CN107416177B - Bionic spherical unmanned aerial vehicle - Google Patents
Bionic spherical unmanned aerial vehicle Download PDFInfo
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- CN107416177B CN107416177B CN201710479837.2A CN201710479837A CN107416177B CN 107416177 B CN107416177 B CN 107416177B CN 201710479837 A CN201710479837 A CN 201710479837A CN 107416177 B CN107416177 B CN 107416177B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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Abstract
The invention discloses a bionic spherical unmanned aerial vehicle which has the advantages of portability, foldability, automatic unfolding, multi-terrain lifting and the like. The wing-raising structure of the ladybug is imitated to optimally design a quarter spherical shell of the unmanned aerial vehicle, the edge of the shell of the horn is thicker than the middle thickness, and proper hollowed-out treatment is carried out on the basis of ensuring the structural strength, so that the overall weight of the shell of the unmanned aerial vehicle is minimized; the unique automatic unfolding structure design ensures that the unmanned aerial vehicle can be rapidly switched from a folding state to an unfolding state, thereby ensuring that the unmanned aerial vehicle supports various take-off modes; the unique design of the appearance and the hollow structure of the interior of the unmanned aerial vehicle ensures that the unmanned aerial vehicle is self-stabilized in the process of folding to unfolding, and the unmanned aerial vehicle can land on the sea surface, and part of the unmanned aerial vehicle is in an underwater state, and the other part of the unmanned aerial vehicle floats above the liquid surface, so that the unmanned aerial vehicle can conveniently realize multiple water surface take-off and landing; the rotor wing of the unmanned aerial vehicle adopts a multi-blade structure, and the spherical inner space of the folding state of the unmanned aerial vehicle is fully utilized.
Description
Technical field:
the invention relates to the technical field of aviation systems, in particular to a bionic spherical structure unmanned aerial vehicle.
The background technology is as follows:
unmanned aerial vehicle is widely applied to fields such as taking photo by plane mapping, film and television shooting, investigation of enemy situation, disaster situation detection, electric power inspection and the like, and is outstanding among aircraft families. In particular, the multi-rotor unmanned aerial vehicle is a vertical take-off and landing aircraft with novel structure and excellent performance, has the characteristics of simple operation and strong carrying capacity, and has extremely important military and civil values.
As a novel aircraft, the spherical aircraft has the advantages of symmetrical structure, small occupied space, capability of protecting electronic equipment and rotor wings in the aircraft by virtue of the spherical shell, and the like. Most of traditional spherical aircrafts are single rotor wings or multiple rotor wings, the spherical aircrafts are of spherical appearance and are not foldable, the self weight of the spherical aircrafts is counteracted by the lift force generated by the rotor wings, and then the attitude of the spherical aircrafts is regulated by adjusting control surfaces, so that the controllable flying of the spherical aircrafts is realized. And the rotor is the main part that spherical aircraft produced the lift, and the size of rotor directly influences spherical aircraft's final size, and this kind of non-folding spherical structural design directly leads to spherical aircraft's overall size great. In view of this problem, the inventor has filed a patent of a portable and foldable spherical unmanned aerial vehicle, which combines the advantages of spherical aircrafts and multi-rotor aircrafts and proposes a concept of a portable and foldable spherical unmanned aerial vehicle. But a manual folding and unfolding scheme is mainly proposed in this patent. In a special case, inconvenience is brought to the user.
The invention comprises the following steps:
aiming at the defects of the portable foldable spherical unmanned aerial vehicle in the background technology, the invention provides the unmanned aerial vehicle with the bionic spherical structure, which has the advantages of portability, foldability, automatic unfolding, multi-terrain lifting and the like.
The invention adopts the technical scheme that: a bionic spherical structure unmanned aerial vehicle, its characterized in that: the device comprises a machine body, a plurality of machine arms, control modules, a power module, a signal receiving module, a gyroscope module, an air pressure height fixing module, a limiting module and an automatic unfolding module, wherein the number of the control modules is equal to that of the machine arms;
the machine body is divided into an upper part and a lower part, the upper part of the machine body is a spherical crown-shaped shell, a plurality of mounting grooves are cut on the surface of the machine body for being matched with the installation of the machine arm, the unmanned aerial vehicle is in a folded state and is in a spherical shape as a whole, the lower part of the unmanned aerial vehicle body is a streamline hollow shell, and the streamline hollow shell is used for installing a control module, an automatic unfolding module and a power module;
the horn comprises a horn shell, a rotating shaft mounting hole, a motor and a multi-blade rotor wing, wherein the horn shell is in a quarter spherical shape, the edge part of the horn shell is thicker than the middle part, the horn shell is subjected to hollowed-out treatment, the motor is arranged in the cambered surface of the horn shell, the rotating shaft on the multi-blade rotor wing is fixedly connected with an output shaft of the motor, one end of the horn shell is hinged with the machine body through the rotating shaft, and the rotating shaft is arranged in the rotating shaft mounting hole, so that the horn shell can rotate around the rotating shaft relative to the machine body.
The control module is electrically connected with the power module, the signal receiving module, the gyroscope module, the air pressure height-fixing module, the automatic unfolding module and the motors of all the machine arms, the signal receiving module, the gyroscope module, the air pressure height-fixing module and the automatic unfolding module are all arranged in the machine body, and the signal receiving module is used for receiving commands of the remote controller and transmitting the commands to the control module; the gyroscope module is used for measuring the gesture, acceleration and angular velocity of the unmanned aerial vehicle relative to the ground and transmitting the gesture, acceleration and angular velocity to the control module; the air pressure height-fixing module is used for measuring the height of the aircraft and transmitting the height to the control module; the control module is used for controlling the motor of each arm to work according to the input of the signal receiving module, the gyroscope module and the air pressure height fixing module;
the automatic expansion module comprises a linear steering engine, a self-locking chuck, a diagonal tension device and a self-locking chuck matching hole, wherein the self-locking chuck is fixedly connected with the linear steering engine and is positioned at the lower part of the linear steering engine, the self-locking chuck matching hole is formed in a plane arm shell, the diagonal tension device is respectively arranged on two plane arms positioned at diagonal positions, and a cylindrical boss matched with the self-locking chuck matching hole is arranged on the self-locking chuck.
Further, the control line of the linear steering engine is electrically connected with the steering engine control interface of the control module, and the linear steering engine, the power module and the control module are jointly installed in the streamline hollow shell.
Further, when the unmanned aerial vehicle horn is in the folded state, the horn rotates to be completely attached with the limit module at the lower part of the machine body, the self-locking chuck matching hole on the horn shell is matched with the cylindrical boss on the self-locking chuck, the multi-blade rotor wing and the motor are hidden in the inner cavity of the machine body, and the unmanned aerial vehicle is wholly spherical.
Further, when the unmanned aerial vehicle is in the unfolding state, the control module sends out an automatic unfolding control signal, the linear steering engine works, the self-locking chuck is separated from the self-locking chuck matching hole after moving upwards in a linear mode, and when the horn is turned upwards to a specified threshold value, the two-way locking of the machine body and the horn position in the unfolding state is completed under the combined action of the limiting module and the diagonal tension device.
Further, the horn still contains bracing piece and bracing piece mounting hole, the bracing piece is installed in the bracing piece mounting hole to prevent that unmanned aerial vehicle from causing the deformation of horn at the lift of expansion state time multi-lobe rotor.
Further, a motor is respectively installed on each horn, a motor seat hole is formed in each horn, the motor is connected with the motor seat hole in an interference fit mode, and the multi-blade rotor wing is installed on an output shaft of the motor.
Further, the motor is a hollow cup motor or a disc brushless motor.
Further, the supporting rod is a cylindrical carbon fiber supporting rod.
The invention has the following beneficial effects: .
1. The wing-to-wing structure of the ladybug is imitated to optimally design the quarter spherical shell of the unmanned aerial vehicle, and the horn shell structure has the following advantages: the edge of the spherical shell is thicker, the middle thickness is thinner, and proper hollowed-out treatment is carried out on the basis of ensuring the structural strength, so that the overall weight of the unmanned aerial vehicle shell is minimized;
2. the unique automatic unfolding structure design ensures that the unmanned aerial vehicle can be quickly switched from a folding state to an unfolding state, thereby ensuring that the unmanned aerial vehicle supports various take-off modes (ground take-off, hand throwing take-off, catapult take-off and the like);
3. the unique design of the appearance and the hollow structure of the interior of the unmanned aerial vehicle ensures that the unmanned aerial vehicle is self-stabilized in the process of folding to unfolding, and the unmanned aerial vehicle can land on the sea surface, and part of the unmanned aerial vehicle is in an underwater state, and the other part of the unmanned aerial vehicle floats above the liquid surface, so that the unmanned aerial vehicle can conveniently realize multiple water surface take-off and landing;
4. the unmanned aerial vehicle is in a four-rotor mode in an unfolding state, the streamline hollow shell structure at the lower part of the unmanned aerial vehicle has the function of airflow guiding, and is used for installing equipment such as a control module and a power supply, so that the whole gravity center of the unmanned aerial vehicle is lower when the unmanned aerial vehicle is in the unfolding state, and the flight stability of the unmanned aerial vehicle is improved;
5. the rotor wing of the unmanned aerial vehicle adopts a multi-blade structure, and the spherical inner space of the folding state of the unmanned aerial vehicle is fully utilized.
Description of the drawings:
FIG. 1 is a side view of the invention in its deployed state;
FIG. 2 is a top view of the invention in its deployed state;
FIG. 3 is a schematic view of the structure of the present invention in a folded state;
FIG. 4 is a schematic view of the structure of the fuselage of the present invention;
fig. 5 is a schematic structural view of the horn of the present invention.
In the figure:
the mechanical arm comprises a mechanical arm shell, a 2-power module, a 3-control module, a 4-self-locking chuck, a 5-linear steering engine, a 6-streamline hollow shell, a 7-spherical crown shell, an 8-diagonal tension device, a 9-self-locking chuck matching hole, a 10-support rod mounting hole, a 11-multi-blade rotor, a 12-motor, a 13-rotating shaft mounting hole and a 14-support rod.
The specific embodiment is as follows:
the invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the unmanned aerial vehicle with the bionic spherical structure comprises a body, a plurality of arms, a power module, a control module, limit modules, rotating shafts and an automatic unfolding module, wherein the number of the limit modules is equal to that of the arms.
The unmanned aerial vehicle is divided into an upper part and a lower part, the upper part of the unmanned aerial vehicle is a spherical crown-shaped shell 7, and a plurality of mounting grooves are cut on the surface of the spherical crown-shaped shell for being mounted and matched with the horn, so that the unmanned aerial vehicle is in a folded state and is in a spherical shape as a whole; the lower part of the machine body is a cross-shaped streamline hollow shell 6, the streamline hollow shell 6 is used for installing the control module 3, the automatic unfolding module and the power module 2, the streamline hollow shell 6 can ensure that the unmanned aerial vehicle falls down on the water surface, the upper half part of the unmanned aerial vehicle floats above the water surface, and the unmanned aerial vehicle can conveniently move on the water surface and take off from the water surface for multiple times. The unmanned aerial vehicle with the bionic spherical structure has the advantages that the unmanned aerial vehicle body also has a certain airflow guiding function, when the unmanned aerial vehicle finishes the hand throwing taking off or the catapulting taking off (similar to other taking off modes), the unmanned aerial vehicle is automatically unfolded in the air, the spherical crown shell 7 of the unmanned aerial vehicle is automatically unfolded to provide the resistance similar to that of a parachute, then the streamline hollow shell 6 provides a certain airflow guiding force, the falling gesture of the unmanned aerial vehicle is ensured, the unmanned aerial vehicle is automatically stabilized in the falling process, the degree of dependence on flight control is reduced, personnel are facilitated to control, and further the flight task is smoothly completed.
The horn contains horn casing 1, the pivot, pivot mounting hole 13, motor 12 (the motor is hollow cup motor or disc brushless motor), multi-blade rotor 11, bracing piece 14, bracing piece mounting hole 10, wherein, horn casing 1 is quarter sphere form, imitate ladybug wing structure (ladybug wing edge profile thickness is thicker, mid portion thickness and edge profile thickness are thinner), this horn casing 1 edge portion is thicker, mid portion is thinner to carry out suitable fretwork to horn casing 1, on guaranteeing structural strength's basis, furthest's reduction unmanned aerial vehicle bulk quality. The hollow cup motor (or the disc brushless motor) is arranged in the cambered surface of the horn shell 1, and a rotating shaft on the multi-blade rotor wing 11 is fixedly connected with an output shaft of the hollow cup motor (or the disc brushless motor); the horn housing 1 is arranged in a mounting groove of the machine body for mounting the horn, one end of the horn housing is hinged with the machine body through a rotating shaft, and the rotating shaft is mounted in a rotating shaft mounting hole 13, so that the horn housing 1 can rotate around the rotating shaft relative to the machine body. The support rod 14 is installed in the support rod installation hole 10, and the support rod 14 has the characteristics of light weight and high strength, and the deformation of the horn caused by the lifting force of the multi-blade rotor wing when the unmanned aerial vehicle is in the unfolding state is prevented. The limiting modules are arranged in one-to-one correspondence with the horn, and are used for unidirectional locking of the rotating shaft when the rotating angle of the horn shell 1 of the corresponding horn relative to the machine body is a preset angle threshold value.
The automatic unfolding module comprises a linear steering engine 5, a self-locking chuck 4, a diagonal tension device 8 and a self-locking chuck matching hole 9, wherein the self-locking chuck matching hole 9 is formed in the horn housing 1, the self-locking chuck 4 is fixedly connected with the linear steering engine 5 and is positioned at the lower part of the linear steering engine 5, four cylindrical bosses are arranged on the upper part of the self-locking chuck 4 and are used for being connected and matched with the horn housing 1 to complete bidirectional self-locking of the unmanned aerial vehicle in a spherical state, and the self-locking chuck 4 is driven by the linear steering engine 5 to be pulled upwards during automatic unfolding so as to release self-locking. The two diagonal tension devices 8 are respectively arranged on two horn at diagonal positions, a control line of the linear steering engine 5 is electrically connected with a steering engine control interface of the control module 3, a hardware part of the linear steering engine 5, the power module 2 and the control module 3 are jointly arranged in the streamline hollow shell 6, the specific positions of the linear steering engine 5, the power module 2 and the control module 3 in the streamline hollow shell 6 are not limited, and proper adjustment can be performed on the premise of meeting assembly and performance requirements. The automatic unfolding of the unmanned aerial vehicle is controlled through the linear steering engine 5 and the diagonal tension device 8, and when the unmanned aerial vehicle finishes the hand-thrown take-off or the catapult-assisted take-off (similar to other take-off modes), the unmanned aerial vehicle automatically unfolds in the air, and the flight task is smoothly carried out.
When the unmanned aerial vehicle is in a folding state, the horn shell 1 of each horn is attached to the vacant part on the surface of the machine body to form a sphere, and in the state, the rolling running of the unmanned aerial vehicle on the ground can be realized by adjusting the rotating speeds of the four multi-blade rotary wings 11.
When the unmanned aerial vehicle is in an unfolding state, the limiting module locks the horn under the action of the torsion spring, so that the multi-blade rotor wings 11 of each horn are in a horizontal state.
The control module is electrically connected with the power module, the signal receiving module, the gyroscope module, the air pressure height-fixing module, the automatic unfolding module and the hollow cup motors of the various arms respectively, wherein the signal receiving module, the gyroscope module, the air pressure height-fixing module and the automatic unfolding module are arranged in the machine body; the signal receiving module is used for receiving the command of the remote controller and transmitting the command to the control module; the gyroscope module is used for measuring the gesture, acceleration and angular velocity of the unmanned aerial vehicle relative to the ground and transmitting the gesture, acceleration and angular velocity to the control module; the air pressure height-fixing module is used for measuring the height of the aircraft and transmitting the height to the control module; the control module is used for controlling the motor of each horn to work according to the input of the signal receiving module, the gyroscope module and the air pressure height fixing module.
The novel spherical unmanned aerial vehicle has the innovative modules except the hardware part, and has the following characteristics in terms of functions: the unmanned plane has a one-key unfolding function, supports the taking-off and landing functions of multi-terrain complex environments (ground taking-off and landing, hand throwing type taking-off and landing and liquid level taking-off and landing), and has good environmental adaptability.
The following description will be given by taking a novel spherical unmanned aerial vehicle with four arms as an example:
the four horn arms are hinged with the machine body through rotating shafts with the diameter of 1.2mm respectively, and the horn arms are mutually pulled in pairs through diagonal tension devices (such as rubber bands or other parts (tension springs, torsion springs and the like) which generate tension), the diagonal tension devices provide tension and torque when the unmanned aerial vehicle is converted from a folding state to an unfolding state, smooth conversion of the process is completed, and after conversion, the diagonal tension devices and the limiting modules act together to complete bidirectional locking of the horn arms; and the four motor arms are respectively provided with a motor, the motors are connected with motor base holes of the motor arms in interference fit, and the four multi-blade rotor wings are respectively arranged on output shafts of the motors.
The upper part of the unmanned aerial vehicle body is in a spherical crown shape, and a plurality of mounting grooves are cut on the surface of the unmanned aerial vehicle body and are used for being matched with the installation of the horn, so that the unmanned aerial vehicle is in a spherical shape as a whole in a folded state, and the unmanned aerial vehicle can realize rolling running of the unmanned aerial vehicle on the ground by adjusting the rotating speeds of four multi-blade rotors in the folded state; the lower part has a streamlined hollow shell for equipment such as installation control module, automatic expansion module and power module, and hollow streamlined hollow shell guarantees that unmanned aerial vehicle falls behind the surface of water, and unmanned aerial vehicle's first half floats above the surface of water, makes things convenient for unmanned aerial vehicle to move and unmanned aerial vehicle take off from the surface of water many times at the surface of water.
The horn housing is in a quarter sphere shape (compared with the streamline long-strip housing mentioned in the patent before the inventor, the housing is more uniform in appearance distribution and better in rotor wing protection effect compared with the streamline long-strip housing), and the horn housing is thicker in edge part and thinner in middle part according to the ladybug wing raising structure (the ladybug wing raising edge contour thickness is thicker and the middle part thickness is thinner than the edge part), and the horn housing is properly hollowed out, so that the whole size of the unmanned aerial vehicle is furthest reduced on the basis of ensuring the structural strength. This horn casing has the effect of protection rotor, prevents that multi-lobe rotor is impaired when unexpected emergence to and protection personnel safety prevent unmanned aerial vehicle rotor accidental injury personnel around.
The hollow cup motor and the multi-blade rotor wing are respectively power and lift devices of the unmanned aerial vehicle, power and lift are provided for the unmanned aerial vehicle to fly, and the diagonal tension device and the limiting module structure act together, so that the unmanned aerial vehicle can be automatically unfolded, and the unmanned aerial vehicle is kept stable in overall structure in an unfolding state, so that the horn of the unmanned aerial vehicle can not move at will due to self gravity and disturbance introduced by rotation of the rotor wing, and further the flying reliability of the unmanned aerial vehicle is guaranteed.
The automatic unfolding module comprises a linear steering engine, a self-locking chuck, a diagonal tension device and a self-locking chuck matching hole at the upper end of the arm shell. The self-locking chuck is fixedly connected with the linear steering engine and is positioned at the lower part of the linear steering engine, four cylindrical bosses are arranged at the upper part of the self-locking chuck and are used for being connected and matched with the horn shell, so that the bidirectional self-locking of the unmanned aerial vehicle in a spherical state is completed, and the self-locking chuck is driven to be pulled upwards by the linear steering engine to release the self-locking during automatic unfolding. The two diagonal tension devices are respectively arranged on the two horn at diagonal positions, a control line of the linear steering engine is electrically connected with a steering engine control interface of the control module, a hardware part of the linear steering engine, the power module and the control module are jointly arranged in the streamline hollow shell of the airframe, the specific positions of the linear steering engine, the power module and the control module in the streamline hollow shell of the airframe are not limited, and the linear steering engine, the power module and the control module can be properly adjusted on the premise of meeting the assembly and performance requirements.
The receiving module is used for receiving control signals of the remote controller, the gyroscope and the air pressure height fixing module act together, and the control module enables the flying gesture of the unmanned aerial vehicle to be more stable through adjusting PID parameters. The hollow cup motor interface is connected with a control line of the hollow cup motor. The power interface is externally connected with a 3.7 volt lithium battery and is used for supplying power to the system.
As shown in fig. 3, in the folded storage state of the unmanned aerial vehicle, four arms of the aircraft are respectively rotated downwards around the rotating shafts of the arms and the airframe in a manual mode until the arms and the airframe are completely fused, and the self-locking chuck matching holes on the arm shell are nested and matched with corresponding cylindrical bosses on the self-locking chuck, so that self-locking of the unmanned aerial vehicle in the self-locking state is completed, and the aircraft is spherical as a whole.
The specific process of folding the unmanned aerial vehicle arm is as follows:
firstly, adopt manual mode to overturn the horn downwards for the action of diagonal tension device is overcome to the horn, rotates downwards around the pivot of fuselage and horn, and when the horn rotated to the limit structure with the fuselage lower part and paste completely, four self-locking chuck cooperation holes on the horn casing respectively with four cylindrical boss cooperation on the self-locking chuck, multi-blade rotor and hollow cup motor hide in the fuselage inner chamber this moment, and unmanned aerial vehicle wholly is spherical, accomplishes folding state unmanned aerial vehicle's auto-lock. The unmanned aerial vehicle is used for ensuring that the unmanned aerial vehicle can not cause relative movement of the horn and the machine body due to external interference in the carrying process, so that the unmanned aerial vehicle can keep a ball-shaped state, and the unmanned aerial vehicle is further convenient for a user to carry.
As shown in fig. 1, the unmanned aerial vehicle is in an unfolded state. The unfolding state aircraft is in a four-rotor state, because the control module and the power module of the aircraft are arranged in the streamline hollow shell of the aircraft body, the gravity center of the unmanned aerial vehicle is lower, the flying is very stable, the operation process is as follows, the unmanned aerial vehicle in the initial state is in the folding state, the control module sends out an automatic unfolding control signal, the linear steering engine works, then the linear steering engine drives the self-locking chuck to move upwards in a linear manner, the unmanned aerial vehicle in the folding state releases self-locking, under the action of the tension device, the four arms of the unmanned aerial vehicle are overturned upwards, after the appointed threshold value is reached, the bidirectional locking of the aircraft body and the arm position under the combined action of the limiting module and the diagonal tension device is completed.
The specific process of the unmanned aerial vehicle arm unfolding is as follows:
the unmanned aerial vehicle in the initial state is in the folded state, unmanned aerial vehicle switch-on power (power concrete parameter is not limited), unmanned aerial vehicle remote control and unmanned aerial vehicle control module communication are to the sign indicating number after, the control end of remote control sends automatic control signal that expands, control module's receiving module receives this signal, and handle the signal, make sharp steering engine work, then the upward rectilinear motion of straight line steering engine drive auto-lock chuck, after the auto-lock chuck cooperation hole of four little cylindrical bosss roll-off horn shells on the auto-lock chuck, unmanned aerial vehicle in folded state releases the auto-lock, under tension device's effect, four horn of unmanned aerial vehicle upwards overturn, after turning to appointed threshold value, horn shells and limit module contact, the axis in rotor center shaft hole is parallel with unmanned aerial vehicle fuselage central line at this moment, accomplish the two-way locking of fuselage and horn position under limit module and diagonal tension device's combined action under the state, guarantee the fixed of horn and fuselage in the relative position when the flight state, and then guarantee the reliability of flight.
As shown in fig. 4, a structural view of a spherical aircraft fuselage is shown. The upper half part of the unmanned aerial vehicle body is a spherical shell with the wall thickness of 2mm, the unmanned aerial vehicle body is guaranteed to be in a spherical shape in a folding state, then a cross-shaped streamline hollow shell is added on the basis, the curved surface structure has airflow guiding in the pneumatic aspect, the stability of the attitude of the aircraft when the aircraft is converted from the folding state to the automatic unfolding state in the process of throwing or catapulting and taking off by hands is guaranteed, the fuselage shell is further used for installing components such as a control module, a power module, a linear steering engine and the like, the whole gravity center of the unmanned aerial vehicle is enabled to be lower, the flying stability of the unmanned aerial vehicle is improved, the streamline hollow shell of the unmanned aerial vehicle body firstly touches the ground when the unmanned aerial vehicle lands, the rotor wing is protected, the electronic equipment inside the aircraft is protected, and the hollow fuselage shell enables the unmanned aerial vehicle body to float on the water surface when the unmanned aerial vehicle lands on the water surface, so that the unmanned aerial vehicle body can conveniently take off and land for multiple times.
As shown in fig. 5, the horn is composed of a quarter spherical horn shell and a cylindrical carbon fiber supporting rod with a diameter of 1mm, and the horn shell plays a role in protecting the rotor, so that the rotor is prevented from being damaged and the rotor exposed outside accidentally injures surrounding personnel. The quarter spherical horn shell takes a hollow sphere as a quarter and is obtained by cutting off the spherical crown part of the machine body, and the hole with the diameter of 1.2mm is a rotating shaft mounting hole for connecting the horn and the machine body; the 1mm cylindrical hole is a support rod mounting hole of the horn and the carbon fiber support rod; the hole with the diameter of 7mm is a motor mounting hole of the hollow cup motor; and the obtained shell modeling is subjected to topological optimization hollowed-out treatment, and the shell is subjected to edge thickness and middle thinness design according to the wing-to-wing structure of ladybug, so that the strength of the shell is greatly improved, and the quality of the rotor wing protection shell is maximally reduced. The cylindrical carbon fiber support rod has the characteristics of light weight and high strength, and can prevent the deformation of the horn caused by the lifting force of the rotor wing when the unmanned aerial vehicle is in the unfolding state.
The invention breaks through the appearance design of the traditional four-rotor unmanned aerial vehicle and adopts a novel foldable spherical design. The drone has two states: a folded storage state and an unfolded use state.
When the folding state is changed into the flying state, the unmanned aerial vehicle is powered on (specific parameters of the power supply are not limited), after the unmanned aerial vehicle is remotely controlled and the unmanned aerial vehicle control module is communicated, the control end of the remote control sends out an automatically unfolded control signal, the receiving module of the control module receives the signal and processes the signal, so that the linear steering engine works, then the linear steering engine drives the self-locking chuck to move upwards, after the four small cylindrical bosses on the self-locking chuck slide out of the self-locking chuck matching holes of the horn shell, the unmanned aerial vehicle in the folding state releases self-locking, under the action of the diagonal tension device, the four horns of the unmanned aerial vehicle are upwards turned over, after the specified threshold value is reached, the horn shell is contacted with the limiting module, at the moment, the axis of the central shaft hole of the rotor wing is parallel to the central line of the unmanned aerial vehicle, the two-way locking of the position of the fuselage and the horn is completed under the combined action of the limiting module and the diagonal tension device, the fixing of the relative positions of the horn and the fuselage is ensured when the flying state, and the flying reliability is ensured.
When the flying state is converted into the folding state, firstly, the horn is turned downwards in a manual mode, so that the horn overcomes the action of the diagonal tension device, the horn rotates downwards around the rotating shaft of the machine body and the horn, when the horn rotates to be completely attached to the limit module at the lower part of the machine body, the four self-locking chuck matching holes on the shell of the horn are respectively matched with the four cylindrical bosses on the self-locking chuck, at the moment, the rotor wing and the hollow cup motor are hidden in the inner cavity of the machine body, and the unmanned aerial vehicle is integrally spherical, so that the self-locking of the unmanned aerial vehicle in the folding state is completed. The unmanned aerial vehicle is used for ensuring that the unmanned aerial vehicle can not cause relative movement of the horn and the machine body due to external interference in the carrying process, so that the unmanned aerial vehicle can keep a ball-shaped state, and the unmanned aerial vehicle is further convenient for a user to carry.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (8)
1. A bionic spherical structure unmanned aerial vehicle, its characterized in that: the device comprises a machine body, a plurality of machine arms, control modules, a power module, a signal receiving module, a gyroscope module, an air pressure height fixing module, a limiting module and an automatic unfolding module, wherein the number of the control modules is equal to that of the machine arms;
the unmanned aerial vehicle comprises a body, a control module (3), an automatic unfolding module and a power module (2), wherein the body is divided into an upper part and a lower part, the upper part of the body is a spherical crown-shaped shell (7), and a plurality of mounting grooves are cut on the surface of the body and are used for being matched with a horn in a mounting way, so that the unmanned aerial vehicle is in a folded state and is in a spherical shape as a whole, the lower part of the body is a streamline hollow shell (6), and the streamline hollow shell (6) is used for mounting the control module (3), the automatic unfolding module and the power module (2);
the horn comprises a horn shell (1), a rotating shaft mounting hole (13), a motor (12) and a multi-blade rotor (11), wherein the horn shell (1) is in a quarter spherical shape, the edge part of the horn shell (1) is thicker than the middle part of the horn shell, the horn shell (1) is hollowed out, the motor (12) is arranged in the cambered surface of the horn shell (1), the rotating shaft on the multi-blade rotor (11) is fixedly connected with the output shaft of the motor (12), the horn shell (1) is hinged with the machine body through the rotating shaft, and the rotating shaft is arranged in the rotating shaft mounting hole (13) so that the horn shell (1) can rotate around the rotating shaft relative to the machine body;
the control module is electrically connected with the power module, the signal receiving module, the gyroscope module, the air pressure height-fixing module, the automatic unfolding module and the motors of all the machine arms, the signal receiving module, the gyroscope module, the air pressure height-fixing module and the automatic unfolding module are all arranged in the machine body, and the signal receiving module is used for receiving commands of the remote controller and transmitting the commands to the control module; the gyroscope module is used for measuring the gesture, acceleration and angular velocity of the unmanned aerial vehicle relative to the ground and transmitting the gesture, acceleration and angular velocity to the control module; the air pressure height-fixing module is used for measuring the height of the aircraft and transmitting the height to the control module; the control module is used for controlling the motor of each arm to work according to the input of the signal receiving module, the gyroscope module and the air pressure height fixing module;
the automatic unfolding module comprises a linear steering engine (5), a self-locking chuck (4), a diagonal tension device (8) and a self-locking chuck matching hole (9), wherein the self-locking chuck (4) is fixedly connected with the linear steering engine (5) and is positioned at the lower part of the linear steering engine (5), the self-locking chuck matching hole (9) is formed in a horn shell (1), the diagonal tension device (8) is respectively arranged on two horns positioned at diagonal positions, and a cylindrical boss matched with the self-locking chuck matching hole (9) is arranged on the self-locking chuck (4).
2. The biomimetic spherical structure unmanned aerial vehicle of claim 1, wherein: the control line of the linear steering engine (5) is electrically connected with the steering engine control interface of the control module (3), and the linear steering engine (5), the power module (2) and the control module (3) are jointly installed in the streamline hollow shell (6).
3. The biomimetic spherical structure unmanned aerial vehicle of claim 2, wherein: when the unmanned aerial vehicle horn is in the folded state, the horn rotates to be completely attached to the limit module at the lower part of the machine body, the self-locking chuck matching hole on the horn shell is matched with the cylindrical boss on the self-locking chuck, the multi-blade rotor wing and the motor are hidden in the inner cavity of the machine body, and the unmanned aerial vehicle is wholly spherical.
4. The biomimetic spherical structure unmanned aerial vehicle of claim 2, wherein: when the unmanned aerial vehicle is in a unfolding state, the control module sends out an automatic unfolding control signal, the linear steering engine works, the self-locking chuck is separated from the self-locking chuck matching hole after moving upwards in a linear mode, and when the arm is upwards turned to a specified threshold value, the two-way locking of the machine body and the arm position in the unfolding state is completed under the combined action of the limiting module and the diagonal tension device.
5. The biomimetic spherical structure unmanned aerial vehicle of claim 1, wherein: the horn also comprises a supporting rod (14) and a supporting rod mounting hole (10), wherein the supporting rod (14) is mounted in the supporting rod mounting hole (10) so as to prevent the lifting force of the multi-blade rotor wing of the unmanned aerial vehicle from causing the deformation of the horn when the unmanned aerial vehicle is in a unfolding state.
6. The biomimetic spherical structure unmanned aerial vehicle of claim 1, wherein: each motor is respectively installed on the horn, a motor seat hole is formed in the horn, the motor is connected with the motor seat hole in an interference fit mode, and the multi-blade rotor wing is installed on an output shaft of the motor.
7. The biomimetic spherical structure unmanned aerial vehicle of claim 1, wherein: the motor (12) is a hollow cup motor or a disc brushless motor.
8. The biomimetic spherical structure unmanned aerial vehicle of claim 5, wherein: the supporting rod (14) is a cylindrical carbon fiber supporting rod.
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| CN108910014B (en) * | 2018-05-31 | 2023-09-26 | 南京航空航天大学 | Foldable multi-rotor unmanned aerial vehicle |
| CN109606610B (en) * | 2018-10-24 | 2022-03-11 | 浙江大年科技有限公司 | Unmanned aerial vehicle is folded to geometry |
| CN109502017B (en) * | 2018-12-06 | 2024-02-27 | 南京阿米巴工程结构优化研究院有限公司 | Topology optimization bionic unmanned aerial vehicle and design method thereof |
| CN110844069B (en) * | 2019-11-20 | 2022-01-14 | 北京特种机械研究所 | Miniature foldable wheel-shaped aircraft |
| CN111186572B (en) * | 2020-01-08 | 2021-06-01 | 中国人民武装警察部队工程大学 | Variant cross-medium aircraft |
| CN111776214A (en) * | 2020-06-17 | 2020-10-16 | 广东工业大学 | Real-time imaging device for road survey |
| CN113148129B (en) * | 2021-05-13 | 2022-08-02 | 北京理工大学 | Throwing formula rotor can independently expand type unmanned aerial vehicle |
| CN113665809B (en) * | 2021-08-06 | 2024-02-02 | 北京航空航天大学 | Distributed multi-dwelling spherical unmanned system |
| CN114194389A (en) * | 2021-12-30 | 2022-03-18 | 奥飞娱乐股份有限公司 | Deformable rolling aircraft |
| CN115610647A (en) * | 2022-11-01 | 2023-01-17 | 浙江大学 | Torpedo type four-rotor aircraft |
| CN117382941B (en) * | 2023-12-11 | 2024-03-05 | 山东字节信息科技有限公司 | Single rotor unmanned aerial vehicle |
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