CN106184704A - One is applicable to rocket-propelled quadrotor - Google Patents
One is applicable to rocket-propelled quadrotor Download PDFInfo
- Publication number
- CN106184704A CN106184704A CN201610641408.6A CN201610641408A CN106184704A CN 106184704 A CN106184704 A CN 106184704A CN 201610641408 A CN201610641408 A CN 201610641408A CN 106184704 A CN106184704 A CN 106184704A
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- Prior art keywords
- quadrotor
- rocket
- hole
- support column
- spiral arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/15—Propulsion using combustion exhausts other than turbojets or turbofans, e.g. using rockets, ramjets, scramjets or pulse-reactors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses one and be applicable to rocket-propelled quadrotor, this quadrotor includes spiral arm, fuselage cradle, spiral arm launch locked component, main shaft, carriage assembly and for driving the brushless electric machine of propeller rotational.Spiral arm is positioned at the lower section of fuselage cradle, the top of fuselage cradle is carriage assembly, and four brushless electric machines are separately mounted on the annulus end of spiral arm and fuselage cradle, and the output shaft of brushless electric machine is installed propeller, spiral arm launches locked component and fixedly mounts with fuselage cradle, and main shaft is arranged on spiral arm to launch on locked component.Quadrotor of the present invention is after being delivered to specified altitude assignment position by rocket generation thrust, and the quadrotor of lift-launch departs from rocket, and automatically deploys to state of flight, performs the tasks such as shooting investigation.The features such as owing to quadrotor is carried by rocket, having working depth high, area coverage is wide, and arrival specified altitude assignment speed is fast.
Description
Technical field
The present invention relates to a kind of aircraft, more particularly, refer to a kind of four rotors by rocket delivery transmitting to high-altitude
Aircraft.
Background technology
Quadrotor is the unmanned vehicle of a kind of VTOL, provides dynamic by four propellers being symmetrically installed
Power, overcomes self gravitation, carries out autonomous or remote control distributor, and can carry certain load, can carry video camera etc. and clap
Take the photograph or other task.There is the features such as simple in construction, flexible operation, load capacity are strong, there is important military and civilian and be worth.
Owing to quadrotor frame for movement is simple, with low cost, it is widely used in military or civilian occasion now, holds
The all types of tasks of row.Quadrotor by the battery that carries or fuel as driving the energy of motor, by four spiral shells
The lift that rotation oar produces overcomes the gravity of self to fly.The power that can provide due to propeller and to carry load-carrying ability limited,
Its flight time was generally limited in 30 minutes, and the height of flight is generally below 500 meters, and flying radius is generally less than 1 km, no
High-altitude oceangoing voyage journey task can be performed.
Summary of the invention
For overcoming drawbacks described above and the deficiency of prior art, the technical problem to be solved is, is flown by four rotors
Row device is combined with rocket, will make up quadrotor and can not perform this defect of high-altitude oceangoing voyage journey task.Devise simultaneously
A kind of lightweight, can hand foldable and the novel quadrotor of Automatic-expanding.
The technical scheme is that a kind of rocket-borne quadrotor of design, including four rotor flyings
Device and load the rocket of described quadrotor.Quadrotor is loaded in inside the trousers of rocket, rocket send out
Penetrate lift-off.Arriving after specified altitude assignment, quadrotor ejects from the trousers of rocket, individually perform cruise, shoot contour
Empty oceangoing voyage journey task.
Another technical scheme of the present invention is on above-mentioned basis, owing to rocket can be supplied to quadrotor
Limited space, the structure of quadrotor is designed as folding structure.When putting into the trousers inner space of rocket,
Quadrotor structure hand foldable, in order to be arranged in rocket small space, when specified altitude assignment sent to by rocket, four rotors
Aircraft automatically from the trousers of rocket eject, and by inside the trousers of rocket folded state self structure from
Dynamic expansion (mainly spiral arm launches clockwise), thus completes the quadrotor transformation by folded state to state of flight.
The one of present invention design is applicable to rocket-propelled quadrotor, and this quadrotor is loaded in rocket
Trousers inside, by rocket, quadrotor is transmitted into specified altitude assignment；
This quadrotor is provided with brushless electric machine (7A, 7B, 7C, 7D), propeller (6A, 6B, 6C, 6D), A is brushless electricity
A propeller (6A) is installed on the output shaft of machine (7A), the output shaft of B brushless electric machine (7B) is provided with B propeller (6B), C
C propeller (6C) is installed on the output shaft of brushless electric machine (7C), the output shaft of D brushless electric machine (7D) is provided with D propeller
(6D)；
It is characterized in that: quadrotor also include spiral arm (1), fuselage cradle (2), spiral arm launch locked component (3),
Main shaft (4) and carriage assembly (5)；
Carriage assembly (5) include the first panel (51), the second panel (52), the 3rd panel (53), starting stave (54),
Second riser (55) and multiple support column；
BA support column (51A), BB support column (51B), BC support column (51C), BD support column (51D) are arranged on the first panel
(51) and between the second panel (52)；
Support column CA support column (52A), CB support column (52B), CC support column (52C), CD support column (52D) are arranged on
Between two panels (52) and the 3rd panel (53)；
AA support column (5A), AB support column (5B), AC support column (5C), AD support column (5D) are arranged on the second panel (52)
And between fuselage cradle (2)；
Starting stave (54) is arranged between BA support column (51A) and BD support column (51D)；Second riser (55) is arranged on
Between CA support column (52A) and CD support column (52D)；It is provided with in space between first panel (51) and the second panel (52)
Power module (50)；In space between second panel (52) and the 3rd panel (53), control module (40) is installed；
It is protruding (1A2) that the middle part of spiral arm (1) is provided with A through hole (1A), A semi arch protruding (1A1) and B semi arch；This A semicircle
Arc protruding (1A1) is fastened on A block (3F2) place of axle sleeve (3F)；This B semi arch protruding (1A2) is fastened on the B gear of axle sleeve (3F)
Block (3F3) place；This A through hole (1A) passes for main shaft (4)；One end of spiral arm (1) is provided with the right side for installing B propeller (6B)
Annulus end (1B), the other end of spiral arm (1) is provided with the left annulus end (1C) for installing D propeller (6D)；
The left end of fuselage cradle (2) is provided with left support arm (2C), and the end of described left support arm (2C) is provided with for installing C propeller
(6C) left annulus end (2C1)；The right-hand member of fuselage cradle (2) is provided with right support arm (2B), and the end of described right support arm (2B) is provided with use
In the right annulus end (2B1) installing A propeller (6A)；The fuselage body (2A) of fuselage cradle (2) is provided with and passes for main shaft (4)
B through hole (2A1), be used for installing spiral arm and launch the cross-hole (2A2) of locked component (3) and realize fuselage body (2A)
The lightening hole (2A3) of loss of weight；
Main shaft (4) is provided with torsional spring slot (4A), buckle slot (4B), the shaft shoulder (4C) and thread segment (4D), described torsion from top to bottom
Spring groove (4A) is used for placing the A crosspiece (3H1) of torsion spring (3H), and described buckle slot (4B) is used for placing opening buckle (3G), described
Being socketed with expansion fixed plate (3A) and spiral arm (1) on the shaft shoulder (4C), described thread segment (4D) is the most threaded axle sleeve (3F)；
Spiral arm launches locked component (3) and includes expansion fixed plate (3A), U-shaped pressing plate (3B), snap (3C), the centre of gyration
Bar (3D), attitude snap close (3E), axle sleeve (3F), opening buckle (3G) and torsion spring (3H)；
Launching fixed plate (3A) and be provided with rectangular through-hole (3A1), spindle through-hole (3A2), rectangular through-hole (3A1) is used for placing
The long support arm (3E3) of attitude snap close (3E), spindle through-hole (3A2) passes for main shaft (4)；Launch fixed plate (3A) and pass through screw
It is fixed on the lower section of fuselage cradle (2)；
One end of snap (3C) is adhesively fixed on the snap button (3E2) of attitude snap close (3E), the other end of snap (3C)
It is adhesively fixed in expansion fixed plate (3A)；Snap (3C) is placed in the snap through hole (2A5) of fuselage body (2A)；
After centre of gyration bar (3D) passes the through hole (3E1) on attitude snap close (3E), it is placed in the cross-hole of fuselage cradle (2)
(2A2) in A direction groove (2A2A), and top is bonded with U-shaped pressing plate (3B)；
Attitude snap close (3E) is provided with long support arm (3E3), short support arm (3E4), snap button (3E2) and through hole (3E1)；Described
Snap button (3E2) is used for snap (3C) one end that is adhesively fixed；Described through hole (3E1) passes for centre of gyration bar (3D)；Described
Long support arm (3E3) is placed in the rectangular through-hole (3A1) launching fixed plate (3A), and described short support arm (3E4) is placed in U-shaped pressing plate (3B)
Snap arm groove (3B) 1 in；
Axle sleeve (3F) is provided with left hand thread through hole (3F1), A block (3F2) and B block (3F3), A block (3F2) and B
It is opening (3F4) between block (3F3)；Described opening (3F4) is used for placing spiral arm (1)；Described tapped through hole (3F1) is used for leading
One end of axle (4) passes, and is threaded on the thread segment (4D) of main shaft (4)；
Opening buckle (3G) is placed in the buckle slot (4B) of main shaft (4)；
Torsion spring (3H) is provided with spring body (3H3), torsion spring A crosspiece (3H1) and torsion spring B crosspiece (3H2), described spring body (3H3)
Being enclosed within the top of the buckle slot (4B) of main shaft (4), described torsion spring A crosspiece (3H1) is placed in the torsional spring slot (4A) of main shaft (4) end
In, described torsion spring B crosspiece (3H2) is placed in the spring groove (2A4) of fuselage cradle (2A).
The advantage that the present invention is launched the quadrotor to high-altitude by rocket delivery is:
1. the quadrotor of present invention design be a kind of airframe structure can the structure of hand foldable, this is to meet
The restriction of the internal confined space of the trousers of rocket.After quadrotor ejects automatically from the trousers of rocket, and will be
The self structure Automatic-expanding of folded state inside the trousers of rocket, completes turning by folded state to state of flight
Become.
2. the quadrotor transformation from folded state to state of flight of present invention design be by spiral arm, main shaft with
Spiral arm launches what locked component realized.
3. the quadrotor of present invention design be a kind of be able to carry out high-altitude, the rocket of oceangoing voyage journey task delivers four rotations
Rotor aircraft, rocket and quadrotor are combined by this aircraft, and the motor-driven advantage quick, remote by means of rocket makes
Quadrotor can quickly perform the task of high-altitude oceangoing voyage journey.
Accompanying drawing explanation
Fig. 1 is the assembling schematic diagram of rocket-borne quadrotor.
Fig. 2 is the structure chart under quadrotor folded state of the present invention.
Fig. 2 A is the chart at the bottom of under quadrotor folded state of the present invention.
Fig. 2 B is another viewing angle constructions figure under quadrotor folded state of the present invention.
Fig. 3 is the structure chart under quadrotor state of flight of the present invention.
Fig. 4 is the structure chart of carriage assembly of the present invention.
Fig. 4 A is another viewing angle constructions figure of carriage assembly of the present invention.
Fig. 5 is the structure chart that fuselage cradle of the present invention, spiral arm and spiral arm launch locked component.
Fig. 5 A is the structure chart that fuselage cradle of the present invention, spiral arm launch another visual angle of locked component with spiral arm.
Fig. 5 B is the structure chart of spiral arm of the present invention.
Fig. 5 C is the structure chart of fuselage cradle of the present invention.
Fig. 6 is the structure chart that spiral arm of the present invention launches locked component and main shaft.
Fig. 6 A is the structure chart of attitude snap close of the present invention.
Fig. 6 B is the exploded view that spiral arm of the present invention launches locked component and main shaft.
Fig. 6 C is fuselage cradle of the present invention, spiral arm, spiral arm expansion locked component and the sectional structure chart of main shaft.
Fig. 6 D is the perspective elevation that attitude snap close of the present invention and fuselage cradle and spiral arm launch locked component.
Fig. 6 E is the structure chart that spiral arm deployed condition of the present invention and fuselage cradle and spiral arm launch locked component.
| 1. spiral arm | 1A.A through hole | 1A1.A semi arch is protruding |
| 1A2.B semi arch is protruding | 1B. right annulus end | 1C. left annulus end |
| 2. fuselage cradle | 2A. fuselage body | 2A-1. top panel |
| 2A-2. lower panel | 2A1.B through hole | 2A2. cross-hole |
| 2A2A.A direction groove | 2A2B.B direction groove | 2A3. lightening hole |
| 2A4. spring groove | 2A5. snap through hole | The right support arm of 2B. |
| 2B1. right annulus end | The left support arm of 2C. | 2C1. left annulus end |
| 3. spiral arm launches locked component | 3A. launches fixed plate | 3A1. rectangular through-hole |
| 3A2. spindle through-hole | 3A3. block | 3B.U shape pressing plate |
| 3B1. snap arm groove | 3C. snap | 3D. centre of gyration bar |
| 3E. attitude snap close | 3E1. through hole | 3E2. snap button |
| The long support arm of 3E3. | The short support arm of 3E4. | 3E5. limit opening |
| 3F. axle sleeve | 3F1. tapped through hole | 3F2.A block |
| 3F3.B block | 3F4. opening | 3G. opening buckle |
| 3H. torsion spring | 3H1. torsion spring A crosspiece | 3H2. torsion spring B crosspiece |
| 3H3. spring body | 4. main shaft | 4A. torsional spring slot |
| 4B. buckle slot | The 4C. shaft shoulder | 4D. thread segment |
| 5. carriage assembly | 51. first panels | 52. second panels |
| 53. the 3rd panels | 54. starting staves | 55. second risers |
| 5A.AA support column | 5B.AB support column | 5C.AC support column |
| 5D.AD support column | 51A.BA support column | 51B.BB support column |
| 51C.BC support column | 51D.BD support column | 52A.CA support column |
| 52B.CB support column | 52C.CC support column | 52D.CD support column |
| 6A.A propeller | 6B.B propeller | 6C.C propeller |
| 6D.D propeller | 7A.A brushless electric machine | 7B.B brushless electric machine |
| 7C.C brushless electric machine | 7D.D brushless electric machine | 10. quadrotor |
| 20. rockets | 30. trouserss | 40. control modules |
| 50. power modules |
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The assembling schematic diagram of rocket-borne quadrotor shown in Figure 1.The present invention is designed by figure
Can be in the cavity of hand foldable and the quadrotor 10 that automatically the stretches trousers 30 that is arranged on rocket 20 front end.Four rotors
When aircraft 10 is assemblied on rocket 2, folded state at the configuration state of described quadrotor 10.
In the present invention, used rocket is small-sized military or civilian rocket.General small-sized military or civilian fire
The firing altitude of arrow is at 2000 meters～8000 meters.
See shown in Fig. 2, Fig. 2 A, Fig. 2 B, the rocket-borne quadrotor of one of present invention design, described four rotations
Rotor aircraft include spiral arm 1, fuselage cradle 2, spiral arm launch locked component 3, main shaft 4, carriage assembly 5, brushless electric machine (7A, 7B,
7C, 7D) and propeller (6A, 6B, 6C, 6D).
In the present invention, propeller (6A, 6B, 6C, 6D) select 5030 propellers, 5035 propellers, 5040 propellers,
5045 propellers, 5050 propellers, 6030 propellers, 6035 propellers, 6040 propellers, 6045 propellers, 6050 propellers
Or 6055 propellers.
In the present invention, brushless electric machine (7A, 7B, 7C, 7D) can select DC brushless motor.The output shaft of brushless electric machine
Upper installation propeller.That is:
A propeller 6A, A brushless electric machine 7A are installed on the output shaft of A brushless electric machine 7A and are fixed on the right support arm of fuselage cradle 2
On the right annulus end 2B1 of 2B.
B propeller 6B, B brushless electric machine 7B are installed on the output shaft of B brushless electric machine 7B and are fixed on the right annulus end of spiral arm 1
On 1B.
C propeller 6C, C brushless electric machine 7C are installed on the output shaft of C brushless electric machine 7C and are fixed on the left support arm of fuselage cradle 2
On the left annulus end 2C1 of 2C.
D propeller 6D, D brushless electric machine 7D are installed on the output shaft of D brushless electric machine 7D and are fixed on the left annulus end of spiral arm 1
On 1C.
Carriage assembly 5
See shown in Fig. 2, Fig. 2 A, Fig. 2 B, Fig. 4, Fig. 4 A, carriage assembly 5 include first panel the 51, second panel 52,
3rd panel 53, starting stave the 54, second riser 55 and multiple support column (5A, 5B, 5C, 5D, 51A, 51B, 51C, 51D,
52A、52B、52C、52D)；Described BA support column 51A, BB support column 51B, BC support column 51C, BD support column 51D is arranged on
Between one panel 51 and the second panel 52, and realize the fixing of support column and panel by screw；Described support column CA support column
52A, CB support column 52B, CC support column 52C, CD support column 52D is arranged between the second panel 52 and the 3rd panel 53, and logical
Cross screw and realize the fixing of support column and panel；Described AA support column 5A, AB support column 5B, AC support column 5C, AD support column 5D
It is arranged between the second panel 52 and fuselage cradle 2, and realizes the fixing of support column and panel by screw.Starting stave 54 is arranged
Between BA support column 51A and BD support column 51D.Second riser 55 is arranged between CA support column 52A and CD support column 52D.
In the present invention, in the space between the first panel 51 and the second panel 52, power module 50 is installed.Second
In space between plate 52 and the 3rd panel 53, control module 40 is installed.
In the present invention, the design of carriage assembly 5 is used for performing high-altitude oceangoing voyage journey task for fixed installation, as
Power supply, battery, control equipment, equipment etc. of taking photo by plane.Carriage assembly 5 weight to be considered, therefore selects light material processing, structure to want
Compact, firm.
Fuselage cradle 2 and spiral arm 1:
Seeing shown in Fig. 2, Fig. 2 A, Fig. 2 B, Fig. 5, Fig. 5 A, Fig. 5 B, it is convex that the middle part of spiral arm 1 is provided with A through hole 1A, A semi arch
Play 1A1 and B semi arch projection 1A2；This A semi arch projection 1A1 is fastened at the A block 3F2 of axle sleeve 3F；This B semi arch is protruding
1A2 is fastened at the B block 3F3 of axle sleeve 3F；This A through hole 1A passes for main shaft 4；One end of spiral arm 1 is provided with for installing B spiral shell
The right annulus end 1B of rotation oar 6B, the other end of spiral arm 1 is provided with the left annulus end 1C for installing D propeller 6D.Spiral arm 1 and axle sleeve
The fixing of 3F is coordinated with the concaveconvex structure of B block 3F3 with A block 3F2, B semi arch projection 1A2 by A semi arch projection 1A1,
Make spiral arm 1 around main shaft 4 when clockwise movement launches, do not easily cause position and slide, reach the lock of spiral arm 1 and axle sleeve 3F
Fixed.
Seeing shown in Fig. 2, Fig. 2 A, Fig. 2 B, Fig. 5, Fig. 5 A, Fig. 5 C, the left end of fuselage cradle 2 is provided with left support arm 2C, a described left side
The end of support arm 2C is provided with the left annulus end 2C1 for installing C propeller 6C；The right-hand member of fuselage cradle 2 is provided with right support arm 2B, described
The end of right support arm 2B is provided with the right annulus end 2B1 for installing A propeller 6A；The fuselage body 2A of fuselage cradle 2 is provided with ten
Word through hole 2A2, the B through hole 2A1 passed for main shaft 4, for place snap 3C snap through hole 2A5 and realize fuselage this
The lightening hole 2A3 of body 2A loss of weight.Groove 2A2A and B direction, the A direction groove 2A2B of described cross-hole 2A2 is orthogonal, A direction groove
2A2A launches centre of gyration bar 3D, the B direction groove 2A2B long support arm for attitude snap close 3E of locked component 3 for placing spiral arm
3E3 passes.Seeing shown in Fig. 6 D, Fig. 6 E, at the groove 2A2B of B direction, the long support arm 3E3 of attitude snap close 3E is positioned at fuselage body 2A
Lower panel 2A-2, and the short support arm 3E4 of attitude snap close 3E is positioned at the top panel 2A-1 of fuselage body 2A.It is positioned at cross-hole
Fuselage body 2A at 2A2 acts the restriction reached the position size that attitude snap close 3E moves around revolution center-pole 3D.
Spiral arm expansion locked component 3 and main shaft 4:
See shown in Fig. 2, Fig. 6, Fig. 6 B, Fig. 6 C, main shaft 4 be provided with from top to bottom torsional spring slot 4A, buckle slot 4B, shaft shoulder 4C and
Thread segment 4D, described torsional spring slot 4A are used for placing opening buckle 3G for the A crosspiece 3H1, described buckle slot 4B that place torsion spring 3H,
Being socketed with expansion fixed plate 3A and spiral arm 1 on described shaft shoulder 4C, threaded on described thread segment 4D have axle sleeve 3F.On main shaft 4
Thread segment 4D be left hand thread, due to main shaft 4 drive the expansion campaign of spiral arm 1 for clockwise (as shown in Figure 2), so
Thread segment 4D on main shaft 4 is designed as left hand thread, it is possible to make spiral arm 1 prevent axle sleeve 3F from sliding in launching motor process.As
Shown in Fig. 6 C, under the effect of torsion spring 3H, main shaft 4 rotates, so that the spiral arm 1 and the axle sleeve 3F that are connected with main shaft 4 also rotate, main
Axle 4 becomes left hand thread with the threaded connection design of axle sleeve 3F, is conducive to stoping rotation process bottom bracket axle 3F landing from main shaft 4.
Seeing shown in Fig. 2, Fig. 6, Fig. 6 A, Fig. 6 B, Fig. 6 D, spiral arm launches locked component 3 and includes expansion fixed plate 3A, U
Shape pressing plate 3B, snap 3C, centre of gyration bar 3D, attitude snap close 3E, axle sleeve 3F, opening buckle 3G and torsion spring 3H.
Launching fixed plate 3A, launch fixed plate 3A and be provided with rectangular through-hole 3A1, spindle through-hole 3A2, rectangular through-hole 3A1 is used
Pass for main shaft 4 in the long support arm 3E3, spindle through-hole 3A2 placing attitude snap close 3E.Launch fixed plate 3A to be fixed by screw
Lower section at fuselage cradle 2.See shown in Fig. 5 C, the cross on the fuselage body 2A of described long support arm 3E3 fuselage cradle to be passed 2
After the B direction groove 2A2B of through hole 2A2, then it is placed in rectangular through-hole 3A1.
U-shaped pressing plate 3B, U-shaped pressing plate 3B are provided with the snap arm groove 3B1 of the short support arm 3E4 for placing attitude snap close 3E.
Snap 3C, one end of snap 3C is adhesively fixed on the snap button 3E2 of attitude snap close 3E, and the other end of snap 3C glues
Connect and be fixed in expansion fixed plate 3A.Snap 3C is placed in the snap through hole 2A5 of fuselage body 2A.
After centre of gyration bar 3D, centre of gyration bar 3D pass the through hole 3E1 on attitude snap close 3E, it is placed in the ten of fuselage cradle 2
In the A direction groove 2A2A of word through hole 2A2 (as shown in Figure 5 C), and top is realized the centre of gyration by bonding U-shaped pressing plate 3B
Bar 3D compresses.
Seeing shown in Fig. 6 A, attitude snap close 3E, attitude snap close 3E are provided with long support arm 3E3, short support arm 3E4, snap button 3E2
With through hole 3E1；It is limit opening 3E5 between long support arm 3E3 and short support arm 3E4；Described snap button 3E2 is used for the snap that is adhesively fixed
3C one end；Described through hole 3E1 passes for centre of gyration bar 3D.Described long support arm 3E3 is placed in the rectangle of expansion fixed plate 3A and leads to
In the 3A1 of hole, described short support arm 3E4 is placed in the snap arm groove 3B1 of U-shaped pressing plate 3B.
Axle sleeve 3F, axle sleeve 3F are provided with left hand thread through hole 3F1, A block 3F2 and B block 3F3, A block 3F2 and B block
It is opening 3F4 between 3F3；Described opening 3F4 is used for placing spiral arm 1 (as shown in Figure 6B)；Described left hand thread through hole 3F1 is used for
One end of main shaft 4 passes, threaded axle sleeve 3F on the thread segment 4D of the main shaft 4 of left hand thread through hole 3F1 so that axle
Set 3F is threaded on the thread segment 4D of main shaft 4.
Opening buckle 3G, opening buckle 3G are placed in the buckle slot 4B of main shaft 4.It is socketed on main shaft 4 for stoping
Launch fixed plate 3A and the motion of spiral arm 1 in axial direction (i.e. above-below direction).
Torsion spring 3H, torsion spring 3H are provided with spring body 3H3, torsion spring A crosspiece 3H 1 and torsion spring B crosspiece 3H2, and described spring body 3H3 overlaps
Above the buckle slot 4B of main shaft 4, described torsion spring A crosspiece 3H1 is placed in the torsional spring slot 4A of main shaft 4 end, and described torsion spring B is horizontal
Section 3H2 is placed in the spring groove 2A4 of fuselage cradle 2A (as shown in Fig. 5 A, Fig. 5 C).Whole from rocket automatically at quadrotor
After ejecting in stream cover, under the effect of torsion spring 3H, main shaft 4 rotates, and then spiral arm 1 rotates, and spiral arm 1 skims over the length of attitude snap close 3E
Arriving block 3A3 (as shown in Figure 2 A) after support arm 3E3, this is also the maximum position that spiral arm 1 can arrive, now, and attitude snap close
The long support arm 3E3 of 3E resets under the effect of snap 3C, and upspring long support arm 3E3 so that spiral arm 1 can only be at this when deployed condition
(as illustrated in fig. 6e) is moved in position.
Spiral arm in quadrotor of the present invention from the work process being expanded to locking is:
Shown in Figure 1, after quadrotor 10 is sent to specified altitude assignment by rocket 20, quadrotor 10 from
Ejecting in the trousers 30 of rocket 20, now the structure of quadrotor 10 needs from folded state (i.e. original state) automatic
It is converted into state of flight, refer to shown in Fig. 3.It is in hand foldable state at quadrotor 10 and (facilitates placement into rectification
In cover 30) time, the long support arm 3E3 of attitude snap close 3E is to highlight (as shown in Figure 2 A) in the lower section of fuselage cradle 2, when spiral arm 1 turn
During the motion of trend state of flight, spiral arm 1 presses through the long support arm 3E3 of attitude snap close 3E, and attitude snap close 3E can be around revolution center-pole 3D
Rotating, the one end having snap button 3E2 can be downwards so that long support arm 3E3 is pressed in rectangular through-hole 3A1 completely；When spiral arm 1 skims over
After attitude snap close 3E, under the effect of snap 3C, the long support arm 3E3 of attitude snap close 3E puts down reset again, reaches to stop spiral arm 1
Revolution (as illustrated in fig. 6e).
The rocket-propelled quadrotor of present invention design, utilizes hand assembled main shaft 4, spiral arm 1, torsion spring 3H, axle
Set 3F so that being placed on the quadrotor in trousers 30 is folded state.When rocket-propelled quadrotor arrives
After reaching specified altitude assignment, quadrotor and Separation, now torsion spring 3H is turned round, and cantilever 1 is in Automatic-expanding trend, at torsion spring
3H recovers under the driving of normal morphology, and main shaft 4 turns clockwise, and main shaft 4 drives axle sleeve 3F to move, owing to spiral arm 1 is arranged on axle
On set 3F (shown in Fig. 6 C), spiral arm 1 moves with axle sleeve 3F.Spiral arm 1 is big with axle sleeve 3F contact area, prevents spiral arm 1 structure from being turned round
Power is destroyed, and spiral arm 1 leaves initial position, rotates around main shaft 4, skims over the length that spiral arm launches the attitude snap close 3E of locked component 3
Support arm 3E3, is limited by block 3A3 and cannot continue clockwise movement (shown in Fig. 6 E).Spiral arm 1 skims over the long support arm of attitude snap close 3
During 3E, snap 3C first compresses and recovers normal morphology afterwards, and short support arm 3E4 is by the cross-hole 2A2 on fuselage body
Fuselage panel is spacing, and long support arm 3E3 upsprings downwards, stops spiral arm 1 reverse.At torsion spring 3H, opening buckle 3G, main shaft 4 and axle sleeve
Under the effect of 3F, it is achieved that the Automatic-expanding of spiral arm 1, launching fixed plate 3A, U-shaped fixed plate 3B, attitude snap close 3E, snap 3C
The automatic locking of spiral arm 1 is achieved under effect with centre of gyration bar 3B.
The present invention devises one and is applicable to rocket-propelled quadrotor, and solving tradition quadrotor can not
Realizing the capability problems of oceangoing voyage journey operation, the rocket of selection has the space placing quadrotor, and possesses four rotors
Vehicle launch is to the carrying capacity of specified altitude assignment.Rocket of the present invention delivery quadrotor is being produced thrust conveying by rocket
To specified altitude assignment, the quadrotor of lift-launch and Separation, quadrotor perform the tasks such as shooting investigation.Four
The features such as rotor craft is carried by rocket, has working depth high, and arrival specified altitude assignment speed is fast.
Claims (7)
1. being applicable to a rocket-propelled quadrotor, this quadrotor is loaded in inside the trousers of rocket,
By rocket, quadrotor is transmitted into specified altitude assignment；
This quadrotor is provided with brushless electric machine (7A, 7B, 7C, 7D), propeller (6A, 6B, 6C, 6D), A brushless electric machine
(7A) A propeller (6A) is installed on output shaft, the output shaft of B brushless electric machine (7B) is provided with B propeller (6B), C without
C propeller (6C) is installed on the output shaft of brush motor (7C), the output shaft of D brushless electric machine (7D) is provided with D propeller
(6D)；
It is characterized in that: quadrotor also includes spiral arm (1), fuselage cradle (2), spiral arm expansion locked component (3), main shaft
And carriage assembly (5) (4)；
Carriage assembly (5) include the first panel (51), the second panel (52), the 3rd panel (53), starting stave (54), second
Riser (55) and multiple support column；
BA support column (51A), BB support column (51B), BC support column (51C), BD support column (51D) are arranged on the first panel (51)
And between the second panel (52)；
Support column CA support column (52A), CB support column (52B), CC support column (52C), CD support column (52D) are arranged on second
Between plate (52) and the 3rd panel (53)；
AA support column (5A), AB support column (5B), AC support column (5C), AD support column (5D) are arranged on the second panel (52) and machine
Between stature (2)；
Starting stave (54) is arranged between BA support column (51A) and BD support column (51D)；Second riser (55) is arranged on CA and props up
Between dagger (52A) and CD support column (52D)；In space between first panel (51) and the second panel (52), power supply is installed
Module (50)；In space between second panel (52) and the 3rd panel (53), control module (40) is installed；
It is protruding (1A2) that the middle part of spiral arm (1) is provided with A through hole (1A), A semi arch protruding (1A1) and B semi arch；This A semi arch is convex
Play (1A1) and be fastened on A block (3F2) place of axle sleeve (3F)；This B semi arch protruding (1A2) is fastened on the B block of axle sleeve (3F)
(3F3) place；This A through hole (1A) passes for main shaft (4)；One end of spiral arm (1) is provided with the right circle for installing B propeller (6B)
Ring end (1B), the other end of spiral arm (1) is provided with the left annulus end (1C) for installing D propeller (6D)；
The left end of fuselage cradle (2) is provided with left support arm (2C), and the end of described left support arm (2C) is provided with for installing C propeller (6C)
Left annulus end (2C1)；The right-hand member of fuselage cradle (2) is provided with right support arm (2B), and the end of described right support arm (2B) is provided with for pacifying
The right annulus end (2B1) of dress A propeller (6A)；The fuselage body (2A) of fuselage cradle (2) is provided with the B passed for main shaft (4)
Through hole (2A1), it is used for installing spiral arm and launches the cross-hole (2A2) of locked component (3) and realize fuselage body (2A) loss of weight
Lightening hole (2A3)；
Main shaft (4) is provided with torsional spring slot (4A), buckle slot (4B), the shaft shoulder (4C) and thread segment (4D), described torsional spring slot from top to bottom
(4A) being used for placing the A crosspiece (3H1) of torsion spring (3H), described buckle slot (4B) is used for placing opening buckle (3G), the described shaft shoulder
(4C) being socketed with expansion fixed plate (3A) and spiral arm (1) on, described thread segment (4D) is the most threaded axle sleeve (3F)；
Spiral arm launches locked component (3) and includes expansion fixed plate (3A), U-shaped pressing plate (3B), snap (3C), centre of gyration bar
(3D), attitude snap close (3E), axle sleeve (3F), opening buckle (3G) and torsion spring (3H)；
Launching fixed plate (3A) and be provided with rectangular through-hole (3A1), spindle through-hole (3A2), rectangular through-hole (3A1) is used for placing attitude
The long support arm (3E3) of snap close (3E), spindle through-hole (3A2) passes for main shaft (4)；Launch fixed plate (3A) to be fixed by screw
Lower section in fuselage cradle (2)；
One end of snap (3C) is adhesively fixed on the snap button (3E2) of attitude snap close (3E), and the other end of snap (3C) is bonding
It is fixed in expansion fixed plate (3A)；Snap (3C) is placed in the snap through hole (2A5) of fuselage body (2A)；
After centre of gyration bar (3D) passes the through hole (3E1) on attitude snap close (3E), it is placed in the cross-hole of fuselage cradle (2)
(2A2) in A direction groove (2A2A), and top is bonded with U-shaped pressing plate (3B)；
Attitude snap close (3E) is provided with long support arm (3E3), short support arm (3E4), snap button (3E2) and through hole (3E1)；Described snap
Button (3E2) is used for snap (3C) one end that is adhesively fixed；Described through hole (3E1) passes for centre of gyration bar (3D)；Described draw money on credit
Arm (3E3) is placed in the rectangular through-hole (3A1) launching fixed plate (3A), and described short support arm (3E4) is placed in the card of U-shaped pressing plate (3B)
In arm groove (3B) 1；
Axle sleeve (3F) is provided with left hand thread through hole (3F1), A block (3F2) and B block (3F3), A block (3F2) and B block
(3F3) it is opening (3F4) between；Described opening (3F4) is used for placing spiral arm (1)；Described tapped through hole (3F1) is used for main shaft
(4) one end passes, and is threaded on the thread segment (4D) of main shaft (4)；
Opening buckle (3G) is placed in the buckle slot (4B) of main shaft (4)；
Torsion spring (3H) is provided with spring body (3H3), torsion spring A crosspiece (3H1) and torsion spring B crosspiece (3H2), and described spring body (3H3) is enclosed within
The top of the buckle slot (4B) of main shaft (4), described torsion spring A crosspiece (3H1) is placed in the torsional spring slot (4A) of main shaft (4) end, institute
State in the spring groove (2A4) that torsion spring B crosspiece (3H2) is placed in fuselage cradle (2A).
One the most according to claim 1 is applicable to rocket-propelled quadrotor, it is characterised in that: described four rotations
When rotor aircraft is loaded into the trousers inside of rocket, described quadrotor is in folded state；Sent to refer to by rocket
After determining height, with Separation, after separation, described quadrotor Automatic-expanding becomes state of flight.
One the most according to claim 2 is applicable to rocket-propelled quadrotor, it is characterised in that: at flight shape
The quadrotor of state, spiral arm (1) realizes position by block (3A3) and long support arm (3E3) and locks.
One the most according to claim 1 is applicable to rocket-propelled quadrotor, it is characterised in that: described spiral
Oar (6A, 6B, 6C, 6D) select 5030 propellers, 5035 propellers, 5040 propellers, 5045 propellers, 5050 propellers,
6030 propellers, 6035 propellers, 6040 propellers, 6045 propellers, 6050 propellers or 6055 propellers.
One the most according to claim 1 is applicable to rocket-propelled quadrotor, it is characterised in that: main shaft (4)
On thread segment (4D) be left hand thread structure.
One the most according to claim 1 is applicable to rocket-propelled quadrotor, it is characterised in that: axle sleeve (3F)
Around main shaft (4) for being rotated clockwise.
One the most according to claim 1 is applicable to rocket-propelled quadrotor, it is characterised in that: pass through rocket
Described quadrotor is launched to high-altitude, performs high-altitude oceangoing voyage journey task.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610641408.6A CN106184704B (en) | 2016-08-08 | 2016-08-08 | A kind of quadrotor suitable for rocket propulsion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610641408.6A CN106184704B (en) | 2016-08-08 | 2016-08-08 | A kind of quadrotor suitable for rocket propulsion |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106184704A true CN106184704A (en) | 2016-12-07 |
| CN106184704B CN106184704B (en) | 2018-03-09 |
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| CN201610641408.6A Expired - Fee Related CN106184704B (en) | 2016-08-08 | 2016-08-08 | A kind of quadrotor suitable for rocket propulsion |
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| CN109229349A (en) * | 2017-07-11 | 2019-01-18 | 上海伯镭智能科技有限公司 | A kind of long endurance multi-rotor unmanned aerial vehicle |
| FR3070607A1 (en) * | 2017-09-07 | 2019-03-08 | Parrot Drones | ROTARY SAILING DRONE COMPRISING A FOLDING DRONE STRUCTURE |
| CN109896002A (en) * | 2019-02-14 | 2019-06-18 | 西安理工大学 | A kind of deformable quadrotor |
| CN110683069A (en) * | 2018-07-04 | 2020-01-14 | 北京理工大学 | Carry on rotor unmanned aerial vehicle's arrow machine system |
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| CN110683070A (en) * | 2018-07-04 | 2020-01-14 | 北京理工大学 | Rocket-borne rotor unmanned aerial vehicle |
| CN110683072A (en) * | 2018-07-04 | 2020-01-14 | 北京理工大学 | Rocket-borne rotor unmanned aerial vehicle projection method |
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| CN110861781A (en) * | 2018-08-27 | 2020-03-06 | 北京理工大学 | Rocket-borne rotor unmanned aerial vehicle control system |
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| CN110683072A (en) * | 2018-07-04 | 2020-01-14 | 北京理工大学 | Rocket-borne rotor unmanned aerial vehicle projection method |
| CN110857149A (en) * | 2018-08-23 | 2020-03-03 | 北京理工大学 | But carrying rotor unmanned aerial vehicle's delivery system of recovery type |
| CN110857146A (en) * | 2018-08-24 | 2020-03-03 | 北京理工大学 | Carry on many rotor unmanned aerial vehicle's delivery system |
| CN110861781A (en) * | 2018-08-27 | 2020-03-06 | 北京理工大学 | Rocket-borne rotor unmanned aerial vehicle control system |
| CN110871904A (en) * | 2018-08-29 | 2020-03-10 | 北京理工大学 | Carry on rotor unmanned aerial vehicle's disconnect-type delivery system |
| CN110871904B (en) * | 2018-08-29 | 2023-05-02 | 北京理工大学 | Separated carrying system for carrying rotor unmanned aerial vehicle |
| CN109896002B (en) * | 2019-02-14 | 2020-12-18 | 西安理工大学 | Deformable four-rotor aircraft |
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| IL283403A (en) * | 2021-05-24 | 2022-07-01 | Spear U A V Ltd | Drone arms locking/deployment mechanism |
| IL283403B2 (en) * | 2021-05-24 | 2023-06-01 | Spear U A V Ltd | Drone arms locking/deployment mechanism |
| JP7123459B1 (en) | 2022-03-30 | 2022-08-23 | 株式会社石川エナジーリサーチ | flight device |
| JP2023152244A (en) * | 2022-03-30 | 2023-10-16 | 株式会社石川エナジーリサーチ | Flying device |
| CN115072003A (en) * | 2022-06-23 | 2022-09-20 | 哈尔滨工业大学 | Hollow annular foldable Mars rotor aircraft |
| CN117446233A (en) * | 2023-09-21 | 2024-01-26 | 彭阳县自然资源局 | Measurement device for urban and rural planning and design |
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