CN104608927B - Auxiliary liter of unmanned plane of buoyancy - Google Patents
Auxiliary liter of unmanned plane of buoyancy Download PDFInfo
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- CN104608927B CN104608927B CN201510078329.4A CN201510078329A CN104608927B CN 104608927 B CN104608927 B CN 104608927B CN 201510078329 A CN201510078329 A CN 201510078329A CN 104608927 B CN104608927 B CN 104608927B
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- rotor
- support arm
- fuselage
- unmanned plane
- buoyancy
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- 230000000712 assembly Effects 0.000 claims abstract description 8
- 238000000429 assembly Methods 0.000 claims abstract description 8
- 235000019506 cigar Nutrition 0.000 claims description 3
- 230000005611 electricity Effects 0.000 description 3
- 239000002775 capsule Substances 0.000 description 2
- 208000002925 dental caries Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910052709 silver Inorganic materials 0.000 description 1
- 239000004332 silver Substances 0.000 description 1
Abstract
nullThe invention discloses a kind of auxiliary liter of unmanned plane of buoyancy，Including fuselage (1)、Controller and electron speed regulator、Multiple support arms (4) and rotor assemblies，Rotor assemblies includes rotor (11)、Rotor power shaft and Rotor mount (6)，It also includes the airbag apparatus controlled by controller、For driving drive mechanism that rotor (11) rotates and for adjusting the angle adjusting mechanism of rotor (11) thrust，Airbag apparatus includes air bag (2) and the aerating device being foldable to fuselage (1) inner chamber，And air bag (2) open after be laterally disposed in the surface of fuselage (1)，Angle adjusting mechanism includes the first governor motion for driving rotor (11) to rotate in a circumferential direction along support arm (4) place axis and for the second governor motion driving rotor (11) slightly to swing in the range of 0～40 ° along the axis vertical with support arm (4).Auxiliary liter of unmanned plane flying power of this buoyancy is higher, operation is more flexible.
Description
Technical field
The present invention relates to unmanned plane field, particularly to a kind of auxiliary liter of unmanned plane of buoyancy.
Background technology
Unmanned plane is to start the most practical a kind of aircraft at present, its have maneuverability, reaction quickly, unmanned flight,
Operation requires the advantages such as low.Unmanned plane loads multiclass sensor, such as camera, it is possible to achieve image real-time Transmission, height
Danger area detecting function, is widely used in the fields such as fire-fighting, military affairs, traffic, police service, exploration and meteorology, to realize finger
Determine cruise shooting and the supervision in region.At present, unmanned plane is that flight theory based on helicopter is designed manufacturing mostly, can
Realizing vertical lift and high-altitude hovering, thus meet the requirement taken photo by plane and monitor, most common is fixed-wing formula and many rotary wind types
(such as, four rotor).But problematically, the lift-source of the unmanned plane of prior art is typically only rotor, and the nothing of fixed-wing formula
Meteorological condition during man-machine work requires height, and landing requires height, relatively costly；And its power source of many rotary wind types unmanned plane is general
For battery, the battery such as the unmanned plane of existing four rotors is generally 5000mAh, and its flight time is only 15-20 minute, continuation of the journey
Ability.And the rotor of the unmanned plane of prior art is generally fixed on leg extremities, it is impossible to regulate its angle rotated, its
Flexibility is the most inadequate.
Summary of the invention
The technical problem to be solved is: a kind of flying power of offer is higher, the operation auxiliary liter of buoyancy more flexibly is unmanned
Machine.
The present invention solves the technical scheme that the problems referred to above are used: a kind of auxiliary liter of unmanned plane of buoyancy, including fuselage, is placed in fuselage
In controller and electron speed regulator, about fuselage symmetrical multiple support arms and be located at each support arm one end away from fuselage
Rotor assemblies, described rotor assemblies includes rotor, rotor power shaft and Rotor mount, and it also includes by controller control
Airbag apparatus, for driving the drive mechanism of rotor wing rotation and for adjusting the angle adjusting mechanism of Rotor thrust, described gas
Bag apparatus includes air bag and the aerating device being foldable to fuselage inner chamber, and is laterally disposed in described fuselage after described airbag-releasing
Surface, described angle adjusting mechanism includes the first governor motion for driving rotor to rotate in a circumferential direction along support arm place axis
And for the second governor motion driving rotor slightly to swing in the range of 0～40 ° along the axis vertical with support arm.
Compared with prior art, it is an advantage of the current invention that: auxiliary liter of unmanned plane of this buoyancy can be formed the second lift-source, gas by air bag
Capsule can play good auxiliary liter of function so that the unmanned plane flying power of the present invention is higher.Fuselage it is laterally disposed in after airbag-releasing
Surface, and air bag is foldable to fuselage inner chamber, is inflated by aerating device when needed, very useful.The present invention's
Unmanned plane also includes the angle adjusting mechanism for driving Rotor thrust, and concrete structure includes for driving rotor along support arm place axle
The first governor motion that line rotates in a circumferential direction and for driving rotor slightly to swing in the range of 0～40 ° along the axis vertical with support arm
The second governor motion.Can well realize Rotor thrust is driven by the setting of the first governor motion and the second governor motion
Dynamic so that rotor has the thrust vectoring of optimum, it is also possible to the unmanned plane flying power making the present invention is higher, operates cleverer
Live.
As preferably, described drive mechanism is the positive rotating motor for driving rotor to rotate forward and for the reversion driving rotor to invert
Motor, the output shaft of described positive rotating motor and reversion motor is all connected with described rotor power shaft, described positive rotating motor
All electrically connect with controller and electron speed regulator with reversion motor.So, the rotation of rotor is more stable.
As preferably, described fuselage is the cylindric of horizontally set, and the inner chamber of described fuselage is sequentially provided with for accommodating and folding
After air bag upper strata cavity and for housing lower floor's cavity of controller, electron speed regulator and supply unit, described fuselage
The upper end of upper strata cavity is provided with the opening for airbag-releasing；And described air bag is the cigar shape of horizontally set.So, fuselage
Design the compactest, the inner chamber of fuselage the opening of convenient air bag after being divided into upper and lower layer, controller, electron speed regulator and electricity
The layout of source apparatus is the most reasonable.
As preferably, described aerating device includes that source of the gas and gas tube, described source of the gas are placed in the inner chamber of described fuselage, and
One end of described gas tube is connected with source of the gas, and the other end of described gas tube connects with described airbags.
As preferably, described support arm end be sheathed with rotation seat, and described Rotor mount is rotated even by rotary shaft
Be connected to described rotation seat one end away from support arm, the first motor that the first described governor motion includes being fixed on leg extremities and
Be installed on the inwall of the little gear of the first motor output shaft, described rotation seat circumferentially arranged with for described little gear phase
The ring gear of engagement.So, the structure comparison of the first governor motion is compact, by driven by motor pinion rotation, and by little
Gear and ring gear are meshed, it is possible to drive Rotor mount to rotate in a circumferential direction along support arm place axis.
As preferably, two miniature steering wheels that the second described governor motion includes being symmetricly set in rotation seat inner chamber and by miniature steering wheel,
Rocking arm drive and two push rods of horizontally set, the end of two described push rods is all articulated with on described Rotor mount, and two
Pin joint between push rod and Rotor mount and rotor power shaft stagger and arrange to form the power that Rotor mount rotates around rotary shaft
Arm.So, the structure comparison of the second governor motion is compact, it is convenient to be arranged on the inner chamber of rotation seat, it is possible to meets and drives rotation
The requirement that the wing slightly swings in the range of 0～40 ° along the axis vertical with support arm.
As preferably, it also includes support arm fold mechanism, and described support arm fold mechanism is by first paragraph support arm and second segment support arm group
Become, one end of described first paragraph support arm is hinged with described fuselage by rotating shaft, and the end of described first paragraph support arm and
The first alignment pin for location, the other end of described second segment support arm after fold inward 90 ° are installed between described fuselage
It is hinged by rotating shaft with one end of described first paragraph support arm, and between described second segment support arm and described first paragraph support arm
The second alignment pin for location after fold inward 40～70 ° is installed.So, when folding, first first paragraph support arm and the
With the second alignment pin location after fold inward 40～70 ° between two sections of support arms, then by fold inward between first paragraph support arm and fuselage
90 °, it is possible to the problem well solving rotor and the support arm generation interference of folding, folding effect is more preferable.
As preferably, described supply unit includes the first battery and the second battery, and described controller is placed in described fuselage
The middle part of lower floor's cavity, and the first described battery and the second battery be symmetrically arranged in lower floor's cavity of described fuselage.So,
Whole airframe structure is more symmetrical, and center of gravity is relatively more steady, and the balance of unmanned plane is more preferable.
As preferably, the bottom of described fuselage is provided with for hanging standby hanger.As such, it is possible to hang easily video camera or
Other equipment of taking photo by plane
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram (airbag-releasing) of auxiliary liter of unmanned plane of buoyancy of the present invention.
Fig. 2 is the plan structure schematic diagram of the new buoyancy unmanned type of auxiliary liter of this practicality.
Fig. 3 is the structural representation at each support arm of the new buoyancy unmanned type of auxiliary liter of this practicality.
Fig. 4 is another structural representation at each support arm of the new buoyancy unmanned type of auxiliary liter of this practicality.
In Fig. 1-4: 1 fuselage, 1.1 upper strata cavitys, 1.2 lower floor's cavitys, 2 air bags, 3 hangers, 4 support arms, 4.1 first
Section support arm, 4.2 second segment support arms, 5 rotation seats, 5.1 ring gears, 6 Rotor mount, 7 first motors, 8 miniature steering wheels,
8.1 rocking arms, 9 positive rotating motors, 10 reversion motors, 11 rotors, 12 first alignment pins, 13 first dowel holes, 14 second
Alignment pin, 15 second dowel holes, 16 push rods.
Detailed description of the invention
Below in conjunction with the accompanying drawings embodiments of the invention are further described.
As Figure 1-4, a kind of auxiliary liter of unmanned plane of buoyancy, the controller including fuselage 1, being placed in fuselage 1 and electron speed regulator,
Multiple support arms 4 symmetrical about fuselage 1 and be located at each support arm 4 rotor assemblies away from one end of fuselage 1, described
Rotor assemblies includes rotor 11, rotor power shaft and Rotor mount 6, it also include by controller control airbag apparatus,
For driving drive mechanism that rotor 11 rotates and for driving the angle adjusting mechanism of rotor 11 thrust, described airbag apparatus
Including being foldable to air bag 2 and the aerating device of fuselage 1 inner chamber, and described air bag 2 open after be laterally disposed in described fuselage
The surface of 1, described angle adjusting mechanism includes for adjusting the first tune that rotor 11 rotates in a circumferential direction along support arm 4 place axis
Save mechanism and for the second governor motion driving rotor 11 slightly to swing in the range of 0～40 ° along the axis vertical with support arm 4.
Described drive mechanism be the positive rotating motor 9 for driving rotor 11 to rotate forward and for drive rotor 11 to invert reversion electricity
Machine 10, described positive rotating motor 9 and reversion motor 10 output shaft be all connected with described rotor power shaft, described just
Rotating motor 9 and reversion motor 10 all electrically connect with controller and electron speed regulator.
Cylindric in horizontally set of described fuselage 1, the inner chamber of described fuselage 1 is sequentially provided with the gas after accommodating and folding
The upper strata cavity 1.1 of capsule 2 and for housing lower floor's cavity 1.2 of controller and supply unit, the upper chamber of described fuselage 1
The upper end of body 1.1 is provided with the opening opened for air bag 2；And the cigar shape that described air bag 2 is in horizontally set.
Described aerating device includes that source of the gas and gas tube, described source of the gas are placed in the inner chamber of described fuselage 1, and described filling
One end of tracheae is connected with source of the gas, and the other end of described gas tube is connected with described air bag 2.
Described support arm 4 end be sheathed with rotation seat 5, and described Rotor mount 6 is rotationally connected with by rotary shaft
Described rotation seat 5 is away from one end of support arm 4, and the first described governor motion includes the first motor being fixed on support arm 4 end
7 and be installed on the inwall of the little gear of the first motor 7 output shaft, described rotation seat 5 circumferentially arranged with for described
The ring gear 5.1 that little gear is meshed.
The second described governor motion includes two miniature steering wheel 8 and the shaking by miniature steering wheel 8 being symmetricly set in rotation seat 5 inner chamber
Arm drive and two push rods of horizontally set, the end of two described push rods is all articulated with on described Rotor mount 6, and two push away
Pin joint between bar and Rotor mount 6 and rotor power shaft stagger and arrange to form what Rotor mount 6 rotated around rotary shaft
The arm of force.
It also includes support arm fold mechanism, and described support arm 4 fold mechanism is by first paragraph support arm 4.1 and second segment support arm 4.2 groups
Becoming, one end of described first paragraph support arm is hinged with described fuselage 1 by rotating shaft, and described first paragraph props up the end of 4
And the first alignment pin 12 for location, described second segment support arm after fold inward 90 ° are installed between described fuselage 1
The other end of 4.2 is hinged by rotating shaft with one end of described first paragraph support arm 4.1, and described second segment support arm 4.2 with
The second alignment pin 14 for location after fold inward 40～70 ° is installed between described first paragraph support arm 4.1.Described machine
Body 1 is provided with two first location for matching with the first described alignment pin 12 with the hinged position of first paragraph support arm 2.1
Pin-and-hole 13, and the axis of two first dowel holes 13 is 90 ° of settings.
Described first paragraph support arm 4.1 is provided with for matching with the second alignment pin 14 with the hinged position of second segment support arm 4.2
Two second dowel holes 15 closed, and the angle α between the axis of two second dowel holes 15 is 40～70 °.
In this specific embodiment, the angle α between the axis of two second dowel holes 15 is 57 °.
Described supply unit includes the first battery and the second battery, and described controller is placed in lower floor's cavity of described fuselage 1
The middle part of 1.2, and the first described battery and the second battery be symmetrically arranged in lower floor's cavity 1.2 of described fuselage 1.
The bottom of described fuselage 1 is provided with for hanging standby hanger 3.
In this specific embodiment, the model of motor used in the present invention is bright space X4110S 340KV brushless electric machine, uses
The input of electron speed regulator: 2-6S lithium electricity, follow current: 40A；The miniature steering wheel used is the silver swallow-aeroplane miniature mould of EMAX 8G
Intend steering wheel.More than being common commercially available prod, those skilled in the art can select it voluntarily according to demands such as the sizes of product
His accessory, does not repeats at this.
Below only highly preferred embodiment of the present invention is described, but is not to be construed as limitations on claims.The present invention is not
Being limited only to above example, its concrete structure allows to change.All made in the protection domain of independent claims of the present invention
Various changes all in scope.
Claims (9)
- null1. auxiliary liter of unmanned plane of a buoyancy，Including fuselage (1)、It is placed in the controller in fuselage (1) and electron speed regulator、Multiple support arms (4) symmetrical about fuselage (1) and be located at each support arm (4) rotor assemblies away from one end of fuselage (1)，Described rotor assemblies includes rotor (11)、Rotor power shaft and Rotor mount (6)，It is characterized in that: it also includes the airbag apparatus controlled by controller、For driving drive mechanism that rotor (11) rotates and for adjusting the angle adjusting mechanism of rotor (11) thrust，Described airbag apparatus includes air bag (2) and the aerating device being foldable to fuselage (1) inner chamber，And described air bag (2) open after be laterally disposed in the surface of described fuselage (1)，Described angle adjusting mechanism includes the first governor motion for driving rotor (11) to rotate in a circumferential direction along support arm (4) place axis and for the second governor motion driving rotor (11) slightly to swing in the range of 0～40 ° along the axis vertical with support arm (4).
- Auxiliary liter of unmanned plane of buoyancy the most according to claim 1, it is characterized in that: described drive mechanism is the positive rotating motor (9) being used for driving rotor (11) to rotate forward and is used for the reversion motor (10) driving rotor (11) to invert, the output shaft of described positive rotating motor (9) and reversion motor (10) is all connected with described rotor power shaft, and described positive rotating motor (9) and reversion motor (10) all electrically connect with controller and electron speed regulator.
- Auxiliary liter of unmanned plane of buoyancy the most according to claim 1, it is characterized in that: cylindric in horizontally set of described fuselage (1), the inner chamber of described fuselage (1) is sequentially provided with the upper strata cavity (1.1) of the air bag after accommodating and folding (2) and for housing lower floor's cavity (1.2) of controller, electron speed regulator and supply unit, and the upper end of the upper strata cavity (1.1) of described fuselage (1) is provided with the opening opened for air bag (2)；And the cigar shape that described air bag (2) is in horizontally set.
- 4. according to auxiliary liter of unmanned plane of the buoyancy described in claim 1 or 3, it is characterized in that: described aerating device includes source of the gas and gas tube, described source of the gas is placed in the inner chamber of described fuselage (1), and one end of described gas tube is connected with source of the gas, the other end of described gas tube is connected with described air bag (2).
- Auxiliary liter of unmanned plane of buoyancy the most according to claim 1, it is characterized in that: the end of described support arm (4) is sheathed with rotation seat (5), and described Rotor mount (6) is rotationally connected with described rotation seat (5) one end away from support arm (4) by rotary shaft, the first described governor motion includes the first motor (7) being fixed on support arm (4) end and is installed on the little gear of the first motor (7) output shaft, circumferentially arranged with the ring gear (5.1) for being meshed with described little gear on the inwall of described rotation seat (5).
- Auxiliary liter of unmanned plane of buoyancy the most according to claim 5, it is characterized in that: the second described governor motion include being symmetricly set in two miniature steering wheels (8) of rotation seat (5) inner chamber and driven by the rocking arm (8.1) of miniature steering wheel (8) and two push rods (16) of horizontally set, the end of described two push rods (16) is all articulated with on described Rotor mount (6), and the pin joint between two push rods and Rotor mount (6) staggers setting to form the arm of force that Rotor mount (6) rotates around rotary shaft with rotor power shaft.
- nullAuxiliary liter of unmanned plane of buoyancy the most according to claim 1，It is characterized in that: it also includes support arm fold mechanism，Described support arm fold mechanism is made up of first paragraph support arm (4.1) and second segment support arm (4.2)，One end of described first paragraph support arm (4.1) is hinged with described fuselage (1) by rotating shaft，And the first alignment pin (12) for location is installed between the end of described first paragraph support arm (4.1) and described fuselage (1) after fold inward 90 °，The other end of described second segment support arm (4.2) is hinged by rotating shaft with one end of described first paragraph support arm (4.1)，And the second alignment pin (14) for location is installed between described second segment support arm (4.2) and described first paragraph support arm (4.1) after fold inward 40～70 °.
- Auxiliary liter of unmanned plane of buoyancy the most according to claim 3, it is characterized in that: described supply unit includes the first battery and the second battery, described controller is placed in the middle part of lower floor's cavity (1.2) of described fuselage (1), and the first described battery and the second battery are symmetrically arranged in lower floor's cavity (1.2) of described fuselage (1).
- Auxiliary liter of unmanned plane of buoyancy the most according to claim 1, it is characterised in that: the bottom of described fuselage (1) is provided with for hanging standby hanger (3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510078329.4A CN104608927B (en) | 2015-02-13 | 2015-02-13 | Auxiliary liter of unmanned plane of buoyancy |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510078329.4A CN104608927B (en) | 2015-02-13 | 2015-02-13 | Auxiliary liter of unmanned plane of buoyancy |
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| Publication Number | Publication Date |
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| CN104608927B true CN104608927B (en) | 2016-09-07 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104908935A (en) * | 2015-06-10 | 2015-09-16 | 浙江空行飞行器技术有限公司 | Large-voyage unmanned aerial vehicle |
| US11305873B2 (en) | 2017-10-23 | 2022-04-19 | Dalian University Of Technology | Air, sea and underwater tilt tri-rotor UAV capable of performing vertical take-off and landing |
| CN107985574B (en) * | 2017-11-22 | 2021-03-26 | 安徽天鹰兄弟无人机科技创新有限公司 | Buoyancy assisted lifting unmanned aerial vehicle |
| CN111717405A (en) * | 2020-06-23 | 2020-09-29 | 长沙航华电子科技有限公司 | Buoyancy auxiliary lifting device for unmanned aerial vehicle |
| CN114043831A (en) * | 2021-11-01 | 2022-02-15 | 广东汇天航空航天科技有限公司 | Flying car |
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|---|---|---|---|---|
| CN202832633U (en) * | 2012-09-19 | 2013-03-27 | 唐山智诚电气有限公司 | Disaster relief equipment for coal mine |
| CN203085121U (en) * | 2012-12-25 | 2013-07-24 | 蔡明锡 | Combined aircraft |
| CN204433056U (en) * | 2015-02-13 | 2015-07-01 | 李潋崴 | Buoyancy is auxiliary rises unmanned plane |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080011900A1 (en) * | 2006-07-15 | 2008-01-17 | Javier Quintana | Apparatus and method to control the flight dynamics in a lighter-than-air airship |
| ITTO20130543A1 (en) * | 2013-06-28 | 2014-12-29 | Quater Paolo Bellezza | MULTIROST AIRCRAFT |
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2015
- 2015-02-13 CN CN201510078329.4A patent/CN104608927B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202832633U (en) * | 2012-09-19 | 2013-03-27 | 唐山智诚电气有限公司 | Disaster relief equipment for coal mine |
| CN203085121U (en) * | 2012-12-25 | 2013-07-24 | 蔡明锡 | Combined aircraft |
| CN204433056U (en) * | 2015-02-13 | 2015-07-01 | 李潋崴 | Buoyancy is auxiliary rises unmanned plane |
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Effective date of registration: 20180629 Address after: 315100 room 701-22, 6 and 7, 5 Kexin building, Yinzhou District first South Street, Ningbo, Zhejiang Patentee after: NINGBO AN SHU YE INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 315000 No. 332, Yang Mu Road, hi tech Zone, Ningbo, Zhejiang Patentee before: Li Lianwai |
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Effective date of registration: 20231123 Address after: Room 1301-4c, No. 215 Panhuo Road, Panhuo Street, Yinzhou District, Ningbo City, Zhejiang Province, 315043 Patentee after: Ningbo Daniu Construction Technology Co.,Ltd. Address before: 315100 room 701-22, 6 and 7, 5 Kexin building, Yinzhou District first South Street, Ningbo, Zhejiang Patentee before: NINGBO AN SHU YE INTELLIGENT TECHNOLOGY Co.,Ltd. |