CN104724286A - Spherical aircraft - Google Patents
Spherical aircraft Download PDFInfo
- Publication number
- CN104724286A CN104724286A CN201310714821.7A CN201310714821A CN104724286A CN 104724286 A CN104724286 A CN 104724286A CN 201310714821 A CN201310714821 A CN 201310714821A CN 104724286 A CN104724286 A CN 104724286A
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- lower semisphere
- episphere
- spherical
- circuit board
- main circuit
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Abstract
The invention relates to an aircraft and concretely relates to a spherical aircraft. The spherical aircraft comprises an upper hemisphere, a control panel, a camera module, a lower hemisphere, a ducted fan, an electronic speed controller, a main circuit board, a circuit support and a cell. The upper hemisphere and the lower hemisphere are connected to form a spherical chamber, the control panel, the camera module and an air inlet are arranged on the upper hemisphere, a gas outlet is arranged on the lower hemisphere, the ducted fan is arranged in the gas outlet, the electronic speed controller, the main circuit board and the cell are arranged in the spherical chamber by the circuit support, the electronic speed controller and the main circuit board are connected to the cell, the camera module is connected to the main circuit board, and the electronic speed controller is connected to the ducted fan. The spherical aircraft has a novel structure, can be flexibly controlled and is suitable for investigation in various environments.
Description
Technical field
The present invention relates to aircraft, specifically a kind of spherical aircraft.
Background technology
In recent decades, in order to meet various civil, military and scientific research needs, the features such as small-sized unmanned aircraft is simple with its structure, be easy to control, with low cost become the focus of every country research gradually.Such aircraft generally can shake control or autonomous flight, and can carry the equipment of constant weight, completes detecting, takes photo by plane, communicate the special dutys such as transfer, and have low latitude, low-speed performance, can realize take off vertically landing and hovering.Along with the progress of science and technology, small-sized unmanned aircraft is just towards microminiaturization, intelligent direction development.
Existing small-sized unmanned aircraft comprises all kinds of minute vehicle of fixed-wing formula, rotary wind type and flapping wings type.These existing aircraft propeller major parts are all exposed to engine body exterior, and the easy and external world collides, and cause screw propeller to damage so that aircraft crash.
Summary of the invention
For the problems referred to above, the object of the present invention is to provide a kind of spherical aircraft.This spherical aircraft novel structure, controls flexibly, is applicable to various environment and scouts.
To achieve these goals, the present invention is achieved through the following technical solutions:
A kind of spherical aircraft, comprise episphere, control panel, camera module, lower semisphere, ducted fan, electricity is adjusted, main circuit board, circuit supporting frame and battery, wherein episphere and lower semisphere are connected to form spherical cavity, described episphere is provided with control panel, camera module and admission port, described lower semisphere is provided with air outlet, ducted fan is provided with in described air outlet, described electricity is adjusted, main circuit board and battery are placed in described spherical cavity by circuit supporting erection, described electricity mediation main circuit board is connected with battery, described camera module is connected with main circuit board, described electricity is adjusted and is connected with ducted fan.
The bottom of described lower semisphere is provided with four air outlets, is equipped with duct external member in each air outlet, is provided with ducted fan in each duct external member, and described ducted fan is connected with lower semisphere by duct connecting element.
The upper end of described lower semisphere has notch, the outer rim of described circuit supporting frame is provided with multiple projection, described circuit supporting frame is by the notch clamping on multiple projection and lower semisphere and compressed by episphere, the upper and lower side of described circuit supporting frame is connected to main circuit board and adapter plate by pillar stiffener, and the upper and lower side of described adapter plate is separately installed with electricity mediation battery.
The upper and lower side of described adapter plate is equipped with counterweight threaded column, and described counterweight threaded column has been threaded clump weight.The upper and lower side of described adapter plate is all arranged with two counterweight threaded column.Described pillar stiffener is copper post.
The top of described episphere is provided with a groove and two circular holes, is provided with control panel in described groove, is equipped with a camera module in described two circular holes.Described control panel is provided with power light, source switch and charging inlet.
The junction groove of described episphere and lower semisphere coordinates with boss, and in the hole that lower semisphere upper end surrounding is provided with, be provided with swivel nut, at described swivel nut place, episphere and lower semisphere link together by screw.
Advantage of the present invention and good effect are:
1. whole electronic devices and components of the present invention and structure all protect the inside at spherical shell, are subject to good protection.
2. the present invention itself is spheroid, does not have wire and moving member to expose outside, is not easily tangled by obstacle or hangs up wire, enabling robot adapt to rugged environment.
3. the present invention adopts ducted fan to advance the isolated screw propeller of more same diameter, can produce larger thrust.Simultaneously because the ring of duct draws together effect, its compact conformation, aerodynamics noise are low, safety in utilization good.
4. motion control of the present invention, video acquisition transmits all by controlled in wireless, convenient operation and control.Returned data can process on computers.
5. inside of the present invention is provided with balance weight mechanism, can regulate the center-of-gravity position of aircraft.
Accompanying drawing explanation
Fig. 1 is that the present invention installs the outside schematic diagram of state;
Fig. 2 is the cross-sectional schematic that the present invention installs state;
Fig. 3 is the schematical top view that the present invention installs state;
Fig. 4 is the bottom schematic view that the present invention installs state;
Fig. 5 is partial internal structure schematic diagram of the present invention;
Fig. 6 is that ducted fan of the present invention fixes schematic diagram;
Fig. 7 is that control panel of the present invention and camera module fix schematic diagram.
Wherein: 1 is episphere, 2 is control panel, 3 is camera module, 4 is admission port, 5 is screw, 6 is air outlet, 7 is lower semisphere, 8 is duct external member, 9 is ducted fan, 10 fix screws, 11 duct connecting elements, 12 is indicator lamp, 13 is switch, 14 is screw, 15 is charging inlet, 16 electricity are adjusted, 17 is counterweight stud, 18 is clump weight, 19 is main circuit board, 20 is circuit support, 21 is pillar stiffener, 22 is that battery electricity adjusts adapter plate, 23 is that electricity adjusts connecting element, 24 is battery, 25 is battery connecting element, 26 is camera module fixed plate, 27 is screw, 28 is charging inlet connecting element, 29 is control panel fixed plate.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As Figure 1-5, the present invention includes episphere 1, control panel 2, camera module 3, lower semisphere 7, ducted fan 9, electricity tune 16, main circuit board 19, circuit supporting frame 20 and battery 24, wherein episphere 1 and lower semisphere 7 are connected to form spherical cavity, the junction groove of described episphere 1 and lower semisphere 7 coordinates with boss, in the hole that lower semisphere 7 upper end surrounding is provided with, steel-wire screw-socket is installed, at described steel-wire screw-socket place screw 5, episphere 1 and lower semisphere 7 is linked together.The top of described episphere 1 is provided with control panel 2, camera module 3 and admission port 4, and the bottom of described lower semisphere 7 is provided with air outlet 6, is provided with ducted fan 9 in described air outlet 6.Described electricity tune 16, main circuit board 19 and battery 24 are arranged in described spherical cavity by circuit supporting frame 20, described electricity adjusts 16 to be connected with battery 24 with main circuit board 19, described camera module 3 is connected with main circuit board 19, and described electricity adjusts 16 to be connected with ducted fan 9.
The upper end of described lower semisphere 7 has notch, and the outer rim of described circuit supporting frame 20 is provided with multiple projection, described circuit supporting frame 20 by multiple projection corresponding with on lower semisphere 7 notch clamping and be fixed by episphere 1.The upper and lower side of described circuit supporting frame 20 is connected with main circuit board 19 and adapter plate 22 respectively by pillar stiffener 21, and adopt pillar stiffener 21 to be beneficial to and dispel the heat between the two, described pillar stiffener 21 adopts copper post.The upper and lower side of described adapter plate 22 by connecting element 25 adjust with electricity respectively 16 and battery 24 be connected.The upper and lower side of described adapter plate 22 is all arranged with two counterweight threaded column 17, and described counterweight threaded column 17 has been threaded clump weight 18, can regulate the position of clump weight 18 in counterweight threaded column 17, regulate the center of gravity of aircraft.
As shown in Figure 6, the bottom of described lower semisphere 7 is provided with four air outlets, is equipped with duct external member 8 in each air outlet, is provided with ducted fan 9 in each duct external member 8, and the duct connecting element 11 on described ducted fan 9 is connected with lower semisphere 7 by fix screw 10.
As shown in Figure 7, the top of described episphere 1 is provided with a groove and two circular holes, be provided with control panel 2 in described groove, described control panel 2 is provided with power light 12, source switch 13 and charging inlet 15, and charging inlet 15 is connected with control panel 2 with screw by fixed plate 28.A camera module 3, two camera modules 3 are fixed on episphere 1 top by camera fixed plate 26 and screw is respectively equipped with in described two circular holes.
Principle of work of the present invention is:
Described battery 24 adjusts 16 power supplies to main circuit board 19 and electricity, main circuit board 19 has radio receiving transmitting module be used for communicating with the external world, realizes the remote control to aircraft.Electricity controls the rotating speed of ducted fan 9 after adjusting 16 to receive the speed-regulating signal that sends of main circuit boards 19, the control that can realize position of aircraft, attitude and speed by regulating the rotating speed of four ducted fans 9.The graphicinformation that camera module 3 gathers sends via the wireless module on main circuit board 19, and upper computer also by wireless receiving graphicinformation is shown and processes in real time.
Claims (9)
1. a spherical aircraft, it is characterized in that: comprise episphere (1), control panel (2), camera module (3), lower semisphere (7), ducted fan (9), electricity adjusts (16), main circuit board (19), circuit supporting frame (20) and battery (24), wherein episphere (1) and lower semisphere (7) are connected to form spherical cavity, described episphere (1) is provided with control panel (2), camera module (3) and admission port (4), described lower semisphere (7) is provided with air outlet (6), ducted fan (9) is provided with in described air outlet (6), described electricity adjusts (16), main circuit board (19) and battery (24) are arranged in described spherical cavity by circuit supporting frame (20), described electricity adjusts (16) to be connected with battery (24) with main circuit board (19), described camera module (3) is connected with main circuit board (19), described electricity adjusts (16) to be connected with ducted fan (9).
2. by spherical aircraft according to claim 1, it is characterized in that: the bottom of described lower semisphere (7) is provided with four air outlets, duct external member (8) is equipped with in each air outlet, be provided with ducted fan (9) in each duct external member (8), described ducted fan (9) is connected with lower semisphere (7) by duct connecting element (11).
3. by spherical aircraft according to claim 1, it is characterized in that: the upper end of described lower semisphere (7) has notch, the outer rim of described circuit supporting frame (20) is provided with multiple projection, described circuit supporting frame (20) is by the notch clamping in multiple projection and lower semisphere (7), and compressed by episphere (1), described circuit supporting frame (20) upper, downside is connected to main circuit board (19) and adapter plate (22) by pillar stiffener (21), described adapter plate (22) upper, downside is separately installed with electricity and adjusts (16) and battery (24).
4. by spherical aircraft according to claim 3, it is characterized in that: the upper and lower side of described adapter plate (22) is equipped with counterweight threaded column (17), described counterweight threaded column (17) has been threaded clump weight (18).
5., by spherical aircraft according to claim 4, it is characterized in that: the upper and lower side of described adapter plate (22) is all arranged with two counterweight threaded column (17).
6., by spherical aircraft according to claim 3, it is characterized in that: described pillar stiffener (21) is copper post.
7. by spherical aircraft according to claim 1, it is characterized in that: the top of described episphere (1) is provided with a groove and two circular holes, be provided with control panel (2) in described groove, in described two circular holes, be equipped with a camera module (3).
8., by spherical aircraft according to claim 7, it is characterized in that: described control panel (2) is provided with power light (12), source switch (13) and charging inlet (15).
9. by spherical aircraft according to claim 1, it is characterized in that: the junction groove of described episphere (1) and lower semisphere (7) coordinates with boss, in the hole that lower semisphere (7) upper end surrounding is provided with, swivel nut is installed, described swivel nut place screw (5), episphere (1) and lower semisphere (7) is linked together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310714821.7A CN104724286B (en) | 2013-12-20 | 2013-12-20 | A kind of spherical aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310714821.7A CN104724286B (en) | 2013-12-20 | 2013-12-20 | A kind of spherical aircraft |
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| Publication Number | Publication Date |
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| CN104724286A true CN104724286A (en) | 2015-06-24 |
| CN104724286B CN104724286B (en) | 2016-08-17 |
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| CN201310714821.7A Active CN104724286B (en) | 2013-12-20 | 2013-12-20 | A kind of spherical aircraft |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105539808A (en) * | 2016-02-11 | 2016-05-04 | 河南广度超硬材料有限公司 | Tumbler type bouncing foam safety air vehicle |
| CN105775144A (en) * | 2016-05-23 | 2016-07-20 | 安徽工程大学 | Mini spherical aircraft and working method thereof |
| CN105966610A (en) * | 2016-06-29 | 2016-09-28 | 南京信息工程大学 | Centre-of-gravity shift and yaw single-rotor helicopter |
| CN106114881A (en) * | 2016-06-28 | 2016-11-16 | 深圳市元征科技股份有限公司 | Unmanned plane |
| CN106927043A (en) * | 2015-12-31 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of octahedra aircraft |
| CN107539466A (en) * | 2016-06-29 | 2018-01-05 | 北京末元科技有限公司 | A kind of unmanned plane for pan-shot |
| CN107933934A (en) * | 2017-11-17 | 2018-04-20 | 深圳市科比特航空科技有限公司 | Unmanned plane rotor power device with refrigerating function |
| CN108515821A (en) * | 2018-04-25 | 2018-09-11 | 丁云广 | A kind of internal rotating formula ball shape robot |
| CN108583177A (en) * | 2018-04-25 | 2018-09-28 | 丁云广 | A kind of aeroamphibious three based on gravity's center control are dwelt ball shape robot |
| CN110127069A (en) * | 2019-04-17 | 2019-08-16 | 深圳市一刻创意电子有限公司 | A kind of plane-hop device with image processing function |
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| CN102358421A (en) * | 2011-09-06 | 2012-02-22 | 北京邮电大学 | Flyable spherical robot |
| CN102963526A (en) * | 2012-09-03 | 2013-03-13 | 张明明 | Cycloidal propeller aerial vehicle |
| DE202013003774U1 (en) * | 2013-04-22 | 2013-05-16 | Awis Gmbh | Flying inspection platform, preferably for the optical and mechanical inspection of rotor blades on wind turbines. |
| CN203612208U (en) * | 2013-12-20 | 2014-05-28 | 中国科学院沈阳自动化研究所 | Spherical aircraft |
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2013
- 2013-12-20 CN CN201310714821.7A patent/CN104724286B/en active Active
Patent Citations (5)
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| JP2010052713A (en) * | 2009-03-05 | 2010-03-11 | Technical Research & Development Institute Ministry Of Defence | Globular aircraft and tail sitter machine |
| CN102358421A (en) * | 2011-09-06 | 2012-02-22 | 北京邮电大学 | Flyable spherical robot |
| CN102963526A (en) * | 2012-09-03 | 2013-03-13 | 张明明 | Cycloidal propeller aerial vehicle |
| DE202013003774U1 (en) * | 2013-04-22 | 2013-05-16 | Awis Gmbh | Flying inspection platform, preferably for the optical and mechanical inspection of rotor blades on wind turbines. |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106927043A (en) * | 2015-12-31 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of octahedra aircraft |
| CN106927043B (en) * | 2015-12-31 | 2023-04-25 | 中国科学院沈阳自动化研究所 | Aircraft |
| CN105539808A (en) * | 2016-02-11 | 2016-05-04 | 河南广度超硬材料有限公司 | Tumbler type bouncing foam safety air vehicle |
| CN105775144A (en) * | 2016-05-23 | 2016-07-20 | 安徽工程大学 | Mini spherical aircraft and working method thereof |
| CN106114881A (en) * | 2016-06-28 | 2016-11-16 | 深圳市元征科技股份有限公司 | Unmanned plane |
| CN106114881B (en) * | 2016-06-28 | 2019-04-19 | 深圳市元征科技股份有限公司 | Unmanned plane |
| CN105966610A (en) * | 2016-06-29 | 2016-09-28 | 南京信息工程大学 | Centre-of-gravity shift and yaw single-rotor helicopter |
| CN107539466A (en) * | 2016-06-29 | 2018-01-05 | 北京末元科技有限公司 | A kind of unmanned plane for pan-shot |
| CN107933934A (en) * | 2017-11-17 | 2018-04-20 | 深圳市科比特航空科技有限公司 | Unmanned plane rotor power device with refrigerating function |
| CN108515821A (en) * | 2018-04-25 | 2018-09-11 | 丁云广 | A kind of internal rotating formula ball shape robot |
| CN108583177A (en) * | 2018-04-25 | 2018-09-28 | 丁云广 | A kind of aeroamphibious three based on gravity's center control are dwelt ball shape robot |
| CN110127069A (en) * | 2019-04-17 | 2019-08-16 | 深圳市一刻创意电子有限公司 | A kind of plane-hop device with image processing function |
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| Publication number | Publication date |
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| CN104724286B (en) | 2016-08-17 |
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