass two through holes and tighten, bonding employing epoxide-resin glue, external piece 25 other ends and connecting arm are fixed.
As shown in Figure 6; Said power unit 10-power unit 15 is made up of permanent-magnet brushless DC electric machine 201, motor cabinet 202, bearing 203, actuator 204 and rotor 205; Permanent-magnet brushless DC electric machine 201 upper ends are with axle mounting rotor 205, lower end installation of driver 204, and be fixed on the motor cabinet 202; Motor cabinet 202 is fixed on the bearing 203, and bearing 203 is a hollow cylinder.
As shown in Figure 7, said power unit 10-power unit 15 and being connected of connecting arm 4-connecting arm 9 are to cooperate with bearing 203 through interior fitting 26, external piece 27, adopt machinery and bonding dual mode to fix simultaneously; Interior fitting 26 outside faces are cylindrical, and identical with bearing 203 inner cylinder face radiuses, and external piece 27 outside faces are cylindrical; And identical with bearing 203 outside face radiuses, interior fitting 26, external piece 27 are equipped with five through holes with bearing 203, and two are used for mechanical connection; Its excess-three cabling, through hole alignment during installation matches bonding with the inside face of bearing 203 cylindrical surface of interior fitting 26; The through hole alignment; The cylindrical surface of external piece 27 matches bonding with the outside face of bearing 203, the through hole alignment utilizes two bolts 28 to pass two through holes and tightens; Bonding employing epoxide-resin glue, external piece 27 other ends and connecting arm are fixed.
The rotor blade of power unit 10-power unit 15 can adopt conventional NACA aerofoil profile, adopts double end reverse symmetry aerofoil profile or the reverse asymmetric airfoil of double end can produce up or down lift and the moment of torsion of positive negative direction through regulating hand of rotation.
The flight theory of the multi-rotor aerocraft with rolling function of the present invention is following:
Regulate six gyroplane rotate speeds; Make power unit 10, power unit 11, power unit 12 rotating speeds identical, power unit 13, power unit 14, power unit 15 rotating speeds are identical, but both rotating speeds are different; Therefore produce the moment of torsion along gravity direction, aircraft can be around the gravity direction lift-over.Because the lift vector of six power unit generations is orthogonal; Therefore, the rotating speed size and Orientation of regulating six power unit rotors can produce the force vector and the moment of torsion of any direction, realizes the decoupling zero of aircraft movements and attitude; Aircraft can accomplish different motions and attitude changes; Cooperate annulus to use, aircraft can advance or clears the jumps along ground surface, and this aircraft has high alerting ability and road-holding property.
Obviously, the foregoing description only be for explanation clearly done for example, and be not qualification to embodiment.For the those of ordinary skill in affiliated field, on the basis of above-mentioned explanation, can also make other multi-form variation or change.Here need not also can't give exhaustive to all embodiments.And conspicuous variation of being extended out thus or change still are among the protection domain of the invention.
Claims (10)
1. the multi-rotor aerocraft with rolling function is characterized in that, comprising:
Plane of living in is mutually orthogonal, three annulus that the radius that connects together of criss-cross equates; Any two said annulus are respectively equipped with connecting joint in cross one another position;
The ball-shaped body is arranged on the position of three said circle ring center;
Connecting arm is separately positioned between each said connecting joint and the said body;
Six said connecting arms are in respectively on three orthogonal straight lines; Two said connecting arms on the straight line direction are respectively equipped with a power unit on the symmetric position of relative three said circle ring center;
The inside of said body is provided with to a plurality of said power units provide the energy source of power, and the flight control system of controlling a plurality of said power units.
2. multi-rotor aerocraft according to claim 1 is characterized in that the bottom of said body also is provided with the load that plays equilibrium activity.
3. multi-rotor aerocraft according to claim 1 is characterized in that said power unit is arranged on the midway location of said connecting arm.
4. according to any described multi-rotor aerocraft of claim 1-3, it is characterized in that,
The rotation axis of the said power unit on two said connecting arms of same rectilinear direction is parallel to each other; The rotation axis of the said power unit on the said connecting arm of different rectilinear directions is vertical each other.
5. multi-rotor aerocraft according to claim 4 is characterized in that, said connecting joint comprise: cooperate the last casting die and the piece under pressure that compress.
6. multi-rotor aerocraft according to claim 4 is characterized in that, said power unit comprises: permanent-magnet brushless DC electric machine, motor cabinet, bearing, actuator and rotor;
Said permanent-magnet brushless DC electric machine is fixed on the motor cabinet, its upper end with the axle mounting rotor, the lower end installation of driver; Said motor cabinet is fixed on the said bearing; Said bearing is a hollow cylinder.
7. multi-rotor aerocraft according to claim 6 is characterized in that, the rotor blade of said power unit is double end reverse symmetry aerofoil profile or the reverse asymmetric airfoil of double end.
8. multi-rotor aerocraft according to claim 4 is characterized in that, said connecting arm is connected through interior fitting, external piece and said body;
The fitting outside face is spherical in said, and is identical with body interior surface curvature radius; Said external piece outside face is spherical, and is identical with said body outer surface curvature radius.
9. multi-rotor aerocraft according to claim 8 is characterized in that, said in fitting, said external piece and said body, be equipped with a plurality of through holes that are used for cabling and mechanical connection.
10. multi-rotor aerocraft according to claim 4 is characterized in that, said connecting arm is for installing the hollow structure of lead.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210279656.2A CN102785775B (en) | 2012-08-08 | 2012-08-08 | A kind of multi-rotor aerocraft with rolling function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210279656.2A CN102785775B (en) | 2012-08-08 | 2012-08-08 | A kind of multi-rotor aerocraft with rolling function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102785775A true CN102785775A (en) | 2012-11-21 |
| CN102785775B CN102785775B (en) | 2016-03-02 |
Family
ID=47151394
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210279656.2A Expired - Fee Related CN102785775B (en) | 2012-08-08 | 2012-08-08 | A kind of multi-rotor aerocraft with rolling function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102785775B (en) |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014062275A3 (en) * | 2012-08-02 | 2014-06-19 | Neurosciences Research Foundation, Inc. | Vehicle capable of in-air and on-ground mobility |
| WO2014062276A3 (en) * | 2012-08-02 | 2014-06-26 | Neurosciences Research Foundation, Inc. | Vehicle capable of stabilizing a payload when in motion |
| CN104229132A (en) * | 2013-06-05 | 2014-12-24 | 倪明旺 | A transmission system of a coaxial propeller-reversing spherical aircraft |
| CN104786768A (en) * | 2015-04-21 | 2015-07-22 | 中国科学院合肥物质科学研究院 | Spherical mechanism for quad-rotor amphibious robot |
| CN105129088A (en) * | 2015-09-25 | 2015-12-09 | 高翔宇 | Spherical uniaxial rudder oriented intelligent aircraft |
| CN105164015A (en) * | 2013-06-11 | 2015-12-16 | 洛桑联邦理工学院(Epfl) | Vertical take-off and landing aerial vehicle |
| JP2016135660A (en) * | 2015-01-23 | 2016-07-28 | 株式会社Ihi | Aircraft |
| CN105857628A (en) * | 2016-04-11 | 2016-08-17 | 北京智鹰科技有限公司 | Self-balancing anti-collision aircraft |
| CN106005441A (en) * | 2016-07-20 | 2016-10-12 | 清华大学 | Thrust matrix |
| CN106741897A (en) * | 2016-12-31 | 2017-05-31 | 曹萍 | A kind of matrix aircraft |
| CN108297954A (en) * | 2018-03-20 | 2018-07-20 | 四川为天建设工程检测有限公司 | A kind of holotype robot |
| CN108556577A (en) * | 2018-04-23 | 2018-09-21 | 西南科技大学 | A kind of land and air double-used ball shape robot |
| CN108791802A (en) * | 2018-06-12 | 2018-11-13 | 北京理工大学 | A kind of unmanned vehicle of positive tetrahedron dynamic structure layout |
| CN109071011A (en) * | 2016-03-01 | 2018-12-21 | 亚马逊科技公司 | Six degree of freedom aviation carrier with offset propulsive mechanism |
| JP2019034735A (en) * | 2013-01-23 | 2019-03-07 | 国立大学法人 名古屋工業大学 | Charging device |
| CN109850117A (en) * | 2018-12-05 | 2019-06-07 | 中国航空工业集团公司成都飞机设计研究所 | A kind of multi-rotor aerocraft with walking function |
| US10618649B2 (en) | 2016-03-01 | 2020-04-14 | Amazon Technologies, Inc. | Six degree of freedom aerial vehicle |
| CN111566007A (en) * | 2018-02-05 | 2020-08-21 | 株式会社理光 | Aircraft, flight system, and structure inspection system |
| US11091263B2 (en) | 2017-02-16 | 2021-08-17 | Amazon Technologies, Inc. | Ring wing aerial vehicle |
| CN113335407A (en) * | 2021-07-15 | 2021-09-03 | 北京航空航天大学云南创新研究院 | Spherical robot based on six rotors |
| CN114194389A (en) * | 2021-12-30 | 2022-03-18 | 奥飞娱乐股份有限公司 | Deformable rolling aircraft |
| CN114313210A (en) * | 2021-12-30 | 2022-04-12 | 奥飞娱乐股份有限公司 | Control method of deformable rolling aircraft |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6976899B1 (en) * | 2002-01-25 | 2005-12-20 | Kypros Tamanas | All terrain vehicle |
| CN101391651A (en) * | 2008-11-17 | 2009-03-25 | 西安智澜科技发展有限公司 | Foldable Y shaped three axis two-layer six rotorcraft |
| WO2010015866A2 (en) * | 2008-08-08 | 2010-02-11 | The University Of Manchester | Rotary wing vehicle |
| CN101704413A (en) * | 2009-11-24 | 2010-05-12 | 中国科学院长春光学精密机械与物理研究所 | Six-rotor flying machine with rolling function |
| ES2354796A1 (en) * | 2009-05-28 | 2011-03-18 | Vicente Gamon Polo | Flying vehicle. (Machine-translation by Google Translate, not legally binding) |
| CN101992854A (en) * | 2010-11-03 | 2011-03-30 | 中国科学院长春光学精密机械与物理研究所 | Foldable six-axis multi-rotor aircraft |
| CN102092473A (en) * | 2011-01-25 | 2011-06-15 | 凌强 | Multi-rotor craft and method thereof |
-
2012
- 2012-08-08 CN CN201210279656.2A patent/CN102785775B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6976899B1 (en) * | 2002-01-25 | 2005-12-20 | Kypros Tamanas | All terrain vehicle |
| WO2010015866A2 (en) * | 2008-08-08 | 2010-02-11 | The University Of Manchester | Rotary wing vehicle |
| CN101391651A (en) * | 2008-11-17 | 2009-03-25 | 西安智澜科技发展有限公司 | Foldable Y shaped three axis two-layer six rotorcraft |
| ES2354796A1 (en) * | 2009-05-28 | 2011-03-18 | Vicente Gamon Polo | Flying vehicle. (Machine-translation by Google Translate, not legally binding) |
| CN101704413A (en) * | 2009-11-24 | 2010-05-12 | 中国科学院长春光学精密机械与物理研究所 | Six-rotor flying machine with rolling function |
| CN101992854A (en) * | 2010-11-03 | 2011-03-30 | 中国科学院长春光学精密机械与物理研究所 | Foldable six-axis multi-rotor aircraft |
| CN102092473A (en) * | 2011-01-25 | 2011-06-15 | 凌强 | Multi-rotor craft and method thereof |
Cited By (38)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014062275A3 (en) * | 2012-08-02 | 2014-06-19 | Neurosciences Research Foundation, Inc. | Vehicle capable of in-air and on-ground mobility |
| WO2014062276A3 (en) * | 2012-08-02 | 2014-06-26 | Neurosciences Research Foundation, Inc. | Vehicle capable of stabilizing a payload when in motion |
| US8794566B2 (en) | 2012-08-02 | 2014-08-05 | Neurosciences Research Foundation, Inc. | Vehicle capable of stabilizing a payload when in motion |
| US8794564B2 (en) | 2012-08-02 | 2014-08-05 | Neurosciences Research Foundation, Inc. | Vehicle capable of in-air and on-ground mobility |
| JP2019034735A (en) * | 2013-01-23 | 2019-03-07 | 国立大学法人 名古屋工業大学 | Charging device |
| CN104229132A (en) * | 2013-06-05 | 2014-12-24 | 倪明旺 | A transmission system of a coaxial propeller-reversing spherical aircraft |
| CN104229132B (en) * | 2013-06-05 | 2018-09-25 | 吴嘉馨 | Coaxial anti-paddle spherical aircraft transmission system |
| CN105164015A (en) * | 2013-06-11 | 2015-12-16 | 洛桑联邦理工学院(Epfl) | Vertical take-off and landing aerial vehicle |
| CN105164015B (en) * | 2013-06-11 | 2018-01-05 | 洛桑联邦理工学院(Epfl) | Vertically taking off and landing flyer |
| JP2016135660A (en) * | 2015-01-23 | 2016-07-28 | 株式会社Ihi | Aircraft |
| CN104786768A (en) * | 2015-04-21 | 2015-07-22 | 中国科学院合肥物质科学研究院 | Spherical mechanism for quad-rotor amphibious robot |
| CN105129088A (en) * | 2015-09-25 | 2015-12-09 | 高翔宇 | Spherical uniaxial rudder oriented intelligent aircraft |
| CN105129088B (en) * | 2015-09-25 | 2017-03-22 | 高翔宇 | Spherical uniaxial rudder oriented intelligent aircraft |
| CN114506448A (en) * | 2016-03-01 | 2022-05-17 | 亚马逊科技公司 | Six-freedom-degree aerial vehicle with offset propelling mechanism |
| US11884393B2 (en) | 2016-03-01 | 2024-01-30 | Amazon Technologies, Inc. | Aerial vehicle with failure recovery |
| US11565808B2 (en) | 2016-03-01 | 2023-01-31 | Amazon Technologies, Inc. | Aerial vehicle with failure recovery |
| JP2020179851A (en) * | 2016-03-01 | 2020-11-05 | アマゾン テクノロジーズ インコーポレイテッド | Six degree of freedom aerial vehicle with offset propulsion mechanism |
| CN109071011A (en) * | 2016-03-01 | 2018-12-21 | 亚马逊科技公司 | Six degree of freedom aviation carrier with offset propulsive mechanism |
| JP2019513099A (en) * | 2016-03-01 | 2019-05-23 | アマゾン テクノロジーズ インコーポレイテッド | 6 DOF aircraft with offset propulsion mechanism |
| CN109071011B (en) * | 2016-03-01 | 2022-03-25 | 亚马逊科技公司 | Six-freedom-degree aerial vehicle with offset propulsion mechanism |
| US10618649B2 (en) | 2016-03-01 | 2020-04-14 | Amazon Technologies, Inc. | Six degree of freedom aerial vehicle |
| CN105857628A (en) * | 2016-04-11 | 2016-08-17 | 北京智鹰科技有限公司 | Self-balancing anti-collision aircraft |
| CN106005441B (en) * | 2016-07-20 | 2017-08-04 | 清华大学 | Thrust matrix arrangement |
| CN106005441A (en) * | 2016-07-20 | 2016-10-12 | 清华大学 | Thrust matrix |
| CN106741897A (en) * | 2016-12-31 | 2017-05-31 | 曹萍 | A kind of matrix aircraft |
| US11091263B2 (en) | 2017-02-16 | 2021-08-17 | Amazon Technologies, Inc. | Ring wing aerial vehicle |
| US11649053B2 (en) | 2017-02-16 | 2023-05-16 | Amazon Technologies, Inc. | Hexagonal ring wing aerial vehicle |
| CN111566007A (en) * | 2018-02-05 | 2020-08-21 | 株式会社理光 | Aircraft, flight system, and structure inspection system |
| US11560215B2 (en) | 2018-02-05 | 2023-01-24 | Ricoh Company, Ltd. | Aircraft, flight system, and structure inspection system |
| CN111566007B (en) * | 2018-02-05 | 2023-10-03 | 株式会社理光 | Aircraft, flight system and structure inspection system |
| CN108297954A (en) * | 2018-03-20 | 2018-07-20 | 四川为天建设工程检测有限公司 | A kind of holotype robot |
| CN108556577B (en) * | 2018-04-23 | 2020-07-14 | 西南科技大学 | Air-ground dual-purpose spherical robot |
| CN108556577A (en) * | 2018-04-23 | 2018-09-21 | 西南科技大学 | A kind of land and air double-used ball shape robot |
| CN108791802A (en) * | 2018-06-12 | 2018-11-13 | 北京理工大学 | A kind of unmanned vehicle of positive tetrahedron dynamic structure layout |
| CN109850117A (en) * | 2018-12-05 | 2019-06-07 | 中国航空工业集团公司成都飞机设计研究所 | A kind of multi-rotor aerocraft with walking function |
| CN113335407A (en) * | 2021-07-15 | 2021-09-03 | 北京航空航天大学云南创新研究院 | Spherical robot based on six rotors |
| CN114194389A (en) * | 2021-12-30 | 2022-03-18 | 奥飞娱乐股份有限公司 | Deformable rolling aircraft |
| CN114313210A (en) * | 2021-12-30 | 2022-04-12 | 奥飞娱乐股份有限公司 | Control method of deformable rolling aircraft |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102785775B (en) | 2016-03-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102785775B (en) | A kind of multi-rotor aerocraft with rolling function | |
| US9764829B1 (en) | Multirotor aircraft with enhanced yaw control | |
| CN101973394A (en) | Six rotor-wing aircraft | |
| CN105000180B (en) | Aerodynamic configuration of aircraft device | |
| US9169011B2 (en) | Rotor with blades including outer blade shell and inner structural member | |
| JP2016523759A5 (en) | ||
| CN202896880U (en) | Spherical micro unmanned aerial vehicle | |
| CN104210655A (en) | Double-rotor-wing unmanned plane | |
| CN104973242B (en) | Rotor control device and rotor craft | |
| JP2017074804A (en) | Multi-rotor helicopter | |
| CN107117300A (en) | Unmanned vehicle based on coaxial many rotor pose adjustments | |
| CN103895860A (en) | Novel coaxial double-rotary double-degree-of-freedom eight-rotor-wing amphibious aircraft | |
| CN105377695B (en) | The airscrew blade pivot of spherical cap shape | |
| CN101704413A (en) | Six-rotor flying machine with rolling function | |
| CN106985159A (en) | A kind of flight mechanical arm with flexible crawl device | |
| CN105151280A (en) | Aircraft empennage regulation mechanism with pitching and yawing completely decoupled | |
| CN102806993A (en) | Multi-rotor aircraft | |
| CN106986019A (en) | A kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination | |
| CN205366061U (en) | 32 rotor crafts on eight arms of on -plane surface | |
| CN102963526A (en) | Cycloidal propeller aerial vehicle | |
| CN205256663U (en) | 16 rotor crafts on eight arms of on -plane surface | |
| CN103963969A (en) | Aircraft with multiple layers of rotary wings of circumferentially distributed rotary planes | |
| CN110203386A (en) | A kind of new coaxial unmanned machine of configuration omnidirectional | |
| CN105083521A (en) | Airship | |
| CN101704412A (en) | Six-rotor aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160302 Termination date: 20170808 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |