CN103112587A - Aircraft - Google Patents
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- CN103112587A CN103112587A CN2013100619479A CN201310061947A CN103112587A CN 103112587 A CN103112587 A CN 103112587A CN 2013100619479 A CN2013100619479 A CN 2013100619479A CN 201310061947 A CN201310061947 A CN 201310061947A CN 103112587 A CN103112587 A CN 103112587A
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Abstract
The invention discloses an aircraft which comprises a controller, wherein the controller is uniformly provided with and connected with a lifting propeller 1, a lifting propeller 2, a lifting propeller 3, a lifting propeller 4, a horizontal propeller 1, a horizontal propeller 2, a horizontal propeller 3 and a horizontal propeller 4. The lifting of the aircraft mainly depends on the cooperation of the four lifting propellers, and the intelligent lifting can be realized comprehensively by individual control on each lifting propeller caused by the lifting controller, so that the lifting efficiency of the aircraft is high, and the lifting stability is good. The horizontal motion of the aircraft is achieved mainly through the cooperation of the four horizontal propellers, the operation and control technique requirements on operators are not too high, and compared with the traditional aircraft, the horizontal motion flexibility of the aircraft is improved greatly. Through the individual and cooperative control on the four lifting propellers and the four horizontal propellers of the aircraft, the flying flexibility and flying stability of the aircraft are improved.
Description
Technical field
The present invention relates to the airmanship field, relate in particular to a kind of aircraft, particularly flight investigation and camera technique field.
Background technology
Aircraft refers generally to the culture that flies in air or space, the former is called aviation aircraft (comprising aircraft, balloon, flight pick up camera etc.), and the latter is spacecraft.Along with the development of flight domain technology, the multiaxis vertically taking off and landing flyer arises at the historic moment.In numerous Multi-axis aircrafts that is similar to autogyro, the quantity of axle is in the majority mainly with even number, four axles, six axles and eight axles are arranged, now general with four-axle aircraft, the axle of four-axle aircraft is " ten " font or " X " and distributes, namely before and after each axle, each axle of left and right, wherein the screw propeller of antero posterior axis is all left-hand revolution, and the screw propeller of Y-axis is all clickwise.
When aircraft needs to preacceleration, the screw propeller of front axle slows down, the screw propeller of rear axle accelerates simultaneously, the screw propeller of Y-axis accelerates, described like this aircraft guarantee equilibrium of torques, according to aerodynamic principle, the pressure that rear axle screw propeller lower surface is subject to is greater than front axle screw propeller lower surface and is subject to getting pressure, thereby causes lifting surface to lean forward.According to the mechanics principle, reach the condition of a dynamical equilibrium, four axles of the minimum needs of Multi-axis aircraft are controlled simultaneously, and four axles are all that in the aircraft lifting process, the rotation of four axle rotating blades can be played comparatively stable elevating function in the horizontal surface rotation substantially, but when the aircraft horizontal flight, the turning effort power that dependence horizontally rotates blade realizes that horizontal flight efficient is low, and the stationarity of flight course is relatively poor, and these make aircraft flight extremely unstable; Because control operation is comparatively complicated, also flight control personnel are controlled having relatively high expectations of technology simultaneously.
Aircraft is because it moves flexibly, be subjected to regional limits less, be widely used at present in various flight investigations, camera technique, because adopting four axle horizontals substantially, traditional aircraft rotates to realize lifting and two kinds of effects of horizontal flight, in the aircraft flight process, vibration is comparatively severe, and degree of having a smooth flight is lower, badly influenced investigation and the pickup quality of aircraft, and its flight alerting ability is affected greatly also.
Summary of the invention
The object of the invention is to overcome the weak point that existing aircraft stationarity and alerting ability exist, all aircraft preferably of a kind of stationarity and alerting ability are provided, can effectively solve the problems of the technologies described above.
Purpose of the present invention is achieved through the following technical solutions:
A kind of aircraft, comprise controller, be evenly arranged on controller and be connected with elevating screw one, elevating screw two, elevating screw three and elevating screw four, also be evenly arranged on described controller and be connected with horizontal propeller one, horizontal propeller two, horizontal propeller three and horizontal propeller four.
In order to realize better the present invention, described elevating screw one, elevating screw two, elevating screw three and elevating screw four are positioned at same level A, and described horizontal propeller one, horizontal propeller two, horizontal propeller three and horizontal propeller four are positioned at same level B.
The invention provides a kind of preferred controller architecture technical scheme is: described controller mainly includes lifting controller, horizontal controller, receiver of remote-control sytem and shock sensor, and described lifting controller is connected with elevating screw with described elevating screw one, elevating screw two, elevating screw three respectively and is connected; Described horizontal controller is connected with horizontal propeller with horizontal propeller one, horizontal propeller two, horizontal propeller three respectively and is connected.
The invention provides a kind of preferred controller principle technical scheme is: described controller inside includes CPU module, and CPU module is electrically connected to elevating screw control module, horizontal propeller control module, shock sensor module, gyroscope and remote control control module respectively.
As preferably, described elevating screw control module is comprised of elevating screw one module, elevating screw two modules, elevating screw three modules and elevating screw four module.
As preferably, described horizontal propeller control module is comprised of horizontal propeller one module, horizontal propeller two modules, horizontal propeller three modules and horizontal propeller four module.
Further preferred technical scheme is: described elevating screw one, elevating screw two, elevating screw three are identical with elevating screw four structures, and electric signal strut bar, lifting drive and rotating blade have been included, described electric signal strut bar one end is fixedly connected on described lifting controller, the other end of electric signal strut bar is electrically connected to lifting drive, and the output shaft of described lifting drive is captiveed joint with rotating blade.
Further preferred technical scheme is: described lifting drive mainly is made of electric machine casing and motor, and electric machine casing is fixedly connected on the end of electric signal strut bar, and motor is installed in inner cavity of motor shell; The centre of gration place of rotating blade is provided with rotary axle box, and the output shaft of described motor closely cooperates and is installed in this rotary axle box.
As preferably, described horizontal propeller one, horizontal propeller two, horizontal propeller three are identical with horizontal propeller four structures, and electric signal strut bar, horizontal drive apparatus and rotating blade have been included, described electric signal strut bar one end is fixedly connected on described horizontal controller, the other end of electric signal strut bar is electrically connected to horizontal drive apparatus, and the output shaft of described horizontal drive apparatus is captiveed joint with rotating blade.
In order to make this aircraft takeoff and landing more convenient, the bottom of described controller is provided with alighting gear.
The present invention compares than prior art, has the following advantages and beneficial effect:
(1) lifting of this aircraft mainly relies on the collaborative realization of four elevating screws, due to four elevating screws respectively by four mutual corresponding elevating screw module controls, its elevating control can be controlled separately each elevating screw by lifting controller and comprehensively realize intelligent lifting, and the lifting efficient of aircraft is higher like this, the lifting stationarity will be better.The horizontal motion of this aircraft mainly relies on the collaborative realization of four horizontal propellers, four horizontal propellers are controlled separately by four mutual corresponding horizontal propeller modules respectively simultaneously, when the aircraft left-right and front-back moves, the control principle of aircraft is comparatively simple, just can not be too high to the technical requirements of controlling of operating personal; And four horizontal propellers make this aircraft greatly improve with respect to the horizontal motion flexibility ratio of conventional aircraft.This aircraft has improved flight flexibility ratio and the degree of having a smooth flight of aircraft by the independent and Collaborative Control to four elevating screws and four horizontal propellers.This aircraft can be widely used in military affairs, the field such as civilian, during as flight investigation or shooting, microcam can be arranged on aircraft, realizes investigation or camera operation to object of observation by controlling aircraft.
(2) this aircraft is provided with shock sensor, this shock sensor is the flight shock conditions in the sense aircraft flight course in real time, and this shock conditions is fed back to controller, controller is by the analysis of data bank, make corresponding shockproof control command, control corresponding screw propeller running and rotary power, realize damping and shockproof purpose.
(3) and, the bottom of controller of aircraft is provided with alighting gear, this alighting gear is conducive to guarantee convenience and the stationarity of this aircraft takeoff and landing.
Description of drawings
Fig. 1 is overlooking surface structural representation of the present invention;
Fig. 2 is construction profile schematic diagram of the present invention;
Fig. 3 is the mounting structure schematic diagram of lifting drive of the present invention and rotating blade;
Fig. 4 is the inside theory structure block diagram of controller of the present invention.
Wherein, the corresponding name of the Reference numeral in accompanying drawing is called:
The 1-controller, 2-elevating screw one, 3-elevating screw two, 4-elevating screw three, 5-elevating screw four, 6-electric signal strut bar, the 7-lifting drive, the 8-rotating blade, 9-horizontal propeller one, 10-horizontal propeller two, 11-horizontal propeller three, 12-horizontal propeller four, 13-electric signal strut bar, 14-horizontal drive apparatus, the 15-rotating blade, the 16-lifting controller, 17-horizontal controller, 18-alighting gear, the 19-receiver of remote-control sytem, the 71-electric machine casing, 72-motor, 721-output shaft.
The specific embodiment
Below in conjunction with embodiment, the present invention is described in further detail:
Embodiment
As Fig. 1～shown in Figure 4, a kind of aircraft comprises controller 1, and this controller 1 is comparatively advanced at present dual core processor, can certainly select more advanced treater.Be evenly arranged on controller 1 and be connected with elevating screw 1, elevating screw 23, elevating screw 34 and elevating screw 45; Elevating screw 1, elevating screw 23, elevating screw 34 and elevating screw 45 are positioned at same level A.Also be evenly arranged on controller 1 and be connected with horizontal propeller 1, horizontal propeller 2 10, horizontal propeller 3 11 and horizontal propeller 4 12; Horizontal propeller 1, horizontal propeller 2 10, horizontal propeller 3 11 and horizontal propeller 4 12 are positioned at same level B.As shown in Figure 2, when concrete the manufacturing, the horizontal surface B of the present embodiment is lower than horizontal plane A, and namely the plane of arrangement of all horizontal propellers is lower than the plane of arrangement of all elevating screws.
As shown in Figure 2, controller 1 mainly includes lifting controller 16, horizontal controller 17, receiver of remote-control sytem 19 and shock sensor, lifting controller 16 is connected with elevating screw with elevating screw 1, elevating screw 23, elevating screw 34 respectively and 5 is connected, lifting controller 16 be mainly used in controlling each elevating screw startup, close the rotating speed size with screw propeller.Horizontal controller 17 is connected with horizontal propeller with horizontal propeller 1, horizontal propeller 2 10, horizontal propeller 3 11 respectively and 12 is connected, horizontal controller 17 be mainly used in controlling each horizontal propeller startup, close the rotating speed size with screw propeller.Receiver of remote-control sytem 19 is and the remote signal receiver of the supporting remote controller of this aircraft, can receives the wireless control signal from remote controller or other telecommand equipment.This receiver of remote-control sytem 19 can be supported WIFI or the control signals such as bluetooth or radiowave.
As shown in Figure 4, controller 1 inside includes CPU module, and CPU module is electrically connected to elevating screw control module, horizontal propeller control module, shock sensor module, gyroscope and remote control control module respectively.Remote control control module in controller 1 receives the control command (comprising lifting instruction, rising or falling speed instruction, parallel motion instruction, horizontal reverse shake instruction and the horizontal velocity instruction etc. of controlling aircraft) that comes from remote controller, and with its command to CPU module, realize the purposes such as lifting, rising or falling speed, parallel motion and the level of this aircraft be shockproof through the Coordination Treatment of CPU module.The shock sensor module can detect the shock conditions of this aircraft in real time, and this vibrational feedback signal is transferred to CPU module, control through the program of CPU module is intelligent, and realize the startup of each horizontal propeller and close by the horizontal propeller control module, realize the beneficial effect that level is shockproof under the synergy of each horizontal propeller.
Gyroscope can play a part stable aircraft in the aircraft flight process, makes aircraft in steadily being in air.Simultaneously gyroscope can play a part each horizontal propeller of operation or each elevating screw (traditional gyroscope just realize, the present embodiment is not just done concrete principle explanation).
As shown in Figure 4, the elevating screw control module is comprised of elevating screw one module, elevating screw two modules, elevating screw three modules and elevating screw four module.Elevating screw one module is corresponding control elevating screw 1 startup, close and start after speed etc.; Elevating screw two modules are corresponding control elevating screws 23 startup, close and start after speed etc.; Elevating screw three modules are corresponding control elevating screws 34 startup, close and start after speed etc.; The elevating screw four module is corresponding control elevating screw 1 startup, close and start after speed etc.The elevating screw control module can realize controlling separately to each elevating screw, by the quantity of open and close elevating screw, and the control of the elevating screw speed after having opened, come the collaborative descending operation of realizing this aircraft.
As shown in Figure 4, the horizontal propeller control module is comprised of horizontal propeller one module, horizontal propeller two modules, horizontal propeller three modules and horizontal propeller four module.Horizontal propeller one module is corresponding control horizontal propeller 1 startup, close and start after speed etc.; Horizontal propeller two modules are corresponding control horizontal propellers 2 10 startup, close and start after speed etc.; The startup of the horizontal propeller three corresponding control of modules horizontal propellers 3 11, close and start after speed etc.; The horizontal propeller four module is corresponding control horizontal propeller 4 12 startup, close and start after speed etc.The horizontal propeller control module can realize controlling separately to each horizontal propeller, by opening and closing the quantity of horizontal propeller, and the control of the horizontal propeller speed after having opened, come collaborative intelligent earthquake and the parallel motion operation that realizes this aircraft.
As Fig. 1, shown in Figure 3, elevating screw 1, elevating screw 23, elevating screw 34 are identical with elevating screw 45 structures, and electric signal strut bar 6, lifting drive 7 and rotating blade 8 have been included, electric signal strut bar 6 one ends are fixedly connected on lifting controller 16, the other end of electric signal strut bar 6 is electrically connected to lifting drive 7, and the output shaft of lifting drive 7 is captiveed joint with rotating blade 8.
As shown in Figure 3, lifting drive 7 is mainly by electric machine casing 71(or combustion engine housing) and motor 72(or combustion engine) consist of, the present embodiment preferably adopts motor 72 as engine installation, can certainly adopt other class pseudodynamic devices such as combustion engine.Electric machine casing 71(or combustion engine housing) be fixedly connected on the end of electric signal strut bar 6, motor 72(or combustion engine) install in electric machine casing 71(or combustion engine housing) in inner chamber; The centre of gration place of rotating blade 8 is provided with rotary axle box 81, motor 72(or combustion engine) output shaft 721 closely cooperate and be installed in this rotary axle box 81.Electric machine casing 71(or combustion engine housing) inside is cavity structure, is laid with power transmission line and signal wire (SW) in its inner chamber.
As shown in Figure 1 and Figure 2, horizontal propeller 1, horizontal propeller 2 10, horizontal propeller 3 11 are identical with horizontal propeller 4 12 structures, and its structure is identical with the structure of each elevating screw, and electric signal strut bar 13, horizontal drive apparatus 14 and rotating blade 15 have been included, electric signal strut bar 13 1 ends are fixedly connected on horizontal controller 17, the other end of electric signal strut bar 13 is electrically connected to horizontal drive apparatus 14, and the output shaft of horizontal drive apparatus 14 is captiveed joint with rotating blade 15.Wherein the structure of horizontal drive apparatus 14, principle and lifting drive 7 structures, principle are substantially identical.
The control signal transmission principle of aircraft being carried out remote control is:
Receiver of remote-control sytem 19 receive remote signal in the remote control transmitting apparatus (comprise instruction rising, decline are arranged, to left movement, move right etc.), and the intelligent data analyzing and processing by controller 1 CPU module, and the formation control instruction, namely form the control command of elevating screw control module and the control command of horizontal propeller control module.The elevating screw control module is received the control command signal, by the micro controller system analyzing and processing of self, send control signal then for respectively elevating screw one module, elevating screw two modules, elevating screw three modules and elevating screw four module, just can realize respectively independent control to elevating screw 1, elevating screw 23, elevating screw 34 and elevating screw 45 by these control signals.The elevating screw control module that is positioned at lifting controller 16 transfers to each elevating screw corresponding motor 72(or combustion engine to the control signal of each elevating screw by the data line that is positioned at electric signal strut bar 6), and control motor 72(or combustion engine) switching and operating power size.
The horizontal propeller control module is received the control command signal, by the micro controller system analyzing and processing of self, send control signal then for respectively flat spin oar one module, horizontal propeller two modules, horizontal propeller three modules and horizontal propeller four module, just can realize respectively independent control to horizontal propeller 1, horizontal propeller 2 10, horizontal propeller 3 11 and horizontal propeller 4 12 by these control signals.The horizontal propeller control module that is positioned at horizontal controller 17 transfers to motor corresponding to each horizontal propeller to the control signal of each horizontal propeller by the data line that is positioned at electric signal strut bar 13, and controls switching and the operating power size of motor.
The bottom of controller 1 is provided with alighting gear 18, and this alighting gear 18 makes this aircraft takeoff and lands more convenient, steady.
This aircraft can be made small and exquisite, is used for flight investigation, shooting field, during use, installs camera and get final product on aircraft.
The above is only preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. aircraft, it is characterized in that: comprise controller (1), be evenly arranged on controller (1) and be connected with elevating screw one (2), elevating screw two (3), elevating screw three (4) and elevating screw four (5), also be evenly arranged on described controller (1) and be connected with horizontal propeller one (9), horizontal propeller two (10), horizontal propeller three (11) and horizontal propeller four (12).
2. according to aircraft claimed in claim 1, it is characterized in that: described elevating screw one (2), elevating screw two (3), elevating screw three (4) and elevating screw four (5) are positioned at same level A, and described horizontal propeller one (9), horizontal propeller two (10), horizontal propeller three (11) and horizontal propeller four (12) are positioned at same level B.
3. according to aircraft claimed in claim 2, it is characterized in that: described controller (1) mainly includes lifting controller (16), horizontal controller (17), receiver of remote-control sytem (19) and shock sensor, described lifting controller (16) respectively with described elevating screw one (2), elevating screw two (3), elevating screw three (4) are connected with elevating screw (5) be connected; Described horizontal controller (17) respectively with horizontal propeller one (9), horizontal propeller two (10), horizontal propeller three (11) are connected with horizontal propeller (12) be connected.
4. according to the described aircraft of claim 1 or 3, it is characterized in that: described controller (1) inside includes CPU module, and CPU module is electrically connected to elevating screw control module, horizontal propeller control module, shock sensor module, gyroscope and remote control control module respectively.
5. according to aircraft claimed in claim 4, it is characterized in that: described elevating screw control module is comprised of elevating screw one module, elevating screw two modules, elevating screw three modules and elevating screw four module.
6. according to aircraft claimed in claim 4, it is characterized in that: described horizontal propeller control module is comprised of horizontal propeller one module, horizontal propeller two modules, horizontal propeller three modules and horizontal propeller four module.
7. according to aircraft claimed in claim 4, it is characterized in that: described elevating screw one (2), elevating screw two (3), elevating screw three (4) is identical with elevating screw four (5) structures, and included electric signal strut bar (6), lifting drive (7) and rotating blade (8), described electric signal strut bar (6) one ends are fixedly connected on described lifting controller (16), the other end of electric signal strut bar (6) is electrically connected to lifting drive (7), the output shaft of described lifting drive (7) is captiveed joint with rotating blade (8).
8. according to aircraft claimed in claim 7, it is characterized in that: described lifting drive (7) mainly is made of electric machine casing (71) and motor (72), electric machine casing (71) is fixedly connected on the end of electric signal strut bar (6), and motor (72) is installed in electric machine casing (71) inner chamber; The centre of gration place of rotating blade (8) is provided with rotary axle box (81), and the output shaft (721) of described motor (72) closely cooperates and is installed in this rotary axle box (81).
9. according to aircraft claimed in claim 4, it is characterized in that: described horizontal propeller one (9), horizontal propeller two (10), horizontal propeller three (11) is identical with horizontal propeller four (12) structures, and included electric signal strut bar (13), horizontal drive apparatus (14) and rotating blade (15), described electric signal strut bar (13) one ends are fixedly connected on described horizontal controller (17), the other end of electric signal strut bar (13) is electrically connected to horizontal drive apparatus (14), the output shaft of described horizontal drive apparatus (14) is captiveed joint with rotating blade (15).
10. according to aircraft claimed in claim 4, it is characterized in that: the bottom of described controller (1) is provided with alighting gear (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100619479A CN103112587A (en) | 2013-02-27 | 2013-02-27 | Aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100619479A CN103112587A (en) | 2013-02-27 | 2013-02-27 | Aircraft |
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| CN103112587A true CN103112587A (en) | 2013-05-22 |
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| CN2013100619479A Pending CN103112587A (en) | 2013-02-27 | 2013-02-27 | Aircraft |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103692443A (en) * | 2014-01-06 | 2014-04-02 | 西安航空学院 | Visible remote blasting demolishing device based on quad rotor helicopter |
| CN104181919A (en) * | 2014-07-29 | 2014-12-03 | 杭州行之云网络有限公司 | Aircraft |
| CN106276725A (en) * | 2015-06-26 | 2017-01-04 | 林信嘉 | Unmanned aerial vehicle for engineering |
| CN106364673A (en) * | 2015-07-24 | 2017-02-01 | 林信嘉 | Engineering unmanned aerial vehicle carrier with auxiliary stabilizing function |
| CN106794897A (en) * | 2016-05-18 | 2017-05-31 | 深圳市创客工场科技有限公司 | A kind of multi-rotor unmanned aerial vehicle |
| CN107000837A (en) * | 2016-05-18 | 2017-08-01 | 深圳市创客工场科技有限公司 | It is a kind of can ground running unmanned plane |
| CN108602554A (en) * | 2015-12-18 | 2018-09-28 | 亚马逊科技公司 | For performance and noise shaped selection propeller |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103692443A (en) * | 2014-01-06 | 2014-04-02 | 西安航空学院 | Visible remote blasting demolishing device based on quad rotor helicopter |
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| CN106276725A (en) * | 2015-06-26 | 2017-01-04 | 林信嘉 | Unmanned aerial vehicle for engineering |
| CN106364673A (en) * | 2015-07-24 | 2017-02-01 | 林信嘉 | Engineering unmanned aerial vehicle carrier with auxiliary stabilizing function |
| CN108602554A (en) * | 2015-12-18 | 2018-09-28 | 亚马逊科技公司 | For performance and noise shaped selection propeller |
| CN108602554B (en) * | 2015-12-18 | 2022-01-07 | 亚马逊科技公司 | Method of operating an aircraft having a first set of propellers and a second set of propellers |
| CN106794897A (en) * | 2016-05-18 | 2017-05-31 | 深圳市创客工场科技有限公司 | A kind of multi-rotor unmanned aerial vehicle |
| CN107000837A (en) * | 2016-05-18 | 2017-08-01 | 深圳市创客工场科技有限公司 | It is a kind of can ground running unmanned plane |
| CN106794897B (en) * | 2016-05-18 | 2019-12-13 | 深圳市创客工场科技有限公司 | Multi-rotor unmanned aerial vehicle |
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Application publication date: 20130522 |