CN105109675A - Passive stability-enhanced deformable undercarriage air-ground flying robot - Google Patents
Passive stability-enhanced deformable undercarriage air-ground flying robot Download PDFInfo
- Publication number
- CN105109675A CN105109675A CN201510561416.5A CN201510561416A CN105109675A CN 105109675 A CN105109675 A CN 105109675A CN 201510561416 A CN201510561416 A CN 201510561416A CN 105109675 A CN105109675 A CN 105109675A
- Authority
- CN
- China
- Prior art keywords
- deformable
- robot
- steady
- passive
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000001965 increasing effect Effects 0.000 claims description 27
- 238000012216 screening Methods 0.000 claims description 13
- 238000005259 measurement Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 7
- 239000012636 effector Substances 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 230000004224 protection Effects 0.000 abstract description 7
- 230000035899 viability Effects 0.000 abstract description 5
- 230000001012 protector Effects 0.000 abstract description 3
- 239000003623 enhancer Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000005728 strengthening Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Abstract
The invention provides a passive stability-enhanced deformable undercarriage air-ground flying robot which comprises a body, deformable undercarriage devices, wing fuselage protection frames, rotor devices, an electromagnetic shielding cabin and an automatic pilot, wherein a general mechanical extension interface with one rotational degree of freedom is installed at the upper part of the body, the interface is provided with a CAN bus connection port, and end work modules can be connected according to different tasks; the deformable undercarriage devices are installed on the body, and diversion trenches are arranged on the deformable undercarriage devices so as to provide passive stability-enhanced airflow for the robot provided by the invention; the wing fuselage protection frames are installed at the tails of the deformable undercarriage devices; the rotor devices are installed on the body; the electromagnetic shielding cabin is installed at the lower part of the body; the automatic pilot is installed in the electromagnetic shielding cabin; and the automatic pilot respectively drives the deformable undercarriage devices to realize switching between a flying mode and a ground mode of the robot provided by the invention. According to the invention, propeller protectors, undercarriages and passive stability enhancers are integrated in the deformable undercarriage devices, so that the self-weight is reduced, and the viability of power components and effective loads in complex environments is improved.
Description
Technical field
The present invention relates to mobile robot field, specifically empty flying robot field, the multi-modal land of variable alighting gear under a kind of complex environment.
Background technology
At present, many applications such as military surveillance, city security protection, disaster assistance all require that flying robot has very strong viability and antijamming capability under complicated rugged environment.Alighting gear and screw propeller protector effectively can improve the adaptive capacity to environment of robot, but the protectiveness wretched insufficiency of great majority design at present to robot, the two structure be separated also cannot ensure high usage and the structural compactness of load.Such as: conventional many rotor flying robots be difficult in the face of because of handle error or high wind disturb cause moment unstability and overload the problem such as to land, and the landing gear structure of current many rotor flying robots is simple, intensity difference, under more than 0.5g overload situations, effectively cannot ensure that alighting gear does not damage, also just cannot carry out enough protections to bottom capacity weight; Many rotor flying robots with parachute face the restriction that parachute needs harsh expansion highly to ensure, only can alleviate the damaged condition because of the born flying robot of fault under the limited conditions.Simultaneously, fixing alighting gear is for capacity weight, comprehensive work as aerial camera has certain visual field interference effect, and variable alighting gear function mainly concentrates on packing up and expansion of alighting gear on the market at present, causes unnecessary non-effective load to account for the lifting of gross weight percentum.On the other hand, larger capacity weight means that the size of screw propeller will be very large, also most important to the bidirectional protective of screw propeller in complex environment flight course.In addition, under complicated electromagnetic conditions, flying robot's core apparatus is vulnerable to external interference and causes adverse effect to tasks carrying.Therefore; structure intensifier, core electron component electromagnetic fender guard, multitask expanded function, screw propeller protector, alighting gear and passive autostabilizer are integrated in the variable alighting gear flying robot of many rotors; robot is worked more stability and high efficiency and reduces the extraneous two-way probability of damage for robot power operation parts, simultaneously reduction simple function assembly and be arranged on the percentum increase that the non-effective load that robot causes accounts for gross weight simultaneously, there is important theory significance and using value.
Summary of the invention
For prior art defect, the present invention aims to provide and a kind ofly integrates power part protection, core electron component protection, has the variable alighting gear flying robot that multitask expanded function, the passive increasing of body are steady, strengthen structural strength.
For achieving the above object, the technical solution used in the present invention is: the empty flying robot in a kind of passive increasing steady deformable alighting gear land, comprises body, variable landing gear, wing body retaining frame, rotor driver, electromagnetic screening storehouse and autopilot;
Described body comprises body plate and lower body plate, described upper body plate is connected by multiple wing arm support with lower body plate, upper body plate is installed 1 rotary freedom universal machine expansion interface, described lower body plate installs electromagnetic screening storehouse, in described electromagnetic screening storehouse, autopilot is installed;
Described variable landing gear comprises the supporter that contacts to earth, lifting rod, support arm, load fixed support, strut bar and torque motor, the described supporter that contacts to earth is provided with the steady flame diversion trough of multiple passive increasings, both sides, supporter termination of contacting to earth are hinged by the wing arm support of connecting arm and body, described lifting rod one end is hinged on contacts to earth on supporter, the other end by support arm and load fixed support hinged, described load fixed support is arranged on the lower body plate of body, described strut bar bottom-hinged is on support arm, its top is hinged between two connecting arms, described torque motor is arranged on load fixed support side,
Described wing body retaining frame is arranged on the end tail of the supporter that contacts to earth respectively;
Described rotor driver is arranged on the wing arm support of body respectively;
Described electromagnetic screening storehouse is arranged on lower body plate;
Described autopilot is arranged in electromagnetic screening storehouse, drives 1 rotary freedom universal machine expansion interface, variable landing gear and rotor driver respectively by autopilot.
Preferably, described rotor driver comprises pipe link, bracing frame, motor and propeller, and described pipe link one end is arranged on wing arm support, and its other end is provided with bracing frame, and described motor is provided with screw propeller to mounted motor on support frame as described above.
Preferably, described wing body retaining frame is semicircle.
Preferably, described 1 rotary freedom universal machine expansion interface has CAN interface, can connect the terminus module of difference in functionality.
Preferably, described variable landing gear is set to four, and four variable landing gears and body are X-shaped.
Preferably, described variable landing gear is set to two, and two variable landing gears and body are I shape.
Preferably, the steady flame diversion trough of described passive increasing is X-shaped groove.
Preferably, described autopilot comprises power module, central processing unit and the data radio station be connected with middle processing unit respectively, figure conducts electricity platform, remote control receiver, GPS module, three-axis gyroscope, triaxial accelerometer, three-axle magnetic field meter, barometric altimeter, ultrasonic transduter, load joint motor actuator, screw propeller motor driver, general purpose interface actuator and general purpose interface bus module;
Described data radio station is used for the running statees such as the position of robot, speed to be wirelessly passed to remote ground control station;
Described figure conduct electricity platform for by robot Real-time Collection to graphicinformation be wirelessly passed to remote ground control station;
The telecommand that described remote control receiver sends for receiving remote manipulator;
Described GPS module is used for the geographic coordinate information of Real-time Obtaining robot;
Described three-axis gyroscope is used for three rotating rate of shaft of robot measurement;
Described triaxial accelerometer is used for the 3-axis acceleration of robot measurement;
Described three-axle magnetic field meter is for measuring the three axle components of earth magnetism on robot;
Described barometric altimeter is for the air pressure residing for robot measurement and height;
Described ultrasonic transduter is used for robot measurement relative to the distance between ground or obstacle;
Described load joint motor actuator is for driving the running of rotary joint;
Described screw propeller motor driver is used for drive motor;
Described general purpose interface actuator is for driving the running of general purpose interface end-effector;
Described general purpose interface bus module is used for type identification and the data interaction of end-effector.
Adopt technique scheme, the present invention has following beneficial effect:
(1) power part, effectively carry and airframe components viability are strong, good environmental adaptability.Be integrated with power part fender guard, can at utmost protect power part not to be damaged under external interference or maloperation situation.The structure of variable alighting gear can the viability of enhanced machine body component and durability degree when strengthening body rigidity.Electromagnetic screening storehouse effectively can shield outside electromagnetic interference and make flying robot's electric system safe and stable operation, thus meets the viability requirement under various complicated harsh environment.
(2) compact conformation, good stability, mobility strong.Model of flight stability is high, mobility strong to adopt many rotor structures to make; The body of strengthening and alighting gear are convenient to adopt large oar to obtain larger load and manoevreability under the same volume.Flying robot's alighting gear when ground mode does not provide passive increasing steady air-flow, can ensure at/aerodynamic response the agility of landing phases robot that takes off; Under offline mode, alighting gear provides passive stabilization air-flow can improve the organism stability of flying robot under high maneuver model.
(3) modularization multiple task ability.Interface Terminal can carry out external device lift-launch for different work form, thus meets the multiple-task requirement under various complex environment.
Accompanying drawing explanation
Fig. 1 is the embodiment of the present invention one offline mode schematic diagram
Fig. 2 is the embodiment of the present invention one ground mode schematic diagram;
Fig. 3 is the variable landing gear structural blast figure of the embodiment of the present invention one;
Fig. 4 is the body construction schematic diagram of the embodiment of the present invention one
Fig. 5 is the embodiment of the present invention two offline mode schematic diagram
Fig. 6 is the embodiment of the present invention two ground mode schematic diagram;
Fig. 7 is the variable landing gear structural blast figure of the embodiment of the present invention two;
Fig. 8 is the body construction schematic diagram of the embodiment of the present invention two;
Fig. 9 is autopilot structured flowchart;
Detailed description of the invention
For making object of the present invention, technical scheme and feature more clear, below in conjunction with two preferred specific embodiments, and with reference to accompanying drawing, the present invention is described in more detail.
As Figure 1-Figure 4, the structural representation of the embodiment of the present invention one, comprises body 1, variable landing gear 2, wing body retaining frame 3 and rotor driver 4, body 1 comprises body plate 11 and lower body plate 12, upper body plate 11 is connected by multiple wing arm support 13 with lower body plate 12, upper body plate 11 is installed 1 rotary freedom universal machine expansion interface 20,1 rotary freedom universal machine expansion interface 20 has CAN interface, can connect the terminus module of difference in functionality, variable landing gear 2 comprises the supporter 21 that contacts to earth, lifting rod 22, support arm 23, load fixed support 24, strut bar 25 and torque motor 26, both sides, supporter 21 termination of contacting to earth are hinged with the wing arm support 13 of body by connecting arm 27, lifting rod 22 one end is hinged on contacts to earth on supporter 21, the other end is hinged by support arm 23 and load fixed support 24, load fixed support 24 is arranged on the lower body plate 12 of body, strut bar 25 bottom-hinged is on support arm 23, its top is hinged between two connecting arms 27, torque motor 26 is arranged on load fixed support 24 side, connecting arm 27 can carry out the rotation of certain angle around wing arm support 13, and wing arm support 13 left and right sides is provided with adjustable fixed knob, the maximum anglec of rotation of connecting arm 27 can be set, wing body retaining frame 3 is arranged on respectively contacts to earth on the end tail of supporter 408, rotor driver 4 is arranged on the wing arm support 13 of body respectively, rotor driver 4 comprises pipe link 41, bracing frame 42, motor 43 and propeller 44, pipe link 41 one end is arranged on wing arm support 13, its other end is provided with bracing frame 42, mounted motor 43 on bracing frame 42, motor 43 is high-power brushless DC machine, motor 43 is provided with screw propeller 44, rotor driver 4 and variable landing gear 2 are set to four respectively, and body 1 is provided with 4 wing arm supports 13, and rotor driver 4 and variable landing gear 2 share the variable landing gear 2 of a wing arm support 13, four with body 1 in X-shaped, the supporter 21 that contacts to earth is provided with the steady flame diversion trough 211 of multiple passive increasing, and flame diversion trough 211 is X-shaped groove, lower body plate 12 installs electromagnetic screening storehouse 5, and install autopilot 6 in electromagnetic screening storehouse 5, autopilot 6 drives 1 rotary freedom universal machine expansion interface 20, rotor driver 4 and variable landing gear 2 respectively.
The principle of work of variable landing gear 2 is: drive support arm 23 to rotate by torque motor 26, support arm 23 drives strut bar 25 and lifting rod 22, strut bar 25, support arm 23 drive connecting arm 27, and connecting arm 27 and lifting rod 22 combined action are in the supporter 21 that contacts to earth.Thus, variable landing gear 2 forms a stable multi-connecting-rod mechanism, concerted action under the driving of torque motor 26.
The concrete distortion switching process of embodiment one is, when offline mode, variable landing gear 2 is under the drive of torque motor 26, and support arm 23 and body 1 upper surface are parallel position relationship; Now, contact to earth the passive increasing of supporter 21 steady flame diversion trough 211 water conservancy diversion direction in the plane axially determined by body 1 vertical direction and pipe link 41, and axially 30 ° of directions are parallel to be partial to pipe link 41 with body 1 vertical direction, the steady aerodynamic force of passive increasing providing efficiency maximum.Wing body retaining frame 3 is now screw propeller 44 protected mode.When ground mode, torque motor 26 drives support arm 23 make to contact to earth supporter 21 end tail and body 1 upper surface to be parallel relation.The passive increasing of supporter 21 steady flame diversion trough 211 water conservancy diversion direction of now contacting to earth is parallel with body 1 vertical direction, does not provide passive increasing steady aerodynamic force.In enforcement one by offline mode earthward mode deformation process, the steady aerodynamic force of passive increasing reduces gradually, and vice versa.
As viewed in figures 5-8; embodiments of the invention two structural representation; body 1 comprises six wing arm supports 13; variable landing gear 2 is set to two; two variable landing gears 2 are I shape with body 1; on remaining four wing arm supports, 13 install rotor driver 4 respectively, and the end tail of the supporter 21 that contacts to earth of variable landing gear 2 installs two wing body retaining frames 3, and each wing body retaining frame 3 protects two rotor driver 4.
The concrete distortion switching process implementing two is: when offline mode, and variable landing gear 2 is under the drive of torque motor 26, and support arm 23 and body 1 upper surface are parallel position relationship; Now, contact to earth the passive increasing of supporter 21 steady flame diversion trough 211 water conservancy diversion direction in the plane axially determined by body 1 vertical direction and pipe link 41, and axially 30 ° of directions are parallel to be partial to pipe link 41 with body 1 vertical direction, the steady aerodynamic force of passive increasing providing efficiency maximum.Wing body retaining frame 3 is now screw propeller 44 protected mode; When ground mode, torque motor 26 drives support arm 23 make to contact to earth supporter 21 end rear and body 1 upper surface to be parallel relation.The passive increasing of supporter 21 steady flame diversion trough 211 water conservancy diversion direction of now contacting to earth is parallel with body 1 vertical direction, does not provide passive increasing steady aerodynamic force; In enforcement two by offline mode earthward mode deformation process, the steady aerodynamic force of passive increasing reduces gradually, and vice versa.
The orderly function of above robot each several part mechanism is all complete under the control of autopilot.Fig. 9 is the structured flowchart of autopilot of the present invention, and described autopilot 6 comprises power module 61, central processing unit 62 and the data radio station 63 be connected with middle processing unit respectively, figure conducts electricity platform 64, remote control receiver 65, GPS module 66, three-axis gyroscope 67, triaxial accelerometer 68, three-axle magnetic field meter 69, barometric altimeter 70, ultrasonic transduter 71, load joint motor actuator 72, screw propeller motor driver 73, general purpose interface actuator 74 and general purpose interface bus module 75; Power module 61 is powered for whole autopilot system; Central processing unit 62 is cores of whole autopilot 6, in order to run motion planning and robot control algorithm, handle machine people task, switchover operation mode etc.; Data radio station 63 is for being wirelessly passed to remote ground control station by running statees such as the position of robot, speed; Figure conduct electricity platform 64 for by robot Real-time Collection to graphicinformation be wirelessly passed to remote ground control station; The telecommand that remote control receiver 65 sends for receiving remote manipulator; GPS module 66 is for the geographic coordinate information of Real-time Obtaining robot; Three-axis gyroscope 67 is for three rotating rate of shaft of robot measurement; Triaxial accelerometer 68 is for the 3-axis acceleration of robot measurement; Three-axle magnetic field meter 69 is for measuring the three axle components of earth magnetism on robot; Barometric altimeter 70 is for the air pressure residing for robot measurement and height; Ultrasonic transduter 71 for robot measurement relative to the distance between ground or obstacle; Load joint motor actuator 72 is for driving the running of rotary joint; Screw propeller motor driver 73 is for drive motor 43; General purpose interface actuator 74 is for driving the running of general purpose interface end-effector; General purpose interface bus module 75 is for the type identification of end-effector and data interaction.
Above-described specific embodiment, further describes object of the present invention, technical scheme and feature, and institute it should be understood that and the foregoing is only specific embodiments of the invention, is not limited to the present invention.Within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. the empty flying robot in passive increasing steady deformable alighting gear land, is characterized in that: comprise body (1), variable landing gear (2), wing body retaining frame (3), rotor driver (4), electromagnetic screening storehouse (5) and autopilot (6);
Described body (1) comprises body plate (11) and lower body plate (12), described upper body plate (11) is connected by multiple wing arm support (13) with lower body plate (12), upper installation 1 rotary freedom universal machine expansion interface (20) of upper body plate (101), described lower body plate (12) is upper installs electromagnetic screening storehouse (5), installs autopilot (6) in described electromagnetic screening storehouse (5);
Described variable landing gear (2) comprises the supporter that contacts to earth (21), lifting rod (22), support arm (23), load fixed support (24), strut bar (25) and torque motor (26), the described supporter that contacts to earth (21) is provided with the steady flame diversion trough of multiple passive increasings (211), supporter (21) both sides, termination of contacting to earth are hinged by the wing arm support (13) of connecting arm (27) and body, described lifting rod (22) one end is hinged on the supporter that contacts to earth (21), the other end is hinged by support arm (23) and load fixed support (24), described load fixed support (24) is arranged on the lower body plate (12) of body, described strut bar (25) bottom-hinged is on support arm (23), its top is hinged between two connecting arms (27), described torque motor (26) is arranged on load fixed support (24) side,
Described wing body retaining frame (3) is arranged on the end tail of the supporter that contacts to earth (408) respectively;
Described rotor driver (4) is arranged on the wing arm support (13) of body respectively;
Described electromagnetic screening storehouse (5) is arranged on lower body plate (12);
Described autopilot (6) is arranged in electromagnetic screening storehouse (5), drives 1 rotary freedom universal machine expansion interface (20), variable landing gear (2) and rotor driver (4) respectively by autopilot (6).
2. the empty flying robot in the passive increasing of one according to claim 1 steady deformable alighting gear land, it is characterized in that: described rotor driver (4) comprises pipe link (41), bracing frame (42), motor (43) and propeller (44), described pipe link (41) one end is arranged on wing arm support (13), its other end is provided with bracing frame (42), the upper mounted motor (43) of support frame as described above (42), described motor (43) is provided with screw propeller (44).
3. the empty flying robot in the passive increasing of one according to claim 1 steady deformable alighting gear land, is characterized in that: described wing body retaining frame (3) is for semicircle.
4. the empty flying robot in the passive increasing of one according to claim 1 steady deformable alighting gear land, it is characterized in that: described 1 rotary freedom universal machine expansion interface (20) has CAN interface, can connect the terminus module of difference in functionality.
5. the empty flying robot in the passive increasing of one according to claim 1 steady deformable alighting gear land, it is characterized in that: described variable landing gear (2) is set to four, four variable landing gears (2) and body (1) are in X-shaped.
6. the empty flying robot in the passive increasing of one according to claim 1 steady deformable alighting gear land, it is characterized in that: described variable landing gear (2) is set to two, two variable landing gears (2) and body (1) are in I shape.
7. the empty flying robot in the passive increasing of one according to claim 1 steady deformable alighting gear land, is characterized in that: the steady flame diversion trough of described passive increasing (211) is X-shaped groove.
8. the empty flying robot in the passive increasing of one according to claim 1 steady deformable alighting gear land, it is characterized in that: described autopilot (6) comprises power module (61), central processing unit (62) and the data radio station (63) be connected with middle processing unit respectively, figure conducts electricity platform (64), remote control receiver (65), GPS module (66), three-axis gyroscope (67), triaxial accelerometer (68), three-axle magnetic field meter (69), barometric altimeter (70), ultrasonic transduter (71), load joint motor actuator (72), screw propeller motor driver (73), general purpose interface actuator (74) and general purpose interface bus module (75),
Described data radio station (63) is for being wirelessly passed to remote ground control station by running statees such as the position of robot, speed;
Described figure conduct electricity platform (64) for by robot Real-time Collection to graphicinformation be wirelessly passed to remote ground control station;
The telecommand that described remote control receiver (65) sends for receiving remote manipulator;
Described GPS module (66) is for the geographic coordinate information of Real-time Obtaining robot;
Described three-axis gyroscope (67) is for three rotating rate of shaft of robot measurement;
Described triaxial accelerometer (68) is for the 3-axis acceleration of robot measurement;
Described three-axle magnetic field meter (69) is for measuring the three axle components of earth magnetism on robot;
Described barometric altimeter (70) is for the air pressure residing for robot measurement and height;
Described ultrasonic transduter (71) for robot measurement relative to the distance between ground or obstacle;
Described load joint motor actuator (72) is for driving the running of rotary joint;
Described screw propeller motor driver (73) is for drive motor (43);
Described general purpose interface actuator (74) is for driving the running of general purpose interface end-effector;
Described general purpose interface bus module (75) is for the type identification of end-effector and data interaction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510561416.5A CN105109675B (en) | 2015-09-06 | 2015-09-06 | A kind of steady deformable undercarriage land sky flying robot of passive increasing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510561416.5A CN105109675B (en) | 2015-09-06 | 2015-09-06 | A kind of steady deformable undercarriage land sky flying robot of passive increasing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105109675A true CN105109675A (en) | 2015-12-02 |
| CN105109675B CN105109675B (en) | 2017-06-13 |
Family
ID=54657868
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510561416.5A Active CN105109675B (en) | 2015-09-06 | 2015-09-06 | A kind of steady deformable undercarriage land sky flying robot of passive increasing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105109675B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564647A (en) * | 2016-02-02 | 2016-05-11 | 向东 | Low-altitude aircraft |
| CN105818979A (en) * | 2016-06-07 | 2016-08-03 | 杨珊珊 | Unmanned aerial vehicle protection frame and unmanned aerial vehicle |
| CN106428534A (en) * | 2016-09-19 | 2017-02-22 | 浙江鸣远科技发展有限公司 | Landing gear device of unmanned aerial vehicle and unmanned aerial vehicle using same |
| WO2017219295A1 (en) * | 2016-06-22 | 2017-12-28 | SZ DJI Technology Co., Ltd. | Systems and methods of aircraft walking systems |
| CN108248820A (en) * | 2016-12-28 | 2018-07-06 | 昊翔电能运动科技(昆山)有限公司 | A kind of split type foldable machine paddle fender bracket and its application method |
| CN108945443A (en) * | 2018-08-27 | 2018-12-07 | 深圳新驱动力科技有限公司 | A kind of unmanned plane with shatter-resistant collision prevention function |
| CN108945393A (en) * | 2017-05-20 | 2018-12-07 | 珠海磐磊智能科技有限公司 | Multi-axis aircraft |
| CN108980567A (en) * | 2018-08-09 | 2018-12-11 | 安徽爱依特科技有限公司 | A kind of rotation protection support device and its air detection instrument |
| WO2019173988A1 (en) * | 2018-03-14 | 2019-09-19 | 深圳市大疆创新科技有限公司 | Rotating mechanism, landing gear and frame of unmanned aerial vehicle, and unmanned aerial vehicle |
| CN112644725A (en) * | 2020-12-18 | 2021-04-13 | 深圳市爱华勘测工程有限公司 | Surveying and mapping aircraft and management control method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2483881A (en) * | 2010-09-22 | 2012-03-28 | Thomas Irps | A dual-function landing gear and rotor protector for a UAV |
| CN203294310U (en) * | 2013-04-27 | 2013-11-20 | 湖北易瓦特科技有限公司 | Retractable undercarriage of unmanned aerial vehicle |
| US20140034776A1 (en) * | 2012-08-02 | 2014-02-06 | Neurosciences Research Foundation | Vehicle capable of in-air and on-ground mobility |
| CN104787319A (en) * | 2015-04-23 | 2015-07-22 | 张�杰 | Four-rotor aircraft provided with telescopic and foldable undercarriages |
-
2015
- 2015-09-06 CN CN201510561416.5A patent/CN105109675B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2483881A (en) * | 2010-09-22 | 2012-03-28 | Thomas Irps | A dual-function landing gear and rotor protector for a UAV |
| US20140034776A1 (en) * | 2012-08-02 | 2014-02-06 | Neurosciences Research Foundation | Vehicle capable of in-air and on-ground mobility |
| CN203294310U (en) * | 2013-04-27 | 2013-11-20 | 湖北易瓦特科技有限公司 | Retractable undercarriage of unmanned aerial vehicle |
| CN104787319A (en) * | 2015-04-23 | 2015-07-22 | 张�杰 | Four-rotor aircraft provided with telescopic and foldable undercarriages |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564647A (en) * | 2016-02-02 | 2016-05-11 | 向东 | Low-altitude aircraft |
| CN105818979A (en) * | 2016-06-07 | 2016-08-03 | 杨珊珊 | Unmanned aerial vehicle protection frame and unmanned aerial vehicle |
| CN109311533A (en) * | 2016-06-22 | 2019-02-05 | 深圳市大疆创新科技有限公司 | The system and method for aircraft running gear |
| WO2017219295A1 (en) * | 2016-06-22 | 2017-12-28 | SZ DJI Technology Co., Ltd. | Systems and methods of aircraft walking systems |
| US11124292B2 (en) | 2016-06-22 | 2021-09-21 | SZ DJI Technology Co., Ltd. | Systems and methods of aircraft walking systems |
| CN106428534A (en) * | 2016-09-19 | 2017-02-22 | 浙江鸣远科技发展有限公司 | Landing gear device of unmanned aerial vehicle and unmanned aerial vehicle using same |
| CN108248820A (en) * | 2016-12-28 | 2018-07-06 | 昊翔电能运动科技(昆山)有限公司 | A kind of split type foldable machine paddle fender bracket and its application method |
| CN108945393A (en) * | 2017-05-20 | 2018-12-07 | 珠海磐磊智能科技有限公司 | Multi-axis aircraft |
| CN108945393B (en) * | 2017-05-20 | 2022-05-13 | 珠海磐磊智能科技有限公司 | Multi-axis aircraft |
| WO2019173988A1 (en) * | 2018-03-14 | 2019-09-19 | 深圳市大疆创新科技有限公司 | Rotating mechanism, landing gear and frame of unmanned aerial vehicle, and unmanned aerial vehicle |
| CN110461709A (en) * | 2018-03-14 | 2019-11-15 | 深圳市大疆创新科技有限公司 | The undercarriage and rack, unmanned plane of a kind of rotating mechanism, unmanned plane |
| CN108980567A (en) * | 2018-08-09 | 2018-12-11 | 安徽爱依特科技有限公司 | A kind of rotation protection support device and its air detection instrument |
| CN108945443B (en) * | 2018-08-27 | 2021-08-06 | 深圳新驱动力科技有限公司 | Unmanned aerial vehicle with prevent falling crashproof function |
| CN108945443A (en) * | 2018-08-27 | 2018-12-07 | 深圳新驱动力科技有限公司 | A kind of unmanned plane with shatter-resistant collision prevention function |
| CN112644725A (en) * | 2020-12-18 | 2021-04-13 | 深圳市爱华勘测工程有限公司 | Surveying and mapping aircraft and management control method thereof |
| CN112644725B (en) * | 2020-12-18 | 2022-03-11 | 深圳市爱华勘测工程有限公司 | Surveying and mapping aircraft and management control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105109675B (en) | 2017-06-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105109675A (en) | Passive stability-enhanced deformable undercarriage air-ground flying robot | |
| AU2021221455B2 (en) | Suspended load stability systems and methods | |
| CN103318405B (en) | A kind of unmanned plane | |
| JP6344791B2 (en) | Aircraft with protection frame and automatic charger that can run on land (and over water if possible) | |
| CN201380964Y (en) | Multi-rotary-wing leg-wheel type multifunctional aerial robot | |
| CN103895860A (en) | Novel coaxial double-rotary double-degree-of-freedom eight-rotor-wing amphibious aircraft | |
| CN105607640B (en) | The Pose Control device of quadrotor | |
| CN102650851A (en) | Indoor multi-rotor flying robot test platform | |
| CN108706099B (en) | Tilting triaxial composite wing unmanned aerial vehicle and control method thereof | |
| CN203294310U (en) | Retractable undercarriage of unmanned aerial vehicle | |
| CN105857593A (en) | Four-rotor multipurpose flying robot | |
| CN206719342U (en) | A kind of crawler belt scout car based on unmanned aerial vehicle platform | |
| CN105346709A (en) | Multi-rotor craft capable of transforming combination | |
| Jiang et al. | Control platform design and experiment of a quadrotor | |
| CN207089656U (en) | A kind of vehicle-mounted police UAS | |
| CN105549610A (en) | Unmanned aerial vehicle control system | |
| CN210149097U (en) | Land-air cross-domain emergency unmanned aerial vehicle | |
| CN203528810U (en) | Unmanned plane | |
| CN206633742U (en) | Air-ground amphibious extraordinary combination flying robot's system | |
| CN205931255U (en) | Spherical unmanned aerial vehicle based on ARM | |
| CN205131661U (en) | Novel adherence unmanned aerial vehicle device | |
| CN212046750U (en) | Aircraft with vibration reduction function | |
| CN106585963A (en) | Aerial robot | |
| CN108583868A (en) | Formula ducted fan aircraft is imitated a kind ofly | |
| CN115503946A (en) | Double-arm type aerial operation unmanned aerial vehicle and operation method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |