CN204979221U - There is asynchronous multiaxis aircraft of rope - Google Patents
There is asynchronous multiaxis aircraft of rope Download PDFInfo
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- CN204979221U CN204979221U CN201520722531.1U CN201520722531U CN204979221U CN 204979221 U CN204979221 U CN 204979221U CN 201520722531 U CN201520722531 U CN 201520722531U CN 204979221 U CN204979221 U CN 204979221U
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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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- 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
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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Abstract
There is asynchronous multiaxis aircraft of rope, characterized by include fuselage, a plurality of electronic rotor, aircraft load, state of flight computer control system, remote controller and alternating current power supply with each asynchronous machine grouping, makes the three -phase winding series connection of each motor of every generator system form three branch roads, and each branch road takes string parallel and power to be connected, to the winding of each motor or the partly parallelly connected multifunctional module of winding, state through changing multifunctional module changes control the state of each motor and aircraft. The utility model discloses can save the weight of many batteries and possess the long -time ability that stagnates empty flight with the aid of the external power source facility.
Description
Technical field
The utility model includes the asynchronous Multi-axis aircraft of rope.
Background technology
Existing Multi-axis aircraft adopts multiaxis rotor to be arranged symmetrically with, when initial condition is hovering, this, suitably slack-off and total lift of rotating speed of one of them or adjacent 2 to 3 rotors was constant in season, diminishing because the rotor lift slowed is corresponding causes aircraft axial line to tilt, thus the component promotion aircraft that the wind-force of each rotor produces a horizontal direction makes parallel motion along the direction, rotor position of slow-down.Existing Multi-axis aircraft many employings powered battery, its hang time is relevant with capacity of cell and shorter.Propose to adopt the wired power supply of external power supply with us in view of asynchronous dynamo has some advantage, therefore need the ac speed control technology developing applicable Multi-axis aircraft.
Summary of the invention
The purpose of this utility model be to provide adopt speed regulation method in parallel have rope asynchronous Multi-axis aircraft.
The utility model can do when solving its technical matters like this: manufacturing one has the asynchronous Multi-axis aircraft of rope, comprise fuselage, multiple electronic rotor, aircraft load, state of flight computer control system, remote controller and source of AC, state of flight computer control system comprises satellite positioning-terminal, accelerometer, magnetometer, baroceptor, gyroscope and communication module, source of AC comprise adopt the source of AC introduced from outside of power transmission line and in aircraft by the source of AC of inversion direct supply generation; The motor of electronic rotor is driven to be AC induction motor; The control of the drive motor of electronic rotor, for ac three-phase asynchronous motor introduction, realizes with reference to these content accommodations for the situation beyond ac three-phase asynchronous motor;
Be more than one group of motors by each AC induction motor of electronic for all drivings rotor according to Space Axisymmetric two components that distribute, the three-phase windings of each motor of each group of motors is made to be connected in series formation three branch roads, the all branch roads formed each group of motors are taked to connect or the mode of parallel connection, are connected with power supply;
To at least one phase winding of every platform motor or the symmetrical multifunction module in parallel of part winding and every bar branch road at least containing a multifunction module;
Multifunction module comprises flight control circuit, controlled rectification or chopper circuit, rechargeable battery, uses electric load and fictitious load.Controlled rectification or chopper circuit regulate its electric energy to export by the service time changing rectifying device.With electric load comprise filter circuit of pressure-stabilizing, state of flight computer control system, flight control circuit, for detecting the detection means of each multifunction module electric current and voltage, radio reception transmission circuit and other all possible electricity consumption devices; Fictitious load comprises variable resistance, the silicon control also comprising permanent resistor device and be connected in series with it, and fictitious load is for consuming electric energy to affect the state of its rotor motor in parallel and all rotor motors; Flight control circuit also not from controlled rectification or chopper circuit power taking, can this means the increase of aircraft lift from rechargeable battery power taking when normally working completely; Flight control circuit is connected as the part of state of flight computer control system with state of flight computer control system host signal and accepts it and controls.
The state controlling described each motor is changed by the state changing multifunction module, comprise: as required, when the state control overflow of aircraft flies to certain direction, can under gyrostatic guide, make some electric currents of the many consumptions of multifunction module with the rotor motor parallel being positioned at described direction, the silicon controlled service time specifically comprising the fictitious load branch road of the relevant multifunction module of order is longer, or make variable-resistance resistance diminish, therefore this rotor reduces lift also reduce to cause the run-off the straight of aircraft axial line thus the lift of aircraft produces horizontal component to described direction promotes aircraft and move to described direction because the by-pass current of motor increases self horsepower input.The silicon control be connected in series with fictitious load, as an execution unit of the control circuit that flies, guarantees that flight control circuit controls the power of each multifunction module.For the problem that may cause aircraft lift deficiency because described multifunction module increases use electric energy, can solve by other means, comprise the voltage increasing outside three-phase alternating-current supply.The branch road that the power load that attribute is suitable can also form with all described motors is connected or parallel connection.
The utility model realizes the technical scheme of its object: manufacturing one has the asynchronous Multi-axis aircraft of rope, comprise fuselage, multiple electronic rotor, aircraft load, state of flight computer control system, remote controller and source of AC, state of flight computer control system comprises satellite positioning-terminal, accelerometer, magnetometer, baroceptor, gyroscope and communication module, source of AC comprise adopt the source of AC introduced from outside of power transmission line and in aircraft by the source of AC of inversion direct supply generation; The control of the drive motor of electronic rotor, for ac three-phase asynchronous motor introduction, realizes with reference to these content accommodations for the situation beyond ac three-phase asynchronous motor;
The electricity consumption load of three power transmission lines and outside three-phase alternating-current supply and described aircraft is adopted to form loop;
Be more than one group of motors by each AC induction motor of electronic for all drivings rotor according to Space Axisymmetric two components that distribute, the three-phase windings of the motor of each group of motors is made to be connected in series formation three branch roads, the all branch roads formed each group of motors are taked to connect or the mode of parallel connection, are connected with power supply;
To the part multifunction module in parallel of at least one winding of described each motor or a winding and every bar branch road at least containing a multifunction module; Multifunction module comprises flight control circuit, controlled rectification or chopper circuit, rechargeable battery, uses electric load and fictitious load; Controlled rectification or chopper circuit regulate its electric energy to export by the service time changing rectifying device; With electric load comprise filter circuit of pressure-stabilizing, state of flight computer control system, flight control circuit, for detecting the detection means of each multifunction module electric current and voltage, radio reception transmission circuit and other all possible electricity consumption devices; Fictitious load comprises variable resistance, the silicon control also comprising permanent resistor device and be connected in series with it; Flight control circuit when normally working can completely from rechargeable battery power taking not from controlled rectification or chopper circuit power taking; Flight control circuit is connected as the part of state of flight computer control system with state of flight computer control system host signal and accepts it and controls.
Can also be connected in series an automatic connector between power transmission line with described aircraft, automatic connector comprises a connector jack and a line connector plug; Line connector plug is connected with power transmission line; And automatically lock device containing a power transmission line; Connector jack and power transmission line automatically lock device and are arranged on fuselage; Power transmission line automatically locks the execution unit of device as state of flight computer control system; Power transmission line automatically locks device and comprises an electronic pressure tongue; Electronic pressure tongue comprises electromagnetism pressure tongue; Electronic pressure tongue is normally closed pushes down power transmission line; When electronic pressure tongue state from normally closed become open time, line connector plug departs from fuselage and drops under self and power transmission line Action of Gravity Field, or:
Aircraft contains an automatic wire winding device, is positioned at power transmission line below for folding and unfolding, or;
On board the aircraft and the PLC communication module that is all connected with powerline signal containing one of external power supply place, power transmission line is utilized to realize wire signal transmission.
Line connector plug and/or fuselage can also be made to connect a parachute, and in 0.2 second after send the instruction departing from fuselage to line connector plug, parachute starts to open.
Described aircraft can also be made to be the above rotary aircraft of an axle, and it comprises one is roughly in same level position film-form object with rotor; This film-form object is in electronic rotor place perforate.
Can also make between automatic wire winding device and basis containing a revolute pair mechanism.
The described aircraft of more than two framves can also be adopted, two the above aircraft of frame be concatenated into a circuit loop by electric load by same group of power transmission line.
One can also be formed and spray unit, comprise two frame Multi-axis aircrafts spray medicine aircraft, assisting in flying device and follow the tracks of dolly, follow the tracks of dolly and be mounted with automatic wire winding device, the automatic retraction device of water delivery pipe, external power supply and medicinal cupping; With power transmission line connect external power supply and the power load on aircraft unit, to spray on aircraft containing spraying port, adopt two ends respectively with the delivery pipe spraying port and be communicated with medicinal cupping, or;
Form a sowing unit, comprise two frame Multi-axis aircrafts sowing aircraft, assisting in flying device and follow the tracks of dolly, following the tracks of dolly and be mounted with automatic wire winding device, external power supply, the automatic retraction device of seed transport tube and seed cabin; Connect on external power supply and the power load on aircraft unit, sowing aircraft containing sowing module, the seed transport tube that adopts two ends to be communicated with seed cabin with sowing module respectively with power transmission line.
Speed governing mentioned herein comprises for controlling the state of aircraft.
Rotor craft comprises a post and multiaxis rotor craft, and a post comprises single-blade and double-vane.
The beneficial effects of the utility model: when only needing attachment point or one to use relevant flight device among a small circle, the utility model has the asynchronous Multi-axis aircraft of rope can save the weight of many batteries by means of external power supply facility and have the ability of long-time stagnant sky flight.Amateur photographers also can utilize aircraft of the present utility model to carry out taking the acquisition in midair shooting effect close with adopting large-scale photography facility.
Accompanying drawing explanation
Fig. 1 is the structural representation that the aerial marshalling of the Multi-axis aircraft that an outside three-phase alternating-current supply is powered is connected with external power supply.
Fig. 2 and Fig. 3 is that the two plug in automatic connector of three ends is inserted into single state change structure schematic diagram inserted from two respectively, and it can be regarded as the amplification of the two plug in automatic connector of three ends in Fig. 1 embodiment.
Fig. 4 is one and utilizes aircraft to be below the structural representation that power transmission line load shared by aircraft above.
Fig. 5 is the circuit block diagram of 4 asynchronous motors serial connections of 4 axle aircraft.
Fig. 6 is the upper TV structure schematic diagram of 4 axle rotor remotely-piloted vehicles.
Fig. 7 is the functional block diagram of a multifunction module.
Fig. 8 is the fundamental diagram of an agricultural spraying rotor flying unit.
Fig. 9 is the fundamental diagram of an agricultural sowing rotor flying unit.
1. aircraft in figure; 2. fuselage; 4. remote controller; 5. external power supply; 6. power transmission line; 7. automatic wire winding device; The two plug in automatic connector of 13. 3 ends; 14. driverless operation ships; 15. waters surface; 16. sockets; 17. plugs; 18. Auto-plug locks; 19. electronic rotors; 21. springs; 22. support block; 23. electronic pressure tongues; 24. electric reels; 25. pedestals; 26. bifurcated terminals; 27. monitors; 28. acceleration pick-ups; 29. automatic wire winding devices; 42,43,44,45. electronic rotors; 42.1,43.1,44.1,45.1 motors; 46. parachutes; 47. variable resistances; 48-51. multifunction module; 53. controlled rectification or chopper circuit; 54. rechargeable batteries; 55. use electric load; 56. fictitious loads; 68. spray medicine aircraft; 69. assisting in flying devices; 70. landing platforms; 71. pesticide containers; 72. follow the tracks of dolly; 73. spray port; 74. delivery pipes; 75. sowing aircraft; 76. seed cabins; 77. sowing modules; 78. seed transport tube.
Detailed description of the invention
Fig. 1 provides embodiment 1.
In embodiment 1, form a marshalling in the air with the multiaxis rotor remotely-piloted vehicle 1 that the outside three-phase alternating-current supply of two framves is powered.Aircraft 1 comprises fuselage 2, electronic rotor 19, state of flight computer control system, radio signal reception process launch facility, aircraft load and remote controller 4.One group three are adopted to form the power transmission line 6 in loop with external power supply 5 and aircraft electricity consumption load.Power transmission line 6 one end near-end and aircraft 1 are electrically connected, and the other end far-end of power transmission line 6 and an automatic wire winding device 7 are in transmission connection, and are electrically connected by automatic wire winding device 7 and external power supply 5; External power supply 5 continues supply aircraft 1 electric energy by power transmission line 6.
Automatic wire winding device 7 comprises the band chassis 9 of wheels 8, Plane Rotation vice mechanism 10 and electronic reel.Automatic wire winding device 7 along with the distance flown away from of aircraft 1, automatic deploying and retracting power transmission line 6.Chassis 9 with wheels 8 makes automatic wire winding device 7 to move freely.Plane Rotation vice mechanism 10 is swayed for the automatic wire winding device 7 above chassis 9.Automatic wire winding device 7 also can not comprise chassis 9 and the plane revolute pair mechanism 10 of band wheels 8.
Two frame aircraft 1 share one group of power transmission line 6 by a multichannel automatic socket device 13 and to be connected with the automatic wire winding device 7 on driverless operation ship 14 and from external power supply 5 power taking.
Adopt the frame in two frame aircraft 1 for sharing the weight of part power transmission line, be called assisting in flying device, its taking on of task comprises pull-up power transmission line 6 to avoid other frame flying distance aircraft far away---and main carry-on power transmission line 6 easily touches the unfavorable operating mode of the water surface 15.
Driverless operation ship 14 in embodiment 1 can also change unmanned submarines into.Such disguise is better.
External power source remotely-piloted vehicle self configures a small amount of power electric battery for making a return voyage under the emergency state.Because the battery carried is few, even if calculate the weight into power transmission line, the lift-off weight of external power source remotely-piloted vehicle is still lower.The aircraft of same load, its power of motor is less.
Fig. 2 and Fig. 3 provides embodiment 2.
In embodiment 2, the two plug in automatic connector of three ends comprises two sockets, 16, two plugs 17 and two Auto-plug locks 18.Plug 17 is concentric three wire configuration and is electrically connected with power transmission line 6.Concentric three wire configuration particular content can comprise the twin-core plug of handset earphone with reference to prior art.Spring 21 bearing fit is enclosed within power transmission line 6.Auto-plug lock 18 comprises to block 22 and electronic pressure tongue 23, and adopts signal to be connected with state of flight computer control system or be electrically connected.Auto-plug lock 18 for normally closed i.e. electronic pressure tongue 23 protruding and plug 17 to be pressed on block 22 thus locking plug 17; At this moment spring 21 is in compressive state.Socket 17 is also electrically connected with power transmission line 6.
Once Auto-plug lock 18 obtains electric opening according to the instruction of state of flight computer control system main frame, then electronic pressure tongue 23 is retracted, and plug 17 ejects under spring 21 promotes, and realizes automatically extracting of plug 17, and power transmission line 6 and aircraft depart from.
The two plug in automatic connector 13 of three ends of embodiment 2 removes one group of socket and plug, and the socket 16 of remainder is connected with the fuselage of aircraft after rotating up and down by picture, just forms the single plug in automatic connector in two ends.It can be used for the electrical connection of aircraft and external power supply, and in case of emergency automatically can get rid of power transmission line.Getting rid of the unmanned plane after power transmission line can rely on the electric energy of storage battery to make a return voyage.
Spring in the various automatic connector of the utility model also can.At this moment gravity can be relied on to realize automatically pulling the plug out of the socket.About the technology of these plugs can with reference to prior art.Usually require that the contact engaging and separating force of these plugs is close to zero.At the electric connector using ZIF on carrier rocket.
Fig. 4 provides embodiment 3.
In embodiment 3, two frame external power source multiaxis rotor remotely-piloted vehicles 1 are connected in series are connected with the automatic wire winding device 7 on ground and from external power supply 5 power taking by sharing one group of power transmission line 6.Automatic wire winding device 7 comprises an electric reel 24 and two pedestals 25 be connected with electric reel 24.And superincumbent aircraft 1 is inner, is also provided with an automatic wire winding device 29, comprises an electric reel 24.Power transmission line 6 is below positioned at for folding and unfolding.This tandem and power transmission line arrangement bear the weight of power transmission line greatly due to aircraft below, and the aircraft be conducive to above flies get Geng Gao, freer.
Single rack aircraft adopts automatic wire winding device 29, is applicable to nap of the earth flight and without the need to dilatory power transmission line, can avoids or greatly alleviate wearing and tearing and the yoke of power transmission line, and can pack up power transmission line realization recycling.
In embodiment 3, below an aircraft adopt three naked steel wires as power transmission line, and adopt bifurcated terminals 26 to draw three power transmission lines 6, every root power transmission line adopts an automatic wire winding device to receive separately separately.Naked steel wire without insulating barrier, be conducive to heat radiation, weigh light, there is no the problem of wearout.
Insulating barrier can also be set to the surface at three naked steel wire power transmission lines close bifurcated terminals 26 place above, because once three power transmission lines generation winding upper surface portion branches first collide.
A monitor 27 be connected with state of flight computer control system host signal can also be set on described aircraft, when recognizing that three power transmission lines are in the hole, monitor 27 is reported, to cut off the electricity supply in time avoid accident to state of flight computer control system.
An acceleration pick-up 28 be connected with state of flight computer control system host signal can also be set on described aircraft, when recognize the state of described aircraft go wrong comprise horizontally rotate more than 100 degree, three power transmission lines are likely wound around time, to the report of state of flight computer control system, to cut off the electricity supply in time avoid accident.
Automatic wire winding device can also comprise retractable cable control circuit and retractable cable execution unit.Retractable cable execution unit contains the interface circuit be connected with retractable cable control circuit signal, and the state of automatic wire winding device changes according to the change of described control circuit state; Described control circuit and state of flight computer control system are networked.
In embodiment 3, make the inside face of electric reel 24 conduct heat with the heat absorption coil pipe of a compressor fridge equipment and be connected, the temperature of the two-layer power transmission line being close to electric reel 24 inside face is significantly reduced, to keep good operating mode.When most of power transmission line remains in electric reel surface, the power transmission line of aircraft load is few, its load light, the electric current of power transmission line is also less.
Two-layer diameter that the electric reel of, external diameter 0.67 meter long 1 meter at reels is the power transmission line of 2 millimeters, then the length of power transmission line reaches 2 kms.
In embodiment 4, the automatic wire winding device comprising an electric reel and two pedestals can also be reduced to a power main storehouse, namely only for depositing power transmission line.And also can conduct heat with the heat absorption coil pipe of a compressor fridge equipment and be connected in described line storehouse, for cooling.
Fig. 5 to 7 provides embodiment 4.
In embodiment 4,4 axle rotor crafts 1 comprise fuselage 2, by the electronic rotor 42,43,44,45 of 4 ACasynchronous motor drives and parachute 46.Adopt automatic connector.The threephase stator coil of described motor is connected in series formation three branch roads respectively between two, and the head end of three branch roads is connected with the controlled three-phase alternating-current supply in variable resistance 47 and outside by naked steel wire power transmission line 6, automatic wire winding device 7.Article three, branch road end connecing, because the voltage and current of the corresponding phase winding of all described motors is equal, the state of motor is also equal, but the hand of rotation two requiring them is just two anti-.
4 described motors are divided into two groups, and order is often organized the axial line of described motor in space with aircraft and is arranged symmetrically with, the contrary rotating reactive force with cancel out each other rotor and rotor of hand of rotation.From Fig. 6 plane right-angle coordinate: electronic rotor 42,43,44,45 is in the 1st, 2,3,4 respectively, four quadrants.
By the motor tapping to 4 electronic rotors 42,43,44,45, be connected in parallel 4 multifunction modules 48,49,50,51 altogether in tap place and relevant winding overhang.To the tapping of described motor be in order to obtain lower voltage come and light current load matching.
Multifunction module 48,49,50,51 comprises flight control circuit, controlled rectification or chopper circuit 53, rechargeable battery 54, uses electric load 55 and fictitious load 56.Controlled rectification or chopper circuit 53 regulate its electric energy to export by the service time changing rectifying device.Filter circuit of pressure-stabilizing, state of flight computer control system, flight control circuit, radio reception transmission circuit and other all possible electricity consumption devices is comprised by electric load 55; Fictitious load 56 comprises resistance device and is connected in series a silicon control.Rechargeable battery 54 also has voltage regulation filtering effect; All carry out detecting to its dump energy after each aerial mission terminates and discharge and recharge to 62% to 65% of setting range such as Full Charge Capacity.The function of flight control circuit comprises the control to described motor.Flight control circuit when normally working can completely from rechargeable battery 54 power taking not from controlled rectification or chopper circuit power taking.Flight control circuit is connected as the part of state of flight computer control system with state of flight computer control system host signal and accepts it and controls.As required, when the state control overflow of aircraft flies to certain direction, some electric currents of the many consumptions of multifunction module with the rotor motor parallel in certain direction can be made, the silicon controlled service time specifically comprising the fictitious load branch road of the relevant multifunction module of order is longer, and therefore this rotor reduces lift also reduce to cause the run-off the straight of aircraft axial line thus the lift of aircraft produces a horizontal component to described direction promotes aircraft and move to described direction because the by-pass current of motor increases self horsepower input.The silicon control be connected in series with fictitious load, as an execution unit of the control circuit that flies, guarantees that flight control circuit controls the power of each multifunction module.
When flowing through the electric current of multifunction module 48,49,50,51 from zero to time maximum, the power of asynchronous dynamo 42.1,43.1,44.1,45.1 is minimum from being up to.
The status controlling packet of aircraft is drawn together:
By regulating the voltage of the controlled three-phase alternating-current supply in outside and/or frequency, and regulate each variable resistance 52, can realize described motor power control and/or rotating speed control thus realize to the status controlling packet of aircraft 1 draw together risings, in the air static, decline and stopping.
Utilize multifunction module 48,49,50,51 to regulate the principle of state of flight to sketch to be: when aircraft 1 is in floating state, changed the state of described a certain or several motors by synchronization regulation multifunction module 48,49,50,51 or several power, thus realize the control to flight state.For example:
Order be in the 1st, the motor winding of two electronic rotors 42,45 of 4 quadrants the electric power of the multifunction module 48,51 connect is greater than the electric power with two other multifunction module 49,50, the power reducing electronic rotor 45,42 associated motor is increased the power of electronic rotor 43,44 associated motor by this simultaneously, and causing the spatial altitude of electronic rotor 45,42 slightly lower than the spatial altitude of electronic rotor 43,44, this state makes aircraft 1 start to the direct north flight in other words of the Y-axis direction of arrow.Now, by the electric power of simultaneous equation 4 multifunction modules 48,49,50,51, will recover the power of electronic rotor 45,42, and cause electronic rotor 42,43,44,45 to be in sustained height, aircraft recovers to be in aerial quiescence.
As a same reason, reduce the power of quadrant two electronic rotor associated motor in two, the right side in 4 quadrants, aircraft can be caused to the positive flight of direction in the east.Further, because the mechanism of this change of flight device flight can superpose, thus aircraft can be realized can fly to any direction.The technology controlling flight state also can with reference to utilizing existing technology.
Can not certainly from the winding centre tap of described motor but directly from the relevant multifunction module of two ends power taking supply of described motor winding, and the mode of change of flight device 1 state of flight recited above is still set up.
When external power supply 5 can not supply regular power time, extract power transmission line 6 by automatic connector and open each parachute 46, aircraft 1 declines with enough slow speed under the effect of parachute 46; Each power transmission line 6 also declines with slower speed so that the normal take-up of automatic wire winding device 7 under the effect of parachute 46.
The beneficial effect of embodiment 4 comprises: utilize and load on carry-on about 1520 volts of controlled three-phase alternating-current supplies and drive 4 operating voltages to be the AC induction motor of the electronic rotor of 380 volts, because power line voltage is high, the corresponding reduction of electric current of power transmission line, the waste of heat being quadratic relationship with electric current significantly reduces, the thinner lighter power transmission line of convenient employing; Comprise adopting adjustable transformer to regulate to realize flight power control easily by carrying out adjustment to the power supply voltage of the controlled three-phase alternating-current supply in outside.
Even if three multifunction modules are all in full power and charge condition, because can increase the input of external power supply, aircraft still can normal flight.
Although use source of AC danger to increase, more reasonable to four unsteady flow modules of the feeding electric motors of 4 electronic rotors than using.Although the insulating requirements of high tension supply to motor increases, electric current is decreased to 1/4th, thinks worth.
When adopting other motors, also can adopt that this motor to electronic rotor divides into groups, the associated winding of each motor serial connection is with the design using high voltage.
Have two dotted line frames in Fig. 5, the circuit of right side dotted line frame is be connected with the circuit connected in series on the left side, but also the circuit of right side dotted line frame can be connected with the circuit in parallel on the left side.
Fig. 8 provides embodiment 5.
Embodiment 5, spray unit comprise two frame Multi-axis aircrafts spray medicine aircraft 68, assisting in flying device 69 and follow the tracks of dolly 72, follow the tracks of dolly 72 and be mounted with automatic wire winding device 7, the automatic retraction device of water delivery pipe 74, external power supply 5, landing platform 70 and pesticide container 71.With power transmission line 6 connect external power supply 5 and the power load on aircraft unit, to spray on aircraft containing spraying port 73, adopt two ends respectively with the delivery pipe 74 spraying port 73 and be communicated with pesticide container 71.Pesticide container 71 is configured with liquid and promotes facility, comprises boost pump.Follow the tracks of dolly 72 from motion tracking assisting in flying device 69.Sprinkling port 73 is a pipe horizontal, its side has round, and spraying related content such as port 73 grade can with reference to prior art.
The brief introduction of work principle of embodiment 5 is: system boot self-inspection comprises assisting in flying device 69 and spray medicine aircraft 68 and successively stops from landing platform 70 hovering that rises; Then follow the tracks of dolly 72 to follow and spray unit and reach the spot, pesticide container 71 starts liquid and promotes facility and implement spray medicine operation.And adopt resupply vehicle in good time to pesticide container dosing.In operation process, the automatic retraction device automatic deploying and retracting power transmission line 6 of automatic wire winding device 7 and water delivery pipe 74 and water delivery pipe 74.Operation completes, and makes liquid promote facility and oppositely sucks back liquid to pesticide container 71.Then two frame aircraft to drop on landing platform 70 and recall storehouse.
Due to can long-time continuous operation, the utility model be higher 3 times than the existing spray medicine aircraft work efficiency that can only work several minutes, need not configure the employee changing battery.Again because the operation of spray medicine is not interrupted, neither drain spray is also seldom sprayed.Efficiency height also means can be killed locust and not allow it run away within a few hours.The wind of cyclogyro contributes to the back side that medicament arrives plant leaf, and this is original advantage.
The weight of water delivery pipe 74 and power transmission line 6 shared by assisting in flying device 69, realizes spray medicine aircraft 68 above its fuselage, connect the degree of freedom that power transmission line 6 adds spray medicine; The support of assisting in flying device 69 can also increase the Distance geometry area of spray medicine aircraft 68 operation.
Fig. 9 provides embodiment 6.
Embodiment 6, sowing unit comprises two frame Multi-axis aircrafts sowing aircraft 75, assisting in flying device 69 and follows the tracks of dolly 72, follows the tracks of dolly 72 and is mounted with automatic wire winding device 7, external power supply 5, the automatic retraction device of seed transport tube 78, landing platform 70 and seed cabin 76.Connect on external power supply 5 and the power load on aircraft unit, sowing aircraft 75 containing sowing module 77, the seed transport tube 78 that adopts two ends to be communicated with seed cabin 76 with sowing module 77 respectively with power transmission line 6.Seed cabin 76 is configured with the automatic retraction device that seed promotes facility and seed transport tube 78, comprises pneumatic convey facility, specifically can with reference to related art.Follow the tracks of dolly 72 from motion tracking assisting in flying device 69.Sowing module 77 is according to the design of different seeds, and related content can with reference to prior art.
The brief introduction of work principle of embodiment 6 is: system boot self-inspection comprises assisting in flying device 69 and sowing aircraft 75 and successively stops from landing platform 70 hovering that rises; Then follow the tracks of dolly 72 follow sowing unit reach the spot, seed cabin 76 start seed promote facility implement seeding operation.And adopt resupply vehicle to carry out supply to seed cabin 76 in good time.In operation process, the automatic retraction device automatic deploying and retracting power transmission line 6 of automatic wire winding device 7 and seed transport tube 78 and seed transport tube 78.Operation completes, and makes seed promote facility and oppositely sucks back seed to seed cabin 76.Then storehouse is recalled.
Due to can long-time continuous operation, the utility model sowing flight unit work efficiency be high.
The weight of seed transport tube 78 and power transmission line 6 shared by assisting in flying device 69, and the support of assisting in flying device 69 can also increase the operation Distance geometry area of sowing aircraft 75.
In embodiment 5, in the automatic retraction device of water delivery pipe 74 and embodiment 6, the automatic retraction device related content of seed transport tube 78 please join automatic wire winding device 7 in embodiment 1 and prior art.
Source of AC of the present utility model can obtain by other means to comprise and obtain storage battery and other DC inverters.
Claims (5)
1. there is the asynchronous Multi-axis aircraft of rope, it is characterized in that comprising fuselage, multiple electronic rotor, aircraft load, state of flight computer control system, remote controller and source of AC, state of flight computer control system comprises satellite positioning-terminal, accelerometer, magnetometer, baroceptor, gyroscope and communication module;
Be more than one group of motors by each AC induction motor of electronic for all drivings rotor according to Space Axisymmetric two components that distribute, the three-phase windings of each motor of each group of motors is made to be connected in series formation three branch roads, the all branch roads formed each group of motors are taked to connect or the mode of parallel connection, are connected with power supply; To the part multifunction module in parallel of at least one winding of described each motor or a winding and every bar branch road at least containing a multifunction module; Flight control circuit is connected as the part of state of flight computer control system with state of flight computer control system host signal and accepts it and controls; The state controlling described each motor is changed by the state changing multifunction module.
2. have the asynchronous Multi-axis aircraft of rope according to according to claim 1, it is characterized in that between power transmission line with described aircraft, be connected in series an automatic connector, automatic connector comprises a connector jack and a line connector plug; Line connector plug is connected with power transmission line; And automatically lock device containing a power transmission line; Connector jack and power transmission line automatically lock device and are arranged on fuselage; Power transmission line automatically locks the execution unit of device as state of flight computer control system; Power transmission line automatically locks device and comprises an electronic pressure tongue; Electronic pressure tongue comprises electromagnetism pressure tongue; Electronic pressure tongue is normally closed pushes down power transmission line; When electronic pressure tongue state from normally closed become open time, line connector plug departs from fuselage and drops under self and power transmission line Action of Gravity Field, or:
Aircraft contains an automatic wire winding device, is positioned at power transmission line below for folding and unfolding, or;
On board the aircraft and the PLC communication module that is all connected with powerline signal containing one of external power supply place, power transmission line is utilized to realize wire signal transmission.
3. have the asynchronous Multi-axis aircraft of rope according to according to claim 2, it is characterized in that line connector plug and/or fuselage connect a parachute, in 0.2 second after send the instruction departing from fuselage to line connector plug, parachute starts to open.
4. have the asynchronous Multi-axis aircraft of rope according to according to claim 1, it is characterized in that containing described aircraft more than two framves, two the above aircraft of frame be concatenated into a circuit loop by electric load by same group of power transmission line.
5. there is the asynchronous Multi-axis aircraft of rope according to according to claim 1, it is characterized in that composition one sprays unit, comprise two frame Multi-axis aircrafts spray medicine aircraft, assisting in flying device and follow the tracks of dolly, following the tracks of dolly and be mounted with automatic wire winding device, the automatic retraction device of water delivery pipe, external power supply and medicinal cupping; With power transmission line connect external power supply and the power load on aircraft unit, to spray on aircraft containing spraying port, adopt two ends respectively with the delivery pipe spraying port and be communicated with medicinal cupping, or;
Form a sowing unit, comprise two frame Multi-axis aircrafts sowing aircraft, assisting in flying device and follow the tracks of dolly, following the tracks of dolly and be mounted with automatic wire winding device, external power supply, the automatic retraction device of seed transport tube and seed cabin; Connect on external power supply and the power load on aircraft unit, sowing aircraft containing sowing module, the seed transport tube that adopts two ends to be communicated with seed cabin with sowing module respectively with power transmission line.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520722531.1U CN204979221U (en) | 2015-09-18 | 2015-09-18 | There is asynchronous multiaxis aircraft of rope |
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| CN201520722531.1U CN204979221U (en) | 2015-09-18 | 2015-09-18 | There is asynchronous multiaxis aircraft of rope |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105539852A (en) * | 2016-02-19 | 2016-05-04 | 蒋引 | Multi-rotor UAV (unmanned aerial vehicle) as well as control system and method thereof |
| CN105629995A (en) * | 2016-03-17 | 2016-06-01 | 北京大工科技有限公司 | Mooring following system and method |
-
2015
- 2015-09-18 CN CN201520722531.1U patent/CN204979221U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105539852A (en) * | 2016-02-19 | 2016-05-04 | 蒋引 | Multi-rotor UAV (unmanned aerial vehicle) as well as control system and method thereof |
| CN105629995A (en) * | 2016-03-17 | 2016-06-01 | 北京大工科技有限公司 | Mooring following system and method |
| CN105629995B (en) * | 2016-03-17 | 2018-03-27 | 北京大工科技有限公司 | One kind is tethered at system for tracking and method |
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