CN207328807U - A kind of bionical spherical structure unmanned plane - Google Patents
A kind of bionical spherical structure unmanned plane Download PDFInfo
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- CN207328807U CN207328807U CN201720731029.6U CN201720731029U CN207328807U CN 207328807 U CN207328807 U CN 207328807U CN 201720731029 U CN201720731029 U CN 201720731029U CN 207328807 U CN207328807 U CN 207328807U
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Abstract
The utility model discloses a kind of bionical spherical structure unmanned plane, has the advantages that portable folding, Automatic-expanding, more landform landings.Wherein copy the wing of ladybug to stick up structure to optimize a quarter spherical shell of unmanned plane, horn shell rim is thicker compared with interior thickness, and appropriate hollow processing is carried out on the basis of structural strength is ensured so that the overall weight of unmanned plane housing minimizes；Unique Automatic-expanding structure design so that unmanned plane can be changed rapidly from folded state to unfolded state, ensure that unmanned plane supports a variety of modes of taking off；Unique fuselage appearance and hollow structure inside design, except ensureing unmanned plane in folded state to the posture during unfolded state from steady, and unmanned plane is landed on sea, and a unmanned plane part is in submerged condition, a part floats over more than liquid level, facilitates unmanned plane to realize multiple water surface landing；Unmanned plane rotor uses leafy paddle structure, makes full use of the spherical inner space of unmanned plane folded state.
Description
Technical field：
It the utility model is related to air line technical field, more particularly to a kind of bionical spherical structure unmanned plane.
Background technology：
Unmanned plane is widely used in the neck such as mapping of taking photo by plane, movies-making, enemy's situation exploration, the condition of a disaster detection, electric inspection process
Domain, is the outstanding person among aircraft family.Especially multi-rotor unmanned aerial vehicle is a kind of structure novelty, the VTOL of superior performance
Aircraft, has the characteristics that easy to operate, carrying load capacity is strong, has extremely important military and civilian value.
Spherical aircraft has symmetrical configuration, occupies little space, spherical housing can be protected as a kind of new aircraft
The advantages that protecting aircraft interior electronic equipment and rotor.Traditional spherical aircraft is mostly single rotor or more rotors, such
Spherical aircraft there is spherical shape and not foldable, lift is produced by rotor to offset itself weight of spherical aircraft
Amount, then by adjusting controlling rudder face to adjust the posture of aircraft, realizes the controllable flight of spherical aircraft.And rotor is
Spherical aircraft produces the critical piece of lift, and the size of rotor directly influences the final size of spherical aircraft, it is this not
The overall dimensions that folding spherical structure design directly results in spherical aircraft are larger.For this problem, utility model people was once
Applied for a patent《A kind of spherical unmanned plane of portable and collapsible》, the patent combination spherical aircraft and multi-rotor aerocraft
The advantages of, it is proposed that a kind of concept of the spherical unmanned plane of portable and collapsible.But what is mainly proposed in this patent is a kind of
The folding and expanding scheme of hand.It can make troubles under certain special case to user.
Utility model content：
Technical problem to be solved in the utility model is to be directed to portable and collapsible ball involved in background technology
Some defects of shape unmanned plane, there is provided a kind of bionical spherical structure unmanned plane, the unmanned plane have portable folding, automatic exhibition
Open, the advantages that more landform landings.
There is technical solution used by the utility model：A kind of bionical spherical structure unmanned plane, it is characterised in that：Including machine
Body, several horns, the control module equal with horn quantity, power module, signal receiving module, gyro module, air pressure
Fixed high module, spacing module, Automatic-expanding module；
The fuselage is divided into two parts up and down, and back is spherical crown shape housing, several mounting grooves of its skin cut are used
Coordinate in being installed with horn, make unmanned plane generally spherical in folded state, underbelly is streamlined hollow shell, streamlined
Hollow shell is used to install control module, Automatic-expanding module and power module；
The horn includes horn housing, shaft, shaft mounting hole, motor, more blade rotors, and the horn housing is four points
One of dome shape, the horn shell rim part it is thick compared with center section, the horn housing carries out hollow processing, the motor
It is arranged in the cambered surface of horn housing, the output shaft fixed connection of shaft and motor on more blade rotors, the horn housing
One end is hinged by shaft and fuselage, and shaft is installed in shaft mounting hole so that horn housing can be with respect to fuselage around the shaft
Rotate.
The control module determines high module, Automatic-expanding with power module, signal receiving module, gyro module, air pressure
The motor of module and each horn is electrically connected, and the signal receiving module, gyro module, air pressure determine high module and automatic
Expansion module is arranged in fuselage, and the signal receiving module is used to receive the order of remote controler and passes it to control mould
Block；The gyro module is used to measure unmanned plane with respect to posture, acceleration and the angular speed with ground and passes it to control
Molding block；The air pressure determines high module and is used to measure the height of aircraft and passes it to control module；The control module
Motor work for each horn of input control that high module is determined according to signal receiving module, gyro module, air pressure；
The Automatic-expanding module includes straight line steering engine, self-lock chuck, diagonal puller system and self-lock chuck matching hole,
The self-lock chuck is fixedly connected with straight line steering engine and is arranged at machine positioned at the lower part of straight line steering engine, the self-lock chuck matching hole
On arm housing, the diagonal puller system is separately mounted on two horns in diagonal positions, the self-lock chuck
It is equipped with and the matched cylindrical boss of self-lock chuck matching hole.
Further, the control line of the straight line steering engine and the rudder control interface of control module are electrically connected, straight line rudder
Machine is commonly mounted in streamlined hollow shell with power module and control module.
Further, when the unmanned plane horn is in folded state, horn goes to complete with the spacing module of underbelly
Complete to be bonded, the self-lock chuck matching hole on horn housing is engaged with the cylindrical boss on self-lock chuck, more blade rotors
And motor is hidden in fuselage inner cavity, unmanned plane is integrally spherical in shape.
Further, when the unmanned plane is in unfolded state, control module sends the control signal of Automatic-expanding, straight line
Steering engine works, and self-lock chuck is mutually separated out after moving along a straight line upwards with self-lock chuck matching hole, and horn is flipped up specified threshold
Fuselage and the reversible lock of horn position under unfolded state are completed during value under spacing module and the collective effect of diagonal puller system
It is fixed.
Further, the horn also includes supporting rod and supporting rod mounting hole, and the supporting rod is installed on supporting rod peace
Fill in hole, to prevent unmanned plane lift of more blade rotors in unfolded state from causing the deformation of horn.
Further, a motor is installed respectively on each horn, horn is equipped with motor bore, the motor and
Motor bore is connected in interference fit, and more blade rotors are installed on the output shaft of motor.
Further, the motor is hollow-cup motor or plate-like brushless electric machine.
Further, the supporting rod is cylindrical carbon fiber supporting rod.
The utility model has the advantages that：
1. copy the wing of ladybug to stick up structure to optimize a quarter spherical shell of unmanned plane, horn housing knot
Structure has the following advantages that：Spherical shell edge thickness is thicker, and interior thickness is relatively thin, and is carried out suitably on the basis of structural strength is ensured
Hollow processing so that the overall weight of unmanned plane housing minimizes；
2. unique Automatic-expanding structure design so that unmanned plane can be changed rapidly from folded state to unfolded state,
So as to ensure that unmanned plane supports a variety of modes of taking off (ground is taken off, hand throws winged, catapult-assisted take-off etc.)；
3. unique fuselage appearance and hollow structure inside design, except ensureing unmanned plane in folded state to unfolded state
During posture from steady, and unmanned plane is landed on sea, and a unmanned plane part is in submerged condition, one
Part floats over more than liquid level, facilitates unmanned plane to realize multiple water surface landing；
4. unmanned plane unfolded state is in quadrotor pattern, the streamlined hollow shell structure of underbelly is except with air-flow
The effect of guiding, and for installing the equipment such as control module and power supply so that for unmanned plane in unfolded state, unmanned plane is overall
Center of gravity on the lower, increases the flight stability of unmanned plane；
5. the rotor of unmanned plane uses leafy paddle structure, the spherical inner space of unmanned plane folded state is made full use of.
Brief description of the drawings：
Side view when Fig. 1 is the utility model unfolded state；
Top view when Fig. 2 is the utility model unfolded state；
Structure diagram when Fig. 3 is the utility model folded state；
Fig. 4 is the structure diagram of the utility model fuselage；
Fig. 5 is the structure diagram of the utility model horn.
In figure：
1- horn housings, 2- power modules, 3- control modules, 4- self-lock chucks, 5- straight line steering engines, the streamlined hollow shells of 6-
Body, 7- spherical crown shape housings, the diagonal puller systems of 8-, 9- self-lock chuck matching holes, 10- supporting rod mounting holes, the more blade rotors of 11-,
12- motors, 13- shaft mounting holes, 14- supporting rods.
Embodiment：
The utility model will be further described below with reference to the accompanying drawings.
As depicted in figs. 1 and 2, the bionical spherical structure unmanned plane of the utility model, including fuselage, several horns, power supply
Module, control module, the spacing module and shaft equal with horn quantity, Automatic-expanding module.
It is spherical crown shape housing 7 that fuselage, which is divided into two parts, back up and down, several mounting grooves of its skin cut be used for
Horn installation coordinates, and makes unmanned plane generally spherical in folded state；Underbelly is a cross streamlined hollow shell
6, streamlined hollow shell 6 is used to install control module 3, Automatic-expanding module and power module 2, and streamlined hollow shell
6 can ensure unmanned plane after drop in water surface, and unmanned plane top half floats on more than the water surface, facilitates unmanned plane in surface motions
And unmanned plane takes off from the water surface is repeatedly secondary.And the fuselage of the bionical spherical structure unmanned plane also there is certain air-flow to be oriented to work
With completing hand and throw to fly or during catapult-assisted take-off (remaining mode of taking off is similar) in unmanned plane, unmanned plane Automatic-expanding in the air, nothing
Man-machine 7 Automatic-expanding of spherical crown shape housing can be provided similar to the same resistance of parachute, and then streamlined hollow shell 6 carries
For certain air-flow guiding force, ensure the whereabouts posture of unmanned plane so that unmanned plane automatic stabilisation posture in dropping process, subtracts
The small degree of dependence to flying control, is manipulated, and then smoothly complete aerial mission easy to personnel.
Horn includes horn housing 1, shaft, shaft mounting hole 13, motor 12, and (motor is brushless for hollow-cup motor or plate-like
Motor), more blade rotors 11, supporting rod 14, supporting rod mounting hole 10, wherein, horn housing 1 is a quarter dome shape, is copied
Ladybug wing sticks up structure (ladybug wing alice edge profile thickness is thicker, and center section thickness is compared relatively thin with edge contour thickness), should
1 marginal portion of horn housing is thicker, and center section is relatively thin, and carries out appropriate hollow out to horn housing 1, is ensureing structural strength
On the basis of, unmanned plane total quality is reduced to greatest extent.Hollow-cup motor (or plate-like brushless electric machine) is arranged on horn housing 1
Cambered surface in, shaft on more blade rotors 11 and the output shaft fixed connection of hollow-cup motor (or plate-like brushless electric machine)；Horn housing 1
It is arranged on fuselage to be used to install in the mounting groove of horn, one end is hinged by shaft and fuselage, and shaft is installed on shaft mounting hole
In 13 so that horn housing 1 can rotate around the axis with respect to fuselage.Supporting rod 14 is installed in supporting rod mounting hole 10, and is propped up
The characteristics of strut 14 has light weight, and intensity is high, prevents unmanned plane lift of more blade rotors in unfolded state from causing horn
Deformation.Spacing module is corresponded with horn and set, for corresponding to rotational angle of the horn housing 1 of horn with respect to fuselage at it
To carry out the monodirectional locking of shaft during default angle threshold.
Automatic-expanding module includes straight line steering engine 5, self-lock chuck 4, diagonal puller system 8 and self-lock chuck matching hole 9,
Self-lock chuck matching hole 9 is arranged on horn housing 1, and wherein self-lock chuck 4 is fixedly connected with straight line steering engine 5, positioned at straight line rudder
Four cylindrical bosses are arranged at the lower part of machine 5, the top of self-lock chuck 4, coordinate for being connected with horn housing 1, complete unmanned plane
Bidirectional self-locking in spherical state, in Automatic-expanding, straight line steering engine 5 drives self-lock chuck 4 to draw high upwards, releases self-locking.
Diagonal puller system 8 shares two, is separately mounted on two horns in diagonal positions, the control line of straight line steering engine 5
It is electrically connected with the rudder control interface of control module 3, the hardware components and power module 2 and control module 3 of straight line steering engine 5 are common
With being installed in streamlined hollow shell 6, straight line steering engine 5, power module 2 and control module 3 in streamlined hollow shell 6
Specific location it is unlimited, can meet assembling and performance requirement on the premise of do appropriate adjustment.By straight line steering engine 5 and right
Angle puller system 8 controls the Automatic-expanding of unmanned plane, completes hand and throw to fly or during catapult-assisted take-off (remaining mode of taking off is similar),
Unmanned plane Automatic-expanding in the air, is smoothed out aerial mission.
When unmanned plane is in folded state, the horn housing 1 of each horn fits with the vacancy position of fuselage surface, group
Into sphere, in this case, the rolling of unmanned plane on the ground can be realized by adjusting the rotating speed of blade rotor 11 more than four
Advance.
When unmanned plane is in unfolded state, spacing module locks horn under the action of torsional spring so that Ge Geji
More blade rotors 11 of arm are in horizontality.
Control module determines high module, Automatic-expanding with power module, signal receiving module, gyro module, air pressure respectively
The hollow-cup motor of module and each horn is electrically connected, wherein, signal receiving module, gyro module, air pressure Ding Gaomo
Block and Automatic-expanding module are arranged in fuselage；Signal receiving module is used to receive the order of remote controler and passes it to control
Molding block；Gyro module is used to measure unmanned plane with respect to posture, acceleration and the angular speed with ground and passes it to control
Molding block；Air pressure determines high module and is used to measure the height of aircraft and passes it to control module；Control module is used for basis
The motor for each horn of input control that high module is determined in signal receiving module, gyro module, air pressure works.
The utility model novel ball unmanned plane has as above teaching reform except hardware components, functionally has such as
Lower characteristic：Unmanned plane has the function of one-touch expansion, supports environment (ground landing, hand throwing type landing, liquid level how with a varied topography
Landing) landing function, there is good environmental suitability.
Just by the novel ball unmanned plane of four of horn it is below that example illustrates：
Four horns are hinged by the shaft and fuselage of diameter 1.2mm respectively, and pass through in diagonal positions horn it is right
Angle puller system (such as parts (tension spring, torsional spring) of rubber band or other generation pulling force) is mutually drawn, the diagonal puller system two-by-two
Pulling force and torque are provided when unmanned plane is changed from folded state to unfolded state, the smooth of the process is completed and changes, and
After conversion, the diagonal puller system and spacing module collective effect, complete the Bidirectional locking of horn；Each installation one on four horns
A motor, motor are connected with horn motor bore in interference fit, and blade rotor is separately mounted on the output shaft of motor more than four.
Back is spherical crown shape, several mounting grooves of its skin cut are used for and horn installation coordinates, and unmanned plane is existed
Folded state is generally spherical, and unmanned plane can realize that unmanned plane exists by adjusting the rotating speed of blade rotor more than four under folded state
Rolling on ground is advanced；One streamlined hollow shell is arranged at lower part, for installing control module, Automatic-expanding module and power supply
The equipment such as module, and hollow streamlined hollow shell ensures unmanned plane after drop in water surface, the floating of unmanned plane top half
More than the water surface, unmanned plane is facilitated to take off in surface motions and unmanned plane from the water surface is repeatedly secondary.
Horn housing is a quarter dome shape (with the streamlined strip shell referred in the patent before utility model people
Body is compared, and housing shape distribution is more uniform, and the effect of protection rotor is more preferable compared with the housing of streamlined strip), imitate
Structure (ladybug wing alice edge profile thickness is thicker, and center section thickness is compared relatively thin with marginal portion), the machine are stuck up according to ladybug wing
Arm housing marginal portion is thicker, and center section is relatively thin, and carries out appropriate hollow out to horn housing, is ensureing the basis of structural strength
On, unmanned plane overall dimensions are reduced to greatest extent.The horn housing has the function that to protect rotor, more when preventing from surprisingly occurring
Blade rotor is damaged, and protection staff safety, prevents unmanned plane rotor from accidentally injuring surrounding people.
Hollow-cup motor and more blade rotors are respectively the power and lift unit of unmanned plane, and power is provided for unmanned plane during flying
And lift, diagonal puller system and spacing modular structure collective effect, make unmanned plane can be with Automatic-expanding, and keep unmanned plane
In unfolded state, overall structure is stablized, make unmanned plane horn will not because of the disturbance that self gravitation and rotor wing rotation introduce and
Voluntary activity, and then ensure the reliability of unmanned plane during flying.
Automatic-expanding module includes straight line steering engine, self-lock chuck, diagonal puller system, and the self-locking card of horn housing upper end
Disk matching hole forms.Wherein self-lock chuck is fixedly connected with straight line steering engine, positioned at the lower part of straight line steering engine, the top of self-lock chuck
There are four cylindrical bosses, for connecting cooperation with horn housing, bidirectional self-locking of the unmanned plane in spherical state is completed, certainly
During dynamic expansion, straight line servo driving self-lock chuck is drawn high upwards, releases self-locking.Diagonal puller system shares two, installs respectively
On two horns in diagonal positions, the control line of straight line steering engine and the rudder control interface of control module electrically connect
Connect, hardware components and the power module and control module of straight line steering engine are commonly mounted in the streamlined hollow shell of fuselage, straight line
The specific location in the streamlined hollow shell of fuselage of steering engine, power module and control module is unlimited, can meet to assemble
And appropriate adjustment is done on the premise of performance requirement.
Receiving module is used for receiving the control signal of remote controler, and gyroscope and air pressure determine high module collective effect, control mould
Block makes the flight attitude of unmanned plane more steady by pid regulator parameters.The control of hollow-cup motor interface and hollow-cup motor
Line connects.The external 3.7 volts of lithium batteries of power interface, for system power supply.
As shown in figure 3, be the stored collapsed state of unmanned plane, using manual mode respectively by four horns of aircraft around
The shaft for horn and fuselage is rotated down, until horn merges completely with fuselage, the self-lock chuck matching hole on horn housing
It is nested with the Correspondent cy linder shape boss on self-lock chuck, completes self-locking of the unmanned plane under self-locking state, at this time aircraft
It is overall spherical in shape.
The detailed process that the horn of unmanned plane is folded is as follows：
First, horn is downwardly turned over using manual mode so that horn overcomes the effect of diagonal puller system, around fuselage with
The pivoted downward of horn, when horn, which is gone to, to be bonded completely with the position limiting structure of underbelly, four on horn housing
Self-lock chuck matching hole coordinates with four cylindrical bosses on self-lock chuck respectively, and more blade rotors and hollow-cup motor are hidden at this time
In fuselage inner cavity, unmanned plane is integrally spherical in shape, completes the self-locking of folded state unmanned plane.For ensureing that unmanned plane will not carry
During cause horn opposite with fuselage movable due to external interference, make unmanned plane keep spherical state, further easy to use
Family carries.
As shown in Figure 1, it is the unfolded state of unmanned plane.Unfolded state aircraft is in quadrotor state, due to aircraft
Control module and power module are installed in the streamlined hollow shell of fuselage so that on the lower, flight is very for the center of gravity of unmanned plane
Steadily, the course of work is as follows, and original state unmanned plane is in folded state, and control module sends the control signal of Automatic-expanding, directly
Line steering engine works, and then straight line servo driving self-lock chuck moves along a straight line upwards, and the unmanned plane in folded state releases self-locking,
Under the action of puller system, four horns of unmanned plane are flipped up, and are gone to after specified threshold, in spacing module and diagonally
Fuselage and the Bidirectional locking of horn position under unfolded state are completed under the collective effect of puller system.
The detailed process that the horn of unmanned plane is unfolded is as follows：
Original state unmanned plane is in folded state, and unmanned plane powers on (power supply design parameter is unlimited), no-manned machine distant control
Communicate with unmanned aerial vehicle (UAV) control module to after code, the control terminal of remote control sends the control signal of Automatic-expanding, the reception of control module
Module receives the signal, and the number of converting to is handled so that straight line steering engine works, then straight line servo driving self-lock chuck
Linear motion upwards, after four roundlet cylindrical end tangs on self-lock chuck skid off the self-lock chuck matching hole of horn housing,
Unmanned plane in folded state releases self-locking, and under the action of puller system, four horns of unmanned plane are flipped up, and are gone to
After specified threshold, horn housing and spacing module contact, the axis of rotor centers axis hole and unmanned aerial vehicle body center line at this time
It is parallel, fuselage and the reversible lock of horn position under unfolded state are completed under spacing module and the collective effect of diagonal puller system
It is fixed, ensure the fixation of aircraft relative position of horn and fuselage in state of flight, and then ensure the reliability of flight.
As shown in figure 4, the structure chart for spherical aircraft fuselage.The top half of fuselage is the spherical shell of a wall thickness 2mm
Buster arm housing part, ensures that unmanned plane is spherical in folded state generally one, then adds on this basis cross
Streamlined hollow shell, such curved-surface structure at pneumatically aspect there is air-flow to be oriented to, and ensure that aircraft throws winged or bullet in hand
The stability from folded state to attitude of flight vehicle during Automatic-expanding State Transferring during taking off is penetrated, and body shell is also
For installing the components such as control module, power module, straight line steering engine so that unmanned plane entirety center of gravity on the lower, improves unmanned plane and flies
Capable stability, when unmanned plane lands, the streamlined hollow shell of fuselage contacts to earth at first, plays protection rotor, protects aircraft
The effect of internal electronic equipment, and the body shell of inner hollow causes unmanned plane to ensure that nobody when the water surface is landed
The horn of machine is floated on the water surface, facilitates unmanned plane to carry out multiple landing on the water surface.
As shown in figure 5, horn is supported by the horn housing of a quarter dome shape and the cylindrical carbon fiber of a diameter of 1mm
Bar composition, horn housing play a part of to protect rotor, and rotor is all exposed to outer rotor accidental injury by undermining when preventing unexpected occur
Enclose personnel.A quarter dome shape horn housing is the spherical crown portion that fuselage is then cut off using hollow ball shape as and its quartering
Get, diameter 1.2mm holes are the shaft mounting holes that horn is connected with fuselage；1mm cylindrical holes are horn and carbon fiber support rod
Supporting rod mounting hole；The hole of diameter 7mm is the motor installing hole of hollow-cup motor；And the shell moulding to obtaining is opened up
Optimization hollow processing is flutterred, and copies the wing of ladybug to stick up structure, edge thickness is carried out to housing, the design of intermediate thin, is greatly improved
The intensity of housing, and maximumlly mitigate the quality of rotor protective casing.Cylindrical carbon fiber supporting rod has light weight,
The characteristics of intensity is high, prevents unmanned plane lift of rotor in unfolded state from causing the deformation of horn.
The utility model breaches traditional quadrotor unmanned plane configuration design, using new foldable spherical designs.Nothing
It is man-machine that there are two states：Stored collapsed state, expansion use state.
When switching to state of flight by folded state, unmanned plane powers on (power supply design parameter is unlimited), no-manned machine distant control
Communicate with unmanned aerial vehicle (UAV) control module to after code, the control terminal of remote control sends the control signal of Automatic-expanding, the reception of control module
Module receives the signal, and the number of converting to is handled so that straight line steering engine works, then straight line servo driving self-lock chuck
Linear motion upwards, after four roundlet cylindrical end tangs on self-lock chuck skid off the self-lock chuck matching hole of horn housing,
Unmanned plane in folded state releases self-locking, and under the action of diagonal puller system, four horns of unmanned plane are flipped up,
Go to after specified threshold, horn housing and spacing module contact, at this time in the axis and unmanned aerial vehicle body of rotor centers axis hole
Heart line is parallel, and fuselage and pair of horn position under unfolded state are completed under spacing module and the collective effect of diagonal puller system
To locking, ensure the fixation of aircraft relative position of horn and fuselage in state of flight, and then ensure the reliability of flight.
When being converted to folded state by state of flight, first, horn is downwardly turned over using manual mode so that horn overcomes
The effect of diagonal puller system, around the pivoted downward of fuselage and horn, when horn goes to the spacing module with underbelly
When being bonded completely, four self-lock chuck matching holes on horn housing are matched somebody with somebody with four cylindrical bosses on self-lock chuck respectively
Close, rotor and hollow-cup motor are hidden in fuselage inner cavity at this time, and unmanned plane is integrally spherical in shape, complete folded state unmanned plane oneself
Lock.For ensureing that unmanned plane will not cause horn opposite with fuselage movable in carrying process due to external interference, make nobody
Machine keeps spherical state, is further carried easy to user.
Those skilled in the art of the present technique are it is understood that unless otherwise defined, all terms used herein (including skill
Art term and scientific terminology) there is the meaning identical with the general understanding of the those of ordinary skill in the utility model fields
Justice.It should also be understood that those terms such as defined in the general dictionary should be understood that with upper with the prior art
The consistent meaning of meaning hereinafter, and unless defined as here, will not with the implication of idealization or overly formal come
Explain.
Above-described embodiment, the purpose of this utility model, technical solution and beneficial effect have been carried out into
One step describes in detail, it should be understood that the foregoing is merely specific embodiment of the present utility model, is not used to limit
The utility model processed, where within the spirit and principles of the present invention, any modification, equivalent substitution, improvement and etc. done,
It should be included within the scope of protection of this utility model.
Claims (8)
- A kind of 1. bionical spherical structure unmanned plane, it is characterised in that：Including fuselage, several horns, equal with horn quantity High module, spacing module, Automatic-expanding module are determined in control module, power module, signal receiving module, gyro module, air pressure；The fuselage is divided into two parts up and down, and back is spherical crown shape housing（7）, several mounting grooves of its skin cut are used for Install and coordinate with horn, make unmanned plane generally spherical in folded state, underbelly is streamlined hollow shell（6）, streamline Type hollow shell（6）For installing control module（3）, Automatic-expanding module and power module（2）；The horn includes horn housing（1）, shaft, shaft mounting hole（13）, motor（12）, more blade rotors（11）, the machine Arm housing（1）For a quarter dome shape, the horn housing（1）Marginal portion is thick compared with center section, the horn housing（1） Carry out hollow processing, the motor（12）It is arranged on horn housing（1）Cambered surface in, more blade rotors（11）On shaft with Motor（12）Output shaft fixed connection, the horn housing（1）It is hinged by shaft and fuselage, shaft is installed on shaft mounting hole （13）In so that horn housing（1）It can rotate around the axis with respect to fuselage；The control module determines high module, Automatic-expanding module with power module, signal receiving module, gyro module, air pressure And the motor of each horn is electrically connected, high module and Automatic-expanding are determined in the signal receiving module, gyro module, air pressure Module is arranged in fuselage, and the signal receiving module is used to receive the order of remote controler and passes it to control module； The gyro module is used to measure unmanned plane with respect to posture, acceleration and the angular speed with ground and passes it to control mould Block；The air pressure determines high module and is used to measure the height of aircraft and passes it to control module；The control module is used for The motor work of each horn of input control of high module is determined according to signal receiving module, gyro module, air pressure；The Automatic-expanding module includes straight line steering engine（5）, self-lock chuck（4）, diagonal puller system（8）And self-lock chuck is matched somebody with somebody Close hole（9）, the self-lock chuck（4）With straight line steering engine（5）It is fixedly connected and is located at straight line steering engine（5）Lower part, the self-locking Chuck matching hole（9）It is arranged at horn housing（1）On, the diagonal puller system（8）It is separately mounted to be in diagonal positions Two horns on, the self-lock chuck（4）Be equipped with and self-lock chuck matching hole（9）Matched cylindrical boss.
- 2. bionical spherical structure unmanned plane as claimed in claim 1, it is characterised in that：The straight line steering engine（5）Control line With control module（3）Rudder control interface electrical connection, straight line steering engine（5）With power module（2）And control module（3）Jointly Installed in streamlined hollow shell（6）It is interior.
- 3. bionical spherical structure unmanned plane as claimed in claim 2, it is characterised in that：The unmanned plane horn is in rugosity During state, horn is gone to be bonded completely with the spacing module of underbelly, self-lock chuck matching hole and self-locking card on horn housing Cylindrical boss on disk is engaged, and more blade rotors and motor are hidden in fuselage inner cavity, and unmanned plane is integrally spherical in shape.
- 4. bionical spherical structure unmanned plane as claimed in claim 2, it is characterised in that：The unmanned plane is in unfolded state When, control module sends the control signal of Automatic-expanding, the work of straight line steering engine, self-lock chuck upwards after linear motion with self-locking card Disk matching hole is mutually separated out, when horn is flipped up specified threshold under spacing module and the collective effect of diagonal puller system Complete fuselage and the Bidirectional locking of horn position under unfolded state.
- 5. bionical spherical structure unmanned plane as claimed in claim 1, it is characterised in that：The horn also includes supporting rod（14） With supporting rod mounting hole（10）, the supporting rod（14）It is installed on supporting rod mounting hole（10）In, to prevent unmanned plane being unfolded The lift of more blade rotors causes the deformation of horn during state.
- 6. bionical spherical structure unmanned plane as claimed in claim 1, it is characterised in that：One is installed respectively on each horn A motor, horn are equipped with motor bore, and the motor is connected with motor bore in interference fit, and more blade rotors are installed on motor Output shaft on.
- 7. bionical spherical structure unmanned plane as claimed in claim 1, it is characterised in that：The motor（12）For hollow-cup motor Or plate-like brushless electric machine.
- 8. bionical spherical structure unmanned plane as claimed in claim 5, it is characterised in that：The supporting rod（14）For cylindrical carbon Fiber support bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720731029.6U CN207328807U (en) | 2017-06-22 | 2017-06-22 | A kind of bionical spherical structure unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720731029.6U CN207328807U (en) | 2017-06-22 | 2017-06-22 | A kind of bionical spherical structure unmanned plane |
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| CN207328807U true CN207328807U (en) | 2018-05-08 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107416177A (en) * | 2017-06-22 | 2017-12-01 | 南京航空航天大学 | A kind of bionical spherical structure unmanned plane |
| CN109515732A (en) * | 2018-11-05 | 2019-03-26 | 北京特种机械研究所 | A kind of combined type aircraft based on cartridge type transmitting |
-
2017
- 2017-06-22 CN CN201720731029.6U patent/CN207328807U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107416177A (en) * | 2017-06-22 | 2017-12-01 | 南京航空航天大学 | A kind of bionical spherical structure unmanned plane |
| CN107416177B (en) * | 2017-06-22 | 2023-06-13 | 南京航空航天大学 | Bionic spherical unmanned aerial vehicle |
| CN109515732A (en) * | 2018-11-05 | 2019-03-26 | 北京特种机械研究所 | A kind of combined type aircraft based on cartridge type transmitting |
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