CN101417707A - Attitude-variable flying robot - Google Patents
Attitude-variable flying robot Download PDFInfo
- Publication number
- CN101417707A CN101417707A CNA2008100324043A CN200810032404A CN101417707A CN 101417707 A CN101417707 A CN 101417707A CN A2008100324043 A CNA2008100324043 A CN A2008100324043A CN 200810032404 A CN200810032404 A CN 200810032404A CN 101417707 A CN101417707 A CN 101417707A
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- flying robot
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- centrosome
- duct housing
- adapter plate
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Abstract
The invention relates to an attitude-changing flying robot, comprising a ducted housing, an engine and a rotary wing driven by the engine. An upper part of an encircling cavity of the ducted housing is fixed with an upper central body through a support frame and the engine is arranged inside and drives the rotary wing and the lower part is fixedly connected with a lower central body through a fixing plate; and the lower edge of the fixing plate is articulated with a guide plate which is linked with a driving device. The flying robot can rise and fall vertically as a helicopter; the flying noise can be reduced and the attitude can be changed and the flying robot also can fly horizontally as the fixed-wing aircrafts.
Description
Technical field
The present invention relates to a kind of attitude-variable flying robot, this attitude-variable flying robot is a kind of small-sized duct formula flying robot, can autonomous flight, be suitable for some special application scenarios as carry out investigations, monitor, work such as photography and information.
Background technology
At present, the flying robot is bringing into play more and more important effect in multiple fields such as military and civilians, some or even irreplaceable.The flying robot of all size and type is flourish along with the development of computer technology, the communication technology and Eltec etc.Flying robot's technology has comprised the gordian technique such as numerous areas such as surface control station, sensor module and communication facilitiess.Because fixed-wing flying robot and the traditional application of cyclogyro in some specific occasions have certain limitation, closely emerge some later-model flying robots, the particularly application of vertical takeoff and landing technology on the flying robot twenty or thirty year.The ducted fan technology also is used to design a kind of later-model flying robot.At present, in countries such as the U.S., France, Singapore and Italy the flying robot who designs application ducted fan technology is arranged all, U.S. DARPA has set up a raising and a maturation that the OAV plan is used at the ducted fan technology especially.
The ducted fan technology is applied to flying robot's technology and mainly contains three kinds of forms at present: a kind of is utilization twin screw close coupled type duct aircraft, two screw propellers be comprised in the duct and retrograde rotation to offset moment of torsion separately, such flying robot can realize vertical takeoff and landing, total elongation by changing screw propeller is with the state of flight of change of flight device, thereby realizes horizontal flight; The 2nd, several little ducted fans are installed around the big ducted fan, the flying robot of this form can realize vertical takeoff and landing, the total elongation by changing each ducted fan is to reach the control to the flight attitude of aircraft; The 3rd, use single ducted fan and some adapter plate and the ducted fan formula flying robot of guide plate, this class flying robot is provided the reactive torque of rotor by adapter plate, by can realizing the change of attitude of flight vehicle to the control of guide plate, by lift mode to level flight condition or by level flight condition to lift mode.The attitude-variable flying robot technology has caused increasing concern.
Summary of the invention
The object of the present invention is to provide a kind of improved attitude-variable flying robot, this attitude-variable flying robot has the advantage that has of fixed-wing and helicopter concurrently, can the change of flight attitude, realize vertical takeoff and landing and horizontal flight, in complex environment, also can finish the work smoothly.
Design of the present invention is: this attitude-variable flying robot is made up of following several sections: airframe structure, the energy and drive part.The fuselage of this attitude-variable flying robot is made up of several parts, comprises duct housing, last centrosome, following centrosome, adapter plate, guide plate and alighting gear.The duct housing all is enclosed in most of parts of attitude-variable flying robot wherein, plays the certain protection effect, and in the attitude-variable flying robot horizontal flight, the duct housing provides aircraft needed main lift.In addition, the duct housing is a hollow, is used to deposit the needed fuel of aircraft.Last centrosome links to each other with the duct housing by attaching parts, in the last centrosome driving engine is housed.The rotation of engine drive rotor is for attitude-variable flying robot provides lift and the power that before flies.Can load mission payload in the following centrosome.Following centrosome couples together by adapter plate and duct housing, during attitude-variable flying robot flight, and the moment of torsion that adapter plate provides certain moment balance rotor rotation to be produced.Every guide plate links to each other with adapter plate, thereby changes certain angle by driver drives, and then the attitude of change of flight device, realizes the control of horizontal flight and course.Alighting gear be used to become taking off of appearance aircraft and when landing to the support of aircraft, and aircraft played the certain protection effect.The energy and drive part comprise fuel, driving engine and rotor etc., and the engine drive rotor rotates, and the thrust of lift and horizontal flight is provided for the flying robot.
According to above-mentioned design, the present invention adopts following technical scheme:
A kind of attitude-variable flying robot, comprise duct housing (1), driving engine (11) and the rotor (4) that drives thereof, it is characterized in that the top, duct chamber that described duct housing (1) surrounds, go up centrosome (7) by one of 3～4 bracing frames (6) captive joint, settle described driving engine (11) in the last centrosome (7), driving engine (11) output shaft stretches out and the described rotor of captive joint (4) from last centrosome (7) lower end; The bottom, duct chamber that duct housing (1) surrounds, by adapter plate (a 2) following centrosome of captive joint (5), the lower edge of each adapter plate (2) guide plate (8) that respectively is hinged, actuator (9) respectively is equipped with in the lower end of following centrosome (5), and actuator (9) is by connecting rod interlock guide plate (8).
The NACA0016 aerofoil profile is adopted in above-mentioned duct housing (1) cross section, and its inner chamber constitutes fuel storage chamber.
Have 8 adapter plates (2) in the above-mentioned attitude-variable flying robot, be divided into 4 groups of installations, every group of interior 2 adapter plates (2) are parallel to each other, and every two adjacent groups adapter plate (2) is vertical mutually, and adapter plate (2) adopts the NACA23012 aerofoil profile.
An annular alighting gear of captive joint (3) below the above-mentioned duct housing (1).
The present invention compared with prior art; having following conspicuous outstanding substantive distinguishing features and remarkable advantage is: this attitude-variable flying robot adopts ducted fan vertical takeoff and landing technology; make that the flying robot can be as the helicopter vertical takeoff and landing; can be applied in the environment of some landform more complicated; and the duct housing can be protected the in-to-in rotor preferably, reduces flying robot's noise.Can realize flying robot's change appearance by the technology that adopts adapter plate and guide plate, can be as flying before the fixed-wing aircraft level.
Description of drawings
Fig. 1 is the structural representation of one embodiment of the present of invention.Fig. 2 be Fig. 1 example section-drawing.
The specific embodiment
The scheme drawing of a specific embodiment of the present invention is referring to Fig. 1, Fig. 2.
Shown in Fig. 1, Fig. 2, duct housing (1), last centrosome (7), following centrosome (10), rotor (4), adapter plate (2), guide plate (8) and take-off and landing device parts such as (3) have been formed attitude-variable flying robot.Couple together by bracing frame (6) between duct housing (1) and the last centrosome (7), driving engine (11) is equipped with in last centrosome (7) inside, and driving engine (11) drives rotor (4) and rotates.Following centrosome (10) is connected with duct housing (1) by adapter plate (2), and adapter plate (2) has 8, is divided into 4 groups of installations, vertically installs between the two adjacent groups.Every adapter plate (2) end joint connection a slice guide plate (8), totally 4 groups of guide plates (8), every group connect to be driven by connecting rod by an actuator (9).Alighting gear (3) is connected with duct housing (1) afterbody.The contained fuel loading of attitude-variable flying robot is in the cavity of duct housing (1), and driving engine (11) is gone up in the centrosome (7), drives rotor (4) rotation.
Claims (4)
1. attitude-variable flying robot, comprise duct housing (1), driving engine (11) and the rotor (4) that drives thereof, it is characterized in that the top, duct chamber that described duct housing (1) surrounds, go up centrosome (7) by one of 3～4 bracing frames (6) captive joint, settle described driving engine (11) in the last centrosome (7), driving engine (11) output shaft stretches out and the described rotor of captive joint (4) from last centrosome (7) lower end; The bottom, duct chamber that duct housing (1) surrounds, by adapter plate (a 2) following centrosome of captive joint (5), the lower edge of each adapter plate (2) guide plate (8) that respectively is hinged, actuator (9) respectively is equipped with in the lower end of following centrosome (5), and actuator (9) is by connecting rod interlock guide plate (8).
2. attitude-variable flying robot according to claim 1 is characterized in that described duct housing (1) cross section employing NACA0016 aerofoil profile, and its inner chamber constitutes fuel storage chamber.
3. attitude-variable flying robot according to claim 1, it is characterized in that having 8 adapter plates (2), be divided into 4 groups of installations, every group of interior 2 adapter plates (2) are parallel to each other, and every two adjacent groups adapter plate (2) is vertical mutually, and adapter plate (2) adopts the NACA23012 aerofoil profile.
4. attitude-variable flying robot according to claim 1 is characterized in that the following annular alighting gear of captive joint (3) of described duct housing (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100324043A CN101417707A (en) | 2008-01-08 | 2008-01-08 | Attitude-variable flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100324043A CN101417707A (en) | 2008-01-08 | 2008-01-08 | Attitude-variable flying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101417707A true CN101417707A (en) | 2009-04-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2008100324043A Pending CN101417707A (en) | 2008-01-08 | 2008-01-08 | Attitude-variable flying robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN101417707A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101746505A (en) * | 2010-02-10 | 2010-06-23 | 哈尔滨盛世特种飞行器有限公司 | Disc-shaped unmanned aircraft of single-thrust paddle |
| WO2011057453A1 (en) * | 2009-11-14 | 2011-05-19 | 孙亚凯 | Toy device |
| CN102285449A (en) * | 2011-06-07 | 2011-12-21 | 北京邮电大学 | Coaxial double-rotor wing ducted aircraft |
| CN102756806A (en) * | 2012-07-26 | 2012-10-31 | 沈阳申蓝航空科技有限公司 | Upright-standing vertical take-off and landing airplane |
| CN104139853A (en) * | 2013-05-09 | 2014-11-12 | 郑文学 | Multipurpose power suspended aircraft |
| CN104743108A (en) * | 2013-12-31 | 2015-07-01 | 郑文学 | Wire guided suspension device |
| CN104918853A (en) * | 2012-12-10 | 2015-09-16 | 贝尔蒙·热罗姆 | Convertible aircraft provided with two ducted rotors at the wing tips and with a horizontal fan in the fuselage |
| CN104960660A (en) * | 2015-08-06 | 2015-10-07 | 苏州绿农航空植保科技有限公司 | Overturn-preventing undercarriage for rotor aircraft |
| CN104986326A (en) * | 2015-05-14 | 2015-10-21 | 苏州绿农航空植保科技有限公司 | Vibration reduction undercarriage of aircraft |
| CN105407993A (en) * | 2013-07-01 | 2016-03-16 | 安泰克私人有限公司 | An aerodynamic lifting device |
| CN106347685A (en) * | 2016-09-30 | 2017-01-25 | 哈尔滨工业大学 | Electric duct rotor unmanned aerial vehicle |
| CN106553753A (en) * | 2017-02-14 | 2017-04-05 | 深圳市航宇航空科技有限公司 | A kind of direction decoupling controller of culvert type unmanned vehicle |
| CN106741953A (en) * | 2017-02-16 | 2017-05-31 | 千叶智能科技（深圳）有限公司 | Culvert type vertical translation aircraft and its liquid containment device |
| CN106927023A (en) * | 2017-03-27 | 2017-07-07 | 上海珞鹏航空科技有限公司成都研发分公司 | A kind of agricultural plant protection controls culvert type unmanned plane with rudder face |
| CN109533287A (en) * | 2018-10-31 | 2019-03-29 | 顺丰科技有限公司 | A kind of ducted fan by-pass air duct and unmanned plane |
| WO2021134543A1 (en) * | 2019-12-31 | 2021-07-08 | 李庆远 | High-lift for ring-wing fan engine |
-
2008
- 2008-01-08 CN CNA2008100324043A patent/CN101417707A/en active Pending
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102762264B (en) * | 2009-11-14 | 2015-07-08 | 齐晓燕 | Toy device |
| WO2011057453A1 (en) * | 2009-11-14 | 2011-05-19 | 孙亚凯 | Toy device |
| CN102762264A (en) * | 2009-11-14 | 2012-10-31 | 齐晓燕 | Toy device |
| CN101746505B (en) * | 2010-02-10 | 2012-04-18 | 哈尔滨盛世特种飞行器有限公司 | Disc-shaped unmanned aircraft of single-thrust paddle |
| CN101746505A (en) * | 2010-02-10 | 2010-06-23 | 哈尔滨盛世特种飞行器有限公司 | Disc-shaped unmanned aircraft of single-thrust paddle |
| CN102285449A (en) * | 2011-06-07 | 2011-12-21 | 北京邮电大学 | Coaxial double-rotor wing ducted aircraft |
| CN102756806A (en) * | 2012-07-26 | 2012-10-31 | 沈阳申蓝航空科技有限公司 | Upright-standing vertical take-off and landing airplane |
| CN104918853A (en) * | 2012-12-10 | 2015-09-16 | 贝尔蒙·热罗姆 | Convertible aircraft provided with two ducted rotors at the wing tips and with a horizontal fan in the fuselage |
| CN104139853A (en) * | 2013-05-09 | 2014-11-12 | 郑文学 | Multipurpose power suspended aircraft |
| CN105407993B (en) * | 2013-07-01 | 2017-08-25 | 安泰克私人有限公司 | Air force lifting device |
| CN105407993A (en) * | 2013-07-01 | 2016-03-16 | 安泰克私人有限公司 | An aerodynamic lifting device |
| CN104743108A (en) * | 2013-12-31 | 2015-07-01 | 郑文学 | Wire guided suspension device |
| CN104986326A (en) * | 2015-05-14 | 2015-10-21 | 苏州绿农航空植保科技有限公司 | Vibration reduction undercarriage of aircraft |
| CN104960660A (en) * | 2015-08-06 | 2015-10-07 | 苏州绿农航空植保科技有限公司 | Overturn-preventing undercarriage for rotor aircraft |
| CN106347685A (en) * | 2016-09-30 | 2017-01-25 | 哈尔滨工业大学 | Electric duct rotor unmanned aerial vehicle |
| CN106553753A (en) * | 2017-02-14 | 2017-04-05 | 深圳市航宇航空科技有限公司 | A kind of direction decoupling controller of culvert type unmanned vehicle |
| CN106741953A (en) * | 2017-02-16 | 2017-05-31 | 千叶智能科技（深圳）有限公司 | Culvert type vertical translation aircraft and its liquid containment device |
| CN106927023A (en) * | 2017-03-27 | 2017-07-07 | 上海珞鹏航空科技有限公司成都研发分公司 | A kind of agricultural plant protection controls culvert type unmanned plane with rudder face |
| CN109533287A (en) * | 2018-10-31 | 2019-03-29 | 顺丰科技有限公司 | A kind of ducted fan by-pass air duct and unmanned plane |
| WO2021134543A1 (en) * | 2019-12-31 | 2021-07-08 | 李庆远 | High-lift for ring-wing fan engine |
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Legal Events
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20090429 |