CN104260878A - Four-rotor aircraft rack with capacity of automatic folding and spreading - Google Patents
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Abstract
Description
技术领域 technical field
本发明属于飞行器设计领域,具体涉及一种能自主折叠、展开的四旋翼飞行器机架。 The invention belongs to the field of aircraft design, and in particular relates to a four-rotor aircraft frame capable of autonomous folding and unfolding. the
背景技术 Background technique
四旋翼飞行器是一种较为常见和经典的小型飞行器,广泛用于军事侦察、资源勘测、民用航拍等技术领域。该飞行器结构紧凑,运动灵活,适宜在狭小空间或复杂环境中使用。但常见的四旋翼飞行器其支撑臂多为整体构造,且与机身固为一体,几何尺寸较大,不便于携带。即便有些四旋翼飞行器采用了支撑臂可折叠结构,使结构尺寸有所缩小,但这些结构在使用时需要操控人员来折叠和展开,造成不便。为了提高四旋翼飞行器携带、运输、使用过程中的便利性与灵活性,需要研制一种能自主折叠、展开的四旋翼飞行器支撑臂,并且这种能自主折叠、展开的支撑臂能够与四旋翼飞行器机架有机融合,保证四旋翼飞行器在整体结构上的和谐性、可靠性、稳定性。 Quadrotor aircraft is a relatively common and classic small aircraft, which is widely used in technical fields such as military reconnaissance, resource survey, and civil aerial photography. The aircraft is compact in structure and flexible in movement, and is suitable for use in narrow spaces or complex environments. However, the support arms of common quadrotor aircraft are mostly integral structures, and are integrated with the fuselage. The geometric size is relatively large, and it is not easy to carry. Even though some quadrotor aircraft adopt a foldable support arm structure to reduce the size of the structure, these structures require operators to fold and unfold them during use, causing inconvenience. In order to improve the convenience and flexibility in carrying, transporting, and using the quadrotor aircraft, it is necessary to develop a quadrotor aircraft support arm that can be folded and unfolded independently, and this support arm that can be folded and unfolded independently can be integrated with the quadrotor The aircraft frame is organically integrated to ensure the harmony, reliability and stability of the quadrotor aircraft in the overall structure. the
发明内容 Contents of the invention
从照相机镜头机械式光圈调谐机构得到设计灵感,设计了由中心蜗轮蜗杆减速电机、上下中心板、曲柄、连杆以及支撑臂、旋翼挡板构成的自主折叠机架,使四旋翼飞行器能在布置于其机架中心的电机驱动下折叠为紧凑的正方形结构,相邻旋翼的端部尽可能接近,为正方形的顶点,旋翼的位置相对固定,因此大大减少了四轴飞行器的几何尺寸。当中心电机反转时即可实现四旋翼支撑臂的自主展开。 Inspired by the mechanical aperture tuning mechanism of the camera lens, the self-folding frame composed of the central worm gear motor, the upper and lower center plates, the crank, the connecting rod, the support arm, and the rotor baffle is designed, so that the quadrotor aircraft can be arranged Driven by the motor in the center of the frame, it is folded into a compact square structure. The ends of the adjacent rotors are as close as possible to the apex of the square. The position of the rotors is relatively fixed, thus greatly reducing the geometric size of the quadcopter. When the central motor is reversed, the four-rotor support arm can be independently deployed. the
本发明的技术实现方案: Technical realization scheme of the present invention:
这种能自主折叠、展开的四旋翼飞行器机架是由中心蜗轮蜗杆减速电机、上下中心板、曲柄、连杆、支撑臂和旋翼挡板等组成的单自由度系统。通过对布置在机架中心的电机正反转的控制,可实现支撑臂的展开和折叠,还可通过蜗轮蜗杆电机的自锁效应实现断电自锁,保证四旋翼飞行器机架结构的稳定性。 This self-folding and unfolding four-rotor aircraft frame is a single-degree-of-freedom system composed of a central worm gear motor, upper and lower center plates, cranks, connecting rods, support arms and rotor baffles. By controlling the positive and negative rotation of the motor arranged in the center of the frame, the support arm can be expanded and folded, and the self-locking effect of the worm gear motor can also be used to realize power-off self-locking to ensure the stability of the quadrotor aircraft frame structure . the
该折叠机架采用四套平行四边形机构对称布置,由蜗轮蜗杆减速电机驱动曲柄,从而将动力沿曲柄、连杆传递到支撑臂,使四个支撑臂同时围绕中心板边缘的圆孔转动。当四旋翼飞行器需要展开支撑臂飞行时,电机正转,带动支撑臂展开,最终呈“十”字型布置,由限位扣限制连杆的位置,进而防止支撑臂展开过度达到死点,导致难以折叠。当四旋翼飞行器飞行完毕需要折叠支撑臂时,电机反转,带动支撑臂收拢,通过设计合适的角度使得支撑臂折叠完毕时,限位扣又起到限制折叠过度的作用。另外,旋翼挡板能使旋翼在任意角度下,当旋翼开始接触旋翼挡板时,旋翼在旋翼挡板的反作用力下自适应调整角度,待支撑臂折叠 完毕后,旋翼归位完毕,与旋翼挡板基本平齐。 The folding frame adopts four sets of parallelogram mechanisms arranged symmetrically, and the crank is driven by the worm gear motor, so that the power is transmitted to the support arm along the crank and connecting rod, so that the four support arms rotate around the round hole on the edge of the center plate at the same time. When the four-rotor aircraft needs to unfold the support arm to fly, the motor rotates forward to drive the support arm to expand, and finally it is arranged in a "ten" shape. Difficult to fold. When the four-rotor aircraft needs to fold the support arm after flying, the motor reverses to drive the support arm to fold, and when the support arm is folded by designing a suitable angle, the limit buckle plays a role in limiting excessive folding. In addition, the rotor baffle can make the rotor at any angle. When the rotor starts to contact the rotor baffle, the rotor will adjust the angle adaptively under the reaction force of the rotor baffle. After the support arm is folded, the rotor returns to its original position. The bezel is basically flush. the
支撑臂与中心板的连接件采用铝合金材料制作,支撑臂的轴与中心板边缘的孔组成一个转动副,同时该轴能有效承受飞行器飞行时在此处产生的弯矩。连接件上下有端盖,可防止轴脱出孔。支撑臂和电机座使用ABS塑料制作,强度较大,重量较轻,吸振能力更强。 The connection between the support arm and the center plate is made of aluminum alloy. The shaft of the support arm and the hole on the edge of the center plate form a revolving pair. At the same time, the shaft can effectively withstand the bending moment generated here when the aircraft is flying. There are end caps on the top and bottom of the connecting piece to prevent the shaft from coming out of the hole. The support arm and motor seat are made of ABS plastic, which has higher strength, lighter weight and stronger vibration absorption capacity. the
为防止连杆干涉,将两对平行的连杆分别布置在两个平面内,并用短套筒保证连杆稳定性。曲柄由曲柄上盘、曲柄中盘、曲柄下盘和四个小钢轴组成,中间采用型面联接将电机输出轴和曲柄的三片盘片联轴,能传递较大扭矩,抗冲击性能较好,能有效提高四旋翼飞行器飞行的稳定性。限位扣能通过对连杆限位进而实现对支撑臂位置的限位,既可保证支撑臂不会展开过度,也可保证不会使其折叠过度,同时还具备将上、下中心板锁紧的作用。在中心的曲柄附近,还有四个塑料锁紧柱,穿入双头螺柱将上下中心片可靠地锁紧。 In order to prevent the connecting rods from interfering, two pairs of parallel connecting rods are arranged in two planes respectively, and a short sleeve is used to ensure the stability of the connecting rods. The crank is composed of the upper crank plate, the middle crank plate, the lower crank plate and four small steel shafts. The output shaft of the motor and the three discs of the crank are connected by a profile connection in the middle, which can transmit large torque and has better impact resistance. Well, it can effectively improve the flight stability of the quadrotor aircraft. The limit buckle can limit the position of the support arm by limiting the position of the connecting rod, which can not only ensure that the support arm will not be excessively expanded, but also ensure that it will not be folded excessively. It also has the ability to lock the upper and lower center plates. tight effect. Near the crank in the center, there are four plastic locking posts, which are inserted into the studs to securely lock the upper and lower center pieces. the
该系统的优点:支撑臂展开与折叠时,四套平行四边形机构并不通过运动不确定位置,且系统为单自由度,可靠性高;采用蜗轮蜗杆减速电机,扭矩较大,支撑臂收放自如,同时电机速度较低,减少了因惯性对系统造成的破坏;利用电机本身蜗杆传动的自锁特性,能实现断电自锁,在飞行时可不必再为电机上电,节约能源,且折叠后断电也不会再意外展开;旋翼挡板的使用能使支撑臂在折叠后,整机的几何尺寸最大限度地减小;限位扣既能实现对连杆的双限位,又能对上下中心板起到一定的锁紧作用,一物多用,效率高,重量轻;多机构多单元融合为一体,集成度高,系统精简,稳定可靠。 Advantages of this system: When the support arm is unfolded and folded, the four sets of parallelogram mechanisms do not determine the position through movement, and the system is a single degree of freedom with high reliability; the worm gear motor is used, the torque is large, and the support arm is retracted Ziroom, at the same time, the motor speed is low, reducing the damage to the system caused by inertia; using the self-locking characteristics of the worm drive of the motor itself, it can realize self-locking when power is off, and it is not necessary to power on the motor during flight, saving energy, and After folding, the power will not be unfolded accidentally; the use of the rotor baffle can minimize the geometric size of the whole machine after the support arm is folded; the limit buckle can not only realize the double limit of the connecting rod, but also It can play a certain locking effect on the upper and lower center plates, one thing is multi-purpose, high efficiency, light weight; multi-mechanism and multi-unit integration, high integration, simple system, stable and reliable. the
附图说明 Description of drawings
图1所示为本发明一个实施例中平行四边形机构轴测图 Fig. 1 shows that in an embodiment of the present invention, parallelogram mechanism axonometric view
图2所示为本发明一个实施例中支撑臂、中心板部分轴测图。 Fig. 2 is an axonometric view of the support arm and the center plate in one embodiment of the present invention. the
图3所示为本发明一个实施例中旋翼挡板与限位扣轴测图。 Fig. 3 is an axonometric view of the rotor baffle and the limit buckle in one embodiment of the present invention. the
图4所示为本发明一个实施例中整体结构展开轴测图。 Fig. 4 is an expanded axonometric view of the overall structure in one embodiment of the present invention. the
图5所示为本发明一个实施例中整体结构展开俯视图。 Fig. 5 is an expanded top view of the overall structure in an embodiment of the present invention. the
图6所示为本发明一个实施例中整体结构折叠轴测图。 Fig. 6 is a folded isometric view of the overall structure in an embodiment of the present invention. the
图7所示为本发明一个实施例中整体结构折叠俯视图。 Fig. 7 is a folded top view of the overall structure in an embodiment of the present invention. the
具体实施方式 Detailed ways
如图1-7所示,能自主折叠的四旋翼飞行器机架由图1平行四边形机构;图2支撑臂、中心板部分;图3旋翼挡板与限位扣集成为一体的系统。 As shown in Figure 1-7, the quadrotor aircraft frame that can be folded autonomously is composed of a parallelogram mechanism in Figure 1; a support arm and a central plate part in Figure 2; and a system integrating rotor baffles and limit buckles in Figure 3. the
如图1,为平行四边形机构:2下中心板3曲柄上盘,5短套筒,6曲柄中盘,7曲柄下 盘,8连杆,11连接件,12长钢轴,13长套筒,18蜗轮蜗杆减速电机。平行四边形机构的机架由2下中心板的中心和11连接件的轴的连线确定。曲柄由3曲柄上盘、6曲柄中盘、7曲柄下盘及中间的短钢轴与短套筒组成,支撑臂A、B的8连杆在3曲柄上盘与6曲柄中盘之间的平面;支撑臂C、D的连杆8在曲柄中盘6与曲柄下盘7之间的平面,避免干涉。 As shown in Figure 1, it is a parallelogram mechanism: 2 lower center plates, 3 crank upper discs, 5 short sleeves, 6 crank middle discs, 7 crank lower discs, 8 connecting rods, 11 connectors, 12 long steel shafts, and 13 long sleeves , 18 worm gear motors. The rack of parallelogram mechanism is determined by the connecting line of the center of 2 lower central plates and the axis of 11 connectors. The crank is composed of 3 crank upper plates, 6 crank middle plates, 7 crank lower plates and short steel shafts and short sleeves in the middle. The 8 connecting rods of the support arms A and B are between the 3 crank upper plates and the 6 crank middle plates. Plane; the plane between the connecting rod 8 of the support arms C and D between the middle disc 6 of the crank and the lower disc 7 of the crank, to avoid interference. the
如图2,为支撑臂、中心板以及其连接件:1上中心板,11连接件,14端盖,15方管,16电机座,19无刷电机,20旋翼。支撑臂由11连接件、15方管、16电机座组成,11连接件上下固定有14端盖,防止连接件脱出 As shown in Figure 2, it is the support arm, the center plate and its connectors: 1 upper center plate, 11 connectors, 14 end cover, 15 square tube, 16 motor seat, 19 brushless motor, 20 rotor. The support arm is composed of 11 connectors, 15 square tubes, and 16 motor seats. The 11 connectors are fixed with 14 end caps up and down to prevent the connectors from falling out.
如图3,为旋翼挡板和限位扣:9限位扣,10旋翼挡板。限位扣固定于上下中心板上,限制连杆位置进而限制支撑臂位置。旋翼挡板安装角度可调,以适应旋翼的形状与尺寸。 As shown in Figure 3, it is the rotor baffle and the limit buckle: 9 limit buckles, 10 rotor baffles. The limit buckle is fixed on the upper and lower center plates to limit the position of the connecting rod and then limit the position of the support arm. The installation angle of the rotor baffle can be adjusted to suit the shape and size of the rotor. the
如图4-7,根据图1-3,将图1平行四边形机构,图2支撑臂、中心板以及其连接件,图3旋翼挡板和限位扣集成为一体的系统。 As shown in Figure 4-7, according to Figure 1-3, the parallelogram mechanism in Figure 1, the support arm, center plate and its connectors in Figure 2, the rotor baffle and the limit buckle in Figure 3 are integrated into one system. the
以上所述仅是本发明的较佳实例而已,并非对本发明作任何形式上的限制,凡依据本发明的技术实质对以上实施例所做的任何简单修改,等同变化与修饰,均属于本发明技术方案的范围内。 The above description is only a preferred example of the present invention, and does not limit the present invention in any form. All simple modifications made to the above embodiments according to the technical essence of the present invention, equivalent changes and modifications, all belong to the present invention within the scope of the technical program. the
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