CN102785775B - A kind of multi-rotor aerocraft with rolling function - Google Patents
A kind of multi-rotor aerocraft with rolling function Download PDFInfo
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- CN102785775B CN102785775B CN201210279656.2A CN201210279656A CN102785775B CN 102785775 B CN102785775 B CN 102785775B CN 201210279656 A CN201210279656 A CN 201210279656A CN 102785775 B CN102785775 B CN 102785775B
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- power unit
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Abstract
The present invention relates to model plane and aircraft field, particularly a kind of multi-rotor aerocraft with rolling function.The present invention includes three annulus, connecting arm, six power units, energy source, flight control system, load, body, organism top case, wherein, three power unit centre of grations are at same plane, other three power unit centre of grations are in another plane, two plane parallel but do not overlap, lift vector and the moment vector of six power unit generations are orthogonal, regulate the rotating speed size and Orientation of six power unit rotors can produce force vector and the moment of torsion of any direction, realize the decoupling zero of aircraft movements and attitude, aircraft can complete different motions and attitudes vibration, annulus is coordinated to use, aircraft can advance along ground surface or clear the jumps, this aircraft has high alerting ability and road-holding property.
Description
Technical field
The present invention relates to aircraft and model plane field, particularly a kind of multi-rotor aerocraft with rolling function.
Background technology
There is the multi-rotor aerocraft of the function such as vertical takeoff and landing and hovering, not only play an important role in military field, in disaster field relief, hazardous environment is detected, traffic monitoring, electric power cruise and multiple field such as aerial photographing also shows huge applications potentiality, receives much concern.
Current multi-rotor aerocraft mainly contains four rotors, six rotors, eight rotors, the versions such as 12 rotors, such as Xaircraft, Microdrone company of Germany, the multi-rotor aerocraft etc. of Dranganflyer company of Canada, be characterized in that the rotating speed size by controlling multiple rotor changes rotor lift and level of torque, realize the change of attitude of flight vehicle and motion, structure, its centre of gration all at grade, the common problem existed is: aircraft self is a sports coupling system, aloft sense of motion and attitude coupling, govern the raising of aircraft alerting ability and road-holding property.Therefore, a kind of new structure aircraft with high degree of flexibility and road-holding property is developed imperative.
Summary of the invention
For the problems referred to above, be the problem that the alerting ability and road-holding property that solve the multi-rotor aerocraft of prior art are poor, the invention provides a kind of multi-rotor aerocraft with rolling function.
In order to solve the problems of the technologies described above, the multi-rotor aerocraft with rolling function of the present invention is specific as follows:
There is a multi-rotor aerocraft for rolling function, comprising:
Residing plane is mutually orthogonal, three annulus that the radius that connects together of criss-cross is equal; Any two described annulus are respectively equipped with connecting joint in cross one another position;
Spherical body, is arranged on the position of three described circle ring center;
Connecting arm, is separately positioned between each described connecting joint and described body;
Six described connecting arms are on three orthogonal straight lines respectively; Two described connecting arms on straight line direction, the symmetric position of relative three described circle ring center is respectively equipped with a power unit;
The inside of described body is provided with as multiple described power unit provides the energy source of power, and controls the flight control system of multiple described power unit.
In technique scheme, the bottom of described body is also provided with the load playing equilibrium activity.
In technique scheme, described power unit is arranged on the midway location of described connecting arm.
In technique scheme, the rotation axis of the described power unit on two described connecting arms of same rectilinear direction is parallel to each other; The rotation axis of the described power unit on the described connecting arm of different rectilinear direction is mutually vertical.
In technique scheme, described connecting joint comprise: coordinate the upper casting die and piece under pressure that compress.
In technique scheme, described power unit comprises: permanent-magnet brushless DC electric machine, motor cabinet, bearing, actuator and rotor;
Described permanent-magnet brushless DC electric machine is fixed on motor cabinet, and rotor is coaxially installed in its upper end, lower end installation of driver; Described motor cabinet is fixed on described bearing; Described bearing is hollow cylinder.
In technique scheme, the rotor blade of described power unit is double end reverse symmetry aerofoil profile or the reverse asymmetric airfoil of double end.
In technique scheme, described connecting arm is connected by interior fitting, external piece and described body;
Described interior fitting outside face is spherical, identical with body interior surface curvature radius; Described external piece outside face is spherical, identical with described body outer surface curvature radius.
In technique scheme, described interior fitting, described external piece and described body, be equipped with multiple through hole being used for cabling and mechanical connection.
In technique scheme, described connecting arm is can the hollow structure of conducting wire.
The multi-rotor aerocraft with rolling function of the present invention, has following beneficial effect:
Space layout is carried out according to described regular mounting structure system of axes by six power units, aircraft can be made all to have the vector of force and moment at space any direction, avoid traditional multi-rotor aerocraft does not have force and moment vector problem along a direction, thus make aircraft can keep balance or flight under any attitude in any direction, be connected three annulus of arm end, can also advance along ground surface or clear the jumps, therefore this aircraft has high alerting ability.
Due to two rotation axiss every in six power units respectively with x-axis, y-axis, z-axis is parallel, so in six power units the lift vector of the lift of every two power units and moment vector and other two pairs of power units and moment vector orthogonal, therefore under maintenance identical power cell cases, this combined power unit goes up that required to rise force and moment minimum in any direction, effectively can save the energy of aircraft, improve the flight efficiency of aircraft.
Due to the lift vector of the lift vector of every two power units in aircraft six power units and moment vector and other two pairs of power units and moment vector orthogonal, therefore aircraft all has the component of force and moment on body axis system XYZ tri-axle, effectively increases aircraft control and stability.
Due to the lift of the lift of every two power units in aircraft six power units and moment vector and other two pairs of power units and moment vector orthogonal, make the sense of motion of aircraft and attitude full decoupled, significantly reduce flight control system difficulty, improve reliability control system.
When aircraft certain or some power unit breaks down, as long as ensure that identical two power units in aircraft lift direction or the orthogonal power unit of three lift vectors normally work, this aircraft gets final product safe landing, and therefore, this aircraft has stronger fault-tolerant ability and safety.
The rotor of aircraft is placed within annulus, reduces rotor probability of damage, and avoid personnel's injury, safety, protective are good.
Accompanying drawing explanation
Fig. 1 represents the structural representation with a kind of detailed description of the invention of multi-rotor aerocraft of rolling function of the present invention.
Fig. 2 represents the structure space position view of the detailed description of the invention shown in Fig. 1.
Fig. 3 represents the centre of gration of the detailed description of the invention shown in Fig. 1 perspective view on face 20 or 21.
Fig. 4 represents the annulus mounting structure schematic diagram of the detailed description of the invention shown in Fig. 1.
Fig. 5 represents connecting arm and the body installation structure schematic diagram of the detailed description of the invention shown in Fig. 1.
Fig. 6 represents the power unit structure schematic diagram of the detailed description of the invention shown in Fig. 1.
Fig. 7 represents connecting arm and the power unit mounting structure schematic diagram of the detailed description of the invention shown in Fig. 1.
In figure, Reference numeral is expressed as:
1-3, annulus; 4-9, connecting arm; 10-15, power unit;
18, load; 19, body; 20, plane; 21, plane; 22, circumference; 23, circumference; 24, interior fitting; 25, external piece; 26, interior fitting, 27, external piece; 28, bolt; 50, piece under pressure; 51, upper casting die; 66, the plane in the middle of plane 20 and 21; 67, organism top case;
201, permanent-magnet brushless DC electric machine; 202, motor cabinet; 203, bearing; 204, actuator; 205, rotor;
The quadrntnt ring of 2-1/4, annulus 2; / 2nd annulus of 3-1/2, annulus 3;
101, the centre of gration of power unit 10; 111, the centre of gration of power unit 11;
121, the centre of gration of power unit 12; 131, the centre of gration of power unit 13;
141, the centre of gration of power unit 14; 151, the centre of gration of power unit 15.
Detailed description of the invention
Invention thought of the present invention is: a kind of multi-rotor aerocraft with rolling function, comprises residing plane mutually orthogonal, three annulus that the radius that connects together of criss-cross is equal; Wherein, any two described annulus are respectively equipped with connecting joint in cross one another position, in order to connect two annulus.In addition, multi-rotor aerocraft of the present invention also comprises the spherical body in the position that is arranged on three described circle ring center, and six connecting arms, and each connecting arm is separately positioned between each described connecting joint and described body.
Of the present invention have in the multi-rotor aerocraft of rolling function, and six described connecting arms are on three orthogonal straight lines respectively.Two described connecting arms in same rectilinear direction, the symmetric position of relative three described circle ring center is respectively equipped with a power unit.The rotation axis of the described power unit on two described connecting arms of same rectilinear direction is parallel to each other; The rotation axis of the described power unit on the described connecting arm of different rectilinear direction is mutually vertical.The inside of described body is provided with as multiple described power unit provides the energy source of power, and controls the flight control system of multiple described power unit.The bottom of described body is also provided with the load playing equilibrium activity.
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with embodiment, the present invention being further elaborated, should be appreciated that specific embodiment described herein only in order to explain the present invention, being not intended to limit the present invention.
Fig. 1 to 7 shows a kind of detailed description of the invention of multi-rotor aerocraft with rolling function of the present invention.As shown in Figure 1, 2, the multi-rotor aerocraft with rolling function of the present invention comprises: annulus 1, annulus 2, annulus 3, connecting arm 4-connecting arm 9(comprise connecting arm 4, connecting arm 5, connecting arm 6, connecting arm 7, connecting arm 8 and connecting arm 9), six power units: power unit 10-power unit 15(comprises power unit 10, comprises power unit 11, comprises power unit 12, comprises power unit 13, comprises power unit 14 and power unit 15), energy source, flight control system, load 18, body 19, organism top case 67.Body 19 is hollow ball shape, and body 19 connects power unit 10-power unit 15 respectively by connecting arm 4-connecting arm 9; It is inner that energy source and flight control system are arranged on body 19, and load 18 is arranged on bottom body 19.Body 19 adopts carbon fibre material or glass fiber material to make.
The centre of gration of power unit 10, power unit 11, power unit 12 in plane 20, and becomes 120 degree of angles to be evenly distributed on circumference 22; The centre of gration of power unit 13, power unit 14, power unit 15 in plane 21, and becomes 120 degree of angles to be evenly distributed on circumference 23; Plane 20 is parallel with plane 21 but not coplanar, and the projection of circumference 22 in plane 21 overlaps with circumference 23.
The structure coordinate system of aircraft, its initial point is the mid point of circumference 22 center of circle and circumference 23 circle center line connecting, and all in angle of 45 degrees, point to upward, rectangular coordinate system meets right-handed system rule for xyz axle and plane 20 or 21.
Power unit 10 centre of gration and power unit 13 centre of gration line are parallel to x-axis, and rotation axis parallel is in y-axis, and lift upward; Power unit 11 centre of gration and power unit 14 centre of gration line are parallel to y-axis, and rotation axis parallel is in z-axis, and lift upward; Power unit 12 centre of gration and power unit 15 centre of gration line are parallel to z-axis, and rotation axis parallel is in x-axis, and lift upward.
Power unit 10 in plane 20, power unit 11, power unit 12 hand of rotation are identical, power unit 13 in plane 21, power unit 14, power unit 15 hand of rotation are identical, but power unit in plane 20 is contrary with the torque vector direction of the power unit in plane 21.
The geometric center lines of connecting arm 4, connecting arm 7 is parallel with x-axis, and connecting arm 5 is parallel with y-axis with connecting arm 8 geometric center lines, and connecting arm 6 is parallel with z-axis with connecting arm 9 geometric center lines, and connecting arm is hollow structure, hollow space conducting wire.
The project into 60 degree angles of centre of gration in plane 20 or plane 21 of six power units are uniformly distributed, as shown in Figure 3.
The radius of annulus 1, annulus 2, annulus 3 is equal, and annulus 1 is by the end points of connecting arm 4, connecting arm 7, connecting arm 5, connecting arm 8, and annulus 1 geometric center lines is through xy plane; Annulus 2 is by the end points of connecting arm 5, connecting arm 8, connecting arm 6, connecting arm 9, and annulus 2 geometric center lines is through yz plane; Annulus 3 is by the end points of connecting arm 6, connecting arm 9, connecting arm 4, connecting arm 7, and annulus 3 geometric center lines is through zx plane.
Annulus 1, annulus 2, annulus 3 are by two quadrntnt rings and a semicircular ring composition, and as shown in Figure 4, the position of intersecting at described annulus is provided with connecting joint, and described connecting joint comprise casting die 50 and piece under pressure 51.By fixing of piece under pressure 50, upper casting die 51 cooperation compression and bolt, the quadrntnt ring 2-1/4 of two annulus 2 couples together in crossing position with 1/2nd annulus 3-1/2 of annulus 3.Piece under pressure 50 and connecting arm 6 are adhesively fixed by epoxide-resin glue.
As shown in Figure 5, the connection of described body 19 and connecting arm 4-connecting arm 9 is by interior fitting 24, external piece 25 coordinates with body 19, adopt machinery and bonding two kinds of modes to fix simultaneously, interior fitting 24 outside face is spherical, and it is identical with body 19 interior surface curvature radius, external piece 25 outside face is spherical, and it is identical with body 19 outer surface curvature radius, interior fitting 24, external piece 25 and body 19 are equipped with five through holes, two through holes are used for mechanical connection, its excess-three through hole cabling, through hole alignment during installation, the spherical of interior fitting 24 is matched bonding with the inside face of body 19, through hole aligns, the spherical of external piece 25 matches bonding with the outside face of body 19, through hole aligns, two bolts are utilized to tighten through two through holes, bonding employing epoxide-resin glue, external piece 25 other end and connecting arm are fixed.
As shown in Figure 6, described power unit 10-power unit 15 is made up of permanent-magnet brushless DC electric machine 201, motor cabinet 202, bearing 203, actuator 204 and rotor 205, rotor 205 is coaxially installed in permanent-magnet brushless DC electric machine 201 upper end, lower end installation of driver 204, and be fixed on motor cabinet 202, motor cabinet 202 is fixed on bearing 203, and bearing 203 is hollow cylinder.
As shown in Figure 7, described power unit 10-power unit 15 is by interior fitting 26 with the connection of connecting arm 4-connecting arm 9, external piece 27 coordinates with bearing 203, adopt machinery and bonding two kinds of modes to fix simultaneously, interior fitting 26 outside face is cylindrical, and it is identical with bearing 203 inner cylinder face radius, external piece 27 outside face is cylindrical, and it is identical with bearing 203 outside face radius, interior fitting 26, external piece 27 and bearing 203 are equipped with five through holes, two for mechanical connection, its excess-three cabling, through hole alignment during installation, the cylindrical surface of interior fitting 26 is matched bonding with the inside face of bearing 203, through hole aligns, the cylindrical surface of external piece 27 matches bonding with the outside face of bearing 203, through hole aligns, two bolts 28 are utilized to tighten through two through holes, bonding employing epoxide-resin glue, external piece 27 other end and connecting arm are fixed.
The rotor blade of power unit 10-power unit 15 can adopt conventional NACA aerofoil profile, adopts double end reverse symmetry aerofoil profile or the reverse asymmetric airfoil of the double end moment of torsion by regulating hand of rotation can produce lift up or down and positive negative direction.
The flight theory with the multi-rotor aerocraft of rolling function of the present invention is as follows:
Power unit 10, power unit 11, power unit 12 install identical rotor, and hand of rotation is cw, and power unit 13, power unit 14, power unit 15 install identical rotor, and hand of rotation is conter clockwise.When above-mentioned six power unit rotors rotate with identical rotating speed, it is zero that this aircraft closes torsion.Regulate six gyroplane rotate speeds make the lift of generation gravity direction make a concerted effort equal with gravity time, this aircraft hovers at certain altitude.When six gyroplane rotate speeds increase or reduce simultaneously, aircraft can rise along gravity direction or decline.
Regulate six gyroplane rotate speeds, make power unit 10, power unit 11, power unit 12 rotating speed identical, power unit 13, power unit 14, power unit 15 rotating speed are identical, but both rotating speeds are different, therefore produce the moment of torsion along gravity direction, aircraft can around gravity direction rolling.The lift vector produced due to six power units is orthogonal, therefore, regulate the rotating speed size and Orientation of six power unit rotors can produce force vector and the moment of torsion of any direction, realize the decoupling zero of aircraft movements and attitude, aircraft can complete different motions and attitudes vibration, coordinate annulus to use, aircraft can advance along ground surface or clear the jumps, and this aircraft has high alerting ability and road-holding property.
Obviously, above-described embodiment is only for clearly example being described, and the restriction not to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.And thus the apparent change of extending out or variation be still among the protection domain of the invention.
Claims (6)
1. there is a multi-rotor aerocraft for rolling function, it is characterized in that, comprising:
Residing plane is mutually orthogonal, three annulus that the radius that connects together of criss-cross is equal; Any two described annulus are respectively equipped with connecting joint in cross one another position;
Spherical body, is arranged on the position of three described circle ring center;
Connecting arm, is separately positioned between each described connecting joint and described body;
Six described connecting arms are on three orthogonal straight lines respectively; Two described connecting arms on straight line direction, the symmetric position of relative three described circle ring center is respectively equipped with a power unit;
The inside of described body is provided with as multiple described power unit provides the energy source of power, and controls the flight control system of multiple described power unit;
The rotation axis of the described power unit on two described connecting arms of same rectilinear direction is parallel to each other; The rotation axis of the described power unit on the described connecting arm of different rectilinear direction is mutually vertical;
Described connecting joint comprise: coordinate the upper casting die and piece under pressure that compress;
The rotor blade of described power unit is double end reverse symmetry aerofoil profile or the reverse asymmetric airfoil of double end;
Three power unit hand of rotation on the same plane on aircraft body horizontal surface top are identical, aircraft body horizontal surface bottom is identical with three power unit hand of rotation in above-mentioned another plane parallel plane, but three power units in upper plane are contrary with the torque vector direction of the power unit of three in lower flat;
The connection of described power unit and described connecting arm is by fitting in being connected with power unit, external piece coordinates with bearing, adopt machinery and bonding two kinds of modes to fix simultaneously, interior fitting one side surface is cylindrical, and it is identical with bearing inner cylinder face radius, external piece one side surface is cylindrical, and it is identical with bearing outside face radius, interior fitting, external piece and bearing are equipped with five through holes, two for mechanical connection, its excess-three cabling, through hole alignment during installation, the cylindrical surface of interior fitting is matched bonding with the inside face of bearing, through hole aligns, the cylindrical surface of external piece matches bonding with the outside face of bearing, through hole aligns.
2. multi-rotor aerocraft according to claim 1, is characterized in that, the bottom of described body is also provided with the load playing equilibrium activity.
3. multi-rotor aerocraft according to claim 1, is characterized in that, described power unit is arranged on the midway location of described connecting arm.
4. multi-rotor aerocraft according to claim 1, is characterized in that, described power unit comprises: permanent-magnet brushless DC electric machine, motor cabinet, bearing, actuator and rotor;
Described permanent-magnet brushless DC electric machine is fixed on motor cabinet, and rotor is coaxially installed in its upper end, lower end installation of driver; Described motor cabinet is fixed on described bearing; Described bearing is hollow cylinder.
5. multi-rotor aerocraft according to claim 1, is characterized in that, the described interior fitting be connected with power unit, described external piece and described bearing, is equipped with multiple through hole being used for cabling and mechanical connection.
6. multi-rotor aerocraft according to claim 1, is characterized in that, described connecting arm is can the hollow structure of conducting wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210279656.2A CN102785775B (en) | 2012-08-08 | 2012-08-08 | A kind of multi-rotor aerocraft with rolling function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210279656.2A CN102785775B (en) | 2012-08-08 | 2012-08-08 | A kind of multi-rotor aerocraft with rolling function |
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| CN102785775A CN102785775A (en) | 2012-11-21 |
| CN102785775B true CN102785775B (en) | 2016-03-02 |
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| CN201210279656.2A Expired - Fee Related CN102785775B (en) | 2012-08-08 | 2012-08-08 | A kind of multi-rotor aerocraft with rolling function |
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| CN109850117B (en) * | 2018-12-05 | 2022-11-22 | 中国航空工业集团公司成都飞机设计研究所 | Many rotor crafts with walking function |
| CN113335407A (en) * | 2021-07-15 | 2021-09-03 | 北京航空航天大学云南创新研究院 | Spherical robot based on six rotors |
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