CN106184704B - A kind of quadrotor suitable for rocket propulsion - Google Patents
A kind of quadrotor suitable for rocket propulsion Download PDFInfo
- Publication number
- CN106184704B CN106184704B CN201610641408.6A CN201610641408A CN106184704B CN 106184704 B CN106184704 B CN 106184704B CN 201610641408 A CN201610641408 A CN 201610641408A CN 106184704 B CN106184704 B CN 106184704B
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- CN
- China
- Prior art keywords
- quadrotor
- propellers
- hole
- spiral arm
- main shaft
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/15—Propulsion using combustion exhausts other than turbojets or turbofans, e.g. using rockets, ramjets, scramjets or pulse-reactors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
Abstract
The invention discloses a kind of quadrotor suitable for rocket propulsion, the quadrotor includes spiral arm, fuselage cradle, spiral arm expansion locked component, main shaft, bracket component and the brushless electric machine for driving propeller rotational.Spiral arm is located at the lower section of fuselage cradle, it is bracket component above fuselage cradle, four brushless electric machines are separately mounted on the annulus end of spiral arm and fuselage cradle, and propeller is installed on the output shaft of brushless electric machine, spiral arm deploys locked component and is fixedly mounted with fuselage cradle, and main shaft is arranged on spiral arm expansion locked component.After thrust is produced by rocket and is delivered to specified altitude assignment position, quadrotor and the rocket of carrying depart from quadrotor of the present invention, and automatically deploy to state of flight, perform the tasks such as shooting investigation.Because quadrotor is carried by rocket, have working depth high, area coverage is wide, reaches the features such as specified altitude assignment speed is fast.
Description
Technical field
The present invention relates to a kind of aircraft, more particularly, refers to a kind of four rotors by rocket delivery transmitting to high-altitude
Aircraft.
Background technology
Quadrotor is a kind of unmanned vehicle of VTOL, is provided by four propellers being symmetrically installed dynamic
Power, overcome self gravitation, carry out autonomous or remote control distributor, and certain load can be carried, video camera etc. can be carried and clapped
Take the photograph or other tasks.Have the characteristics that simple in construction, operation is flexible, load capacity is strong, there is important military and civilian to be worth.
Because quadrotor mechanical structure is simple, cost is cheap, is widely used in military or civilian occasion now, holds
The all types of tasks of row.Quadrotor is used as the energy of motor by the battery or fuel that carry, passes through four spiral shells
Lift caused by rotation oar overcomes the gravity of itself to fly.The power and carrying load-carrying ability that can be provided due to propeller are limited,
Its flight time was generally limited in 30 minutes, and the height of flight is generally below 500 meters, and flying radius is generally less than 1 km, no
Executable high-altitude oceangoing voyage journey task.
The content of the invention
To overcome the drawbacks described above of prior art and deficiency, the technical problems to be solved by the invention are to fly four rotors
Row device is combined with rocket, will make up this defect of the not executable high-altitude oceangoing voyage journey task of quadrotor.Devise simultaneously
A kind of lightweight, the new quadrotor for being capable of hand foldable and Automatic-expanding.
The technical scheme is that：Design a kind of rocket-borne quadrotor, including four rotor flyings
Device and the rocket for loading the quadrotor.Quadrotor is loaded in inside the radome fairing of rocket, is sent out by rocket
Penetrate lift-off.Reach specified altitude assignment after, quadrotor ejects from the radome fairing of rocket, individually perform cruise, shoot it is contour
Empty oceangoing voyage journey task.
Another technical scheme of the present invention is on above-mentioned basis, because rocket can be supplied to quadrotor
Space it is limited, the structure design of quadrotor is folding structure.When being put into the radome fairing inner space of rocket,
Quadrotor structure hand foldable, so as in rocket small space, when rocket is sent to specified altitude assignment, four rotors
Aircraft ejects from the radome fairing of rocket automatically, and by inside the radome fairing of rocket the self structure of folded state from
Dynamic expansion (mainly spiral arm deploys clockwise), thus completes transformation of the quadrotor by folded state to state of flight.
A kind of quadrotor suitable for rocket propulsion that the present invention designs, the quadrotor are loaded in rocket
Radome fairing inside, quadrotor is transmitted into by specified altitude assignment by rocket；
The quadrotor is provided with brushless electric machine (7A, 7B, 7C, 7D), propeller (6A, 6B, 6C, 6D), A is brushless electricity
A propellers (6A) are installed on the output shaft of machine (7A), B propellers (6B), C are installed on the output shaft of B brushless electric machines (7B)
C propellers (6C) are installed on the output shaft of brushless electric machine (7C), D propellers are installed on the output shaft of D brushless electric machines (7D)
(6D)；
It is characterized in that：Quadrotor also include spiral arm (1), fuselage cradle (2), spiral arm expansion locked component (3),
Main shaft (4) and bracket component (5)；
Bracket component (5) include first panel (51), second panel (52), the 3rd panel (53), starting stave (54),
Second riser (55) and multiple support columns；
BA support columns (51A), BB support columns (51B), BC support columns (51C), BD support columns (51D) are arranged on first panel
(51) between second panel (52)；
Support column CA support columns (52A), CB support columns (52B), CC support columns (52C), CD support columns (52D) are arranged on
Between two panels (52) and the 3rd panel (53)；
AA support columns (5A), AB support columns (5B), AC support columns (5C), AD support columns (5D) are arranged on second panel (52)
Between fuselage cradle (2)；
Starting stave (54) is arranged between BA support columns (51A) and BD support columns (51D)；Second riser (55) is arranged on
Between CA support columns (52A) and CD support columns (52D)；It is provided with space between first panel (51) and second panel (52)
Power module (50)；Control module (40) is installed in space between second panel (52) and the 3rd panel (53)；
The middle part of spiral arm (1) is provided with A through holes (1A), A semi arches raised (1A1) and B semi arches are raised (1A2)；The A semicircles
Arc projection (1A1) is fastened on A blocks (3F2) place of axle sleeve (3F)；B semi arches projection (1A2) is fastened on the B gears of axle sleeve (3F)
Block (3F3) place；The A through holes (1A) pass through for main shaft (4)；One end of spiral arm (1) is provided with the right side for being used for installing B propellers (6B)
Annulus end (1B), the other end of spiral arm (1) are provided with the left annulus end (1C) for being used for installing D propellers (6D)；
The left end of fuselage cradle (2) is provided with left support arm (2C), and the end of the left support arm (2C), which is provided with, to be used to install C propellers
The left annulus end (2C1) of (6C)；The right-hand member of fuselage cradle (2) is provided with right support arm (2B), and the end of the right support arm (2B), which is provided with, to be used
In the right annulus end (2B1) of installation A propellers (6A)；The fuselage body (2A) of fuselage cradle (2) is provided with and passed through for main shaft (4)
B through holes (2A1), for install spiral arm expansion locked component (3) cross-hole (2A2) and realize fuselage body (2A)
The lightening hole (2A3) of loss of weight；
Main shaft (4) is provided with torsional spring slot (4A), buckle slot (4B), the shaft shoulder (4C) and thread segment (4D), the torsion from top to bottom
Spring groove (4A) is used for the A crosspieces (3H1) for placing torsion spring (3H), and the buckle slot (4B) is used to place opening buckle (3G), described
Expansion fixed plate (3A) and spiral arm (1) are socketed with the shaft shoulder (4C), axle sleeve (3F) is threaded with the thread segment (4D)；
Spiral arm expansion locked component (3) includes expansion fixed plate (3A), U-shaped pressing plate (3B), snap (3C), the centre of gyration
Bar (3D), posture lock (3E), axle sleeve (3F), opening buckle (3G) and torsion spring (3H)；
Deploy fixed plate (3A) and be provided with rectangular through-hole (3A1), spindle through-hole (3A2), rectangular through-hole (3A1) is used to place
The long support arm (3E3) of posture lock (3E), spindle through-hole (3A2) pass through for main shaft (4)；Expansion fixed plate (3A) passes through screw
It is fixed on the lower section of fuselage cradle (2)；
One end of snap (3C) is adhesively fixed on the snap button (3E2) of posture lock (3E), the other end of snap (3C)
It is adhesively fixed in expansion fixed plate (3A)；Snap (3C) is placed in the snap through hole (2A5) of fuselage body (2A)；
After centre of gyration bar (3D) latches the through hole (3E1) on (3E) through posture, the cross-hole of fuselage cradle (2) is placed in
In the A directions groove (2A2A) of (2A2), and top is bonded with U-shaped pressing plate (3B)；
Posture lock (3E) is provided with long support arm (3E3), short support arm (3E4), snap button (3E2) and through hole (3E1)；It is described
Snap button (3E2) is used for snap (3C) one end that is adhesively fixed；The through hole (3E1) passes through for centre of gyration bar (3D)；It is described
Long support arm (3E3) is placed in the rectangular through-hole (3A1) of expansion fixed plate (3A), and the short support arm (3E4) is placed in U-shaped pressing plate (3B)
Snap arm groove (3B) 1 in；
Axle sleeve (3F) is provided with left hand thread through hole (3F1), A blocks (3F2) and B blocks (3F3), A blocks (3F2) and B
It is opening (3F4) between block (3F3)；The opening (3F4) is used to place spiral arm (1)；The tapped through hole (3F1) is used to lead
One end of axle (4) passes through, and is threaded on the thread segment (4D) of main shaft (4)；
Opening buckle (3G) is placed in the buckle slot (4B) of main shaft (4)；
Torsion spring (3H) is provided with spring body (3H3), torsion spring A crosspieces (3H1) and torsion spring B crosspieces (3H2), the spring body (3H3)
The top of the buckle slot (4B) of main shaft (4) is enclosed on, the torsion spring A crosspieces (3H1) are placed in the torsional spring slot (4A) of main shaft (4) end
Interior, the torsion spring B crosspieces (3H2) are placed in fuselage cradle (2A) spring groove (2A4).
The present invention is launched to the advantages of quadrotor in high-altitude by rocket delivery to be：
1. the quadrotor that designs of the present invention be a kind of airframe structure can hand foldable structure, this is to meet
The limitation of the confined space inside the radome fairing of rocket.After quadrotor ejects from the radome fairing of rocket automatically, and will be
The self structure Automatic-expanding of folded state inside the radome fairing of rocket, complete to be turned by folded state to state of flight
Become.
2. transformation of the quadrotor that designs of the present invention from folded state to state of flight be by spiral arm, main shaft with
Spiral arm deploys locked component to realize.
3. the quadrotor that the present invention designs is a kind of rotation of rocket delivery four for being able to carry out high-altitude, oceangoing voyage journey task
Rocket and quadrotor are combined by rotor aircraft, the aircraft, are made by means of quick, the remote motor-driven advantage of rocket
Quadrotor can quickly perform the task of high-altitude oceangoing voyage journey.
Brief description of the drawings
Fig. 1 is the assembling schematic diagram of rocket-borne quadrotor.
Fig. 2 is the structure chart under quadrotor folded state of the present invention.
Fig. 2A is the chart at the bottom of under quadrotor folded state of the present invention.
Fig. 2 B are another viewing angle constructions figures under quadrotor folded state of the present invention.
Fig. 3 is the structure chart under quadrotor state of flight of the present invention.
Fig. 4 is the structure chart of bracket component of the present invention.
Fig. 4 A are another viewing angle constructions figures of bracket component of the present invention.
Fig. 5 is the structure chart that fuselage cradle, spiral arm and spiral arm of the present invention deploy locked component.
Fig. 5 A are the structure charts at another visual angle that fuselage cradle, spiral arm and spiral arm of the present invention deploy locked component.
Fig. 5 B are the structure charts of spiral arm of the present invention.
Fig. 5 C are the structure charts of fuselage cradle of the present invention.
Fig. 6 is the structure chart of spiral arm expansion locked component and main shaft of the present invention.
Fig. 6 A are the structure charts of posture lock of the present invention.
Fig. 6 B are the exploded views of spiral arm expansion locked component and main shaft of the present invention.
Fig. 6 C are the sectional structure charts of fuselage cradle of the present invention, spiral arm, spiral arm expansion locked component and main shaft.
Fig. 6 D are the perspective elevations of posture lock of the present invention and fuselage cradle and spiral arm expansion locked component.
Fig. 6 E are spiral arm deployed condition of the present invention and fuselage cradle and the structure chart of spiral arm expansion locked component.
| 1. spiral arm | 1A.A through holes | 1A1.A semi arches are raised |
| 1A2.B semi arches are raised | The right annulus ends of 1B. | The left annulus ends of 1C. |
| 2. fuselage cradle | 2A. fuselage bodies | 2A-1. top panels |
| 2A-2. lower panels | 2A1.B through hole | 2A2. cross-hole |
| 2A2A.A directions groove | 2A2B.B directions groove | 2A3. lightening hole |
| 2A4. spring groove | 2A5. snap through holes | The right support arms of 2B. |
| The right annulus ends of 2B1. | The left support arms of 2C. | The left annulus ends of 2C1. |
| 3. spiral arm deploys locked component | 3A. deploys fixed plate | 3A1. rectangular through-hole |
| 3A2. spindle through-hole | 3A3. block | 3B.U shape pressing plates |
| 3B1. snap arm grooves | 3C. snaps | 3D. centre of gyration bars |
| 3E. postures latch | 3E1. through hole | 3E2. snap buttons |
| The long support arms of 3E3. | The short support arms of 3E4. | 3E5. limit opening |
| 3F. axle sleeves | 3F1. tapped through hole | 3F2.A block |
| 3F3.B block | 3F4. opening | 3G. opening buckles |
| 3H. torsion springs | 3H1. torsion spring A crosspieces | 3H2. torsion spring B crosspieces |
| 3H3. spring body | 4. main shaft | 4A. torsional spring slots |
| 4B. buckle slots | The 4C. shaft shoulders | 4D. thread segments |
| 5. bracket component | 51. first panel | 52. second panel |
| 53. the 3rd panel | 54. starting stave | 55. the second riser |
| 5A.AA support columns | 5B.AB support columns | 5C.AC support columns |
| 5D.AD support columns | 51A.BA support columns | 51B.BB support columns |
| 51C.BC support columns | 51D.BD support columns | 52A.CA support columns |
| 52B.CB support columns | 52C.CC support columns | 52D.CD support columns |
| 6A.A propellers | 6B.B propellers | 6C.C propellers |
| 6D.D propellers | 7A.A brushless electric machines | 7B.B brushless electric machines |
| 7C.C brushless electric machines | 7D.D brushless electric machines | 10. quadrotor |
| 20. rocket | 30. radome fairing | 40. control module |
| 50. power module |
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The assembling schematic diagram of rocket-borne quadrotor shown in Figure 1.The present invention is designed in figure
Can be in the cavity of hand foldable and the quadrotor 10 that stretches the automatically radome fairing 30 that is arranged on the front end of rocket 20.Four rotors
When aircraft 10 is assemblied on rocket 2, folded state at the configuration state of the quadrotor 10.
In the present invention, used rocket is small-sized military or civilian rocket.General small-sized military or civilian fire
The firing altitude of arrow is at 2000 meters~8000 meters.
Referring to a kind of rocket-borne quadrotor that shown in Fig. 2, Fig. 2A, Fig. 2 B, the present invention designs, four rotation
Rotor aircraft include spiral arm 1, fuselage cradle 2, spiral arm expansion locked component 3, main shaft 4, bracket component 5, brushless electric machine (7A, 7B,
7C, 7D) and propeller (6A, 6B, 6C, 6D).
In the present invention, propeller (6A, 6B, 6C, 6D) from 5030 propellers, 5035 propellers, 5040 propellers,
5045 propellers, 5050 propellers, 6030 propellers, 6035 propellers, 6040 propellers, 6045 propellers, 6050 propellers
Or 6055 propeller.
In the present invention, brushless electric machine (7A, 7B, 7C, 7D) can select DC brushless motor.The output shaft of brushless electric machine
Upper installation propeller.I.e.：
The right support arm that A propellers 6A, A brushless electric machine 7A is fixed on fuselage cradle 2 is installed on A brushless electric machines 7A output shaft
On 2B right annulus end 2B1.
The right annulus end that B propellers 6B, B brushless electric machine 7B is fixed on spiral arm 1 is installed on B brushless electric machines 7B output shaft
On 1B.
The left support arm that C propellers 6C, C brushless electric machine 7C is fixed on fuselage cradle 2 is installed on C brushless electric machines 7C output shaft
On 2C left annulus end 2C1.
The left annulus end that D propellers 6D, D brushless electric machine 7D is fixed on spiral arm 1 is installed on D brushless electric machines 7D output shaft
On 1C.
Bracket component 5
Referring to shown in Fig. 2, Fig. 2A, Fig. 2 B, Fig. 4, Fig. 4 A, bracket component 5 include first panel 51, second panel 52,
3rd panel 53, starting stave 54, the second riser 55 and multiple support columns (5A, 5B, 5C, 5D, 51A, 51B, 51C, 51D,
52A、52B、52C、52D)；BA support columns 51A, BB support column 51B, BC support column 51C, BD support column 51D is arranged on
Between one panel 51 and second panel 52, and realize by screw the fixation of support column and panel；The support column CA support columns
52A, CB support column 52B, CC support column 52C, CD support column 52D are arranged between the panel 53 of second panel 52 and the 3rd, and logical
Cross the fixation that screw realizes support column and panel；AA support columns 5A, AB support column 5B, AC support column 5C, AD support column 5D
It is arranged between second panel 52 and fuselage cradle 2, and the fixation of support column and panel is realized by screw.Starting stave 54 is set
Between BA support column 51A and BD support columns 51D.Second riser 55 is arranged between CA support column 52A and CD support columns 52D.
In the present invention, power module 50 is installed in the space between first panel 51 and second panel 52.Second face
Control module 40 is installed in space between the panel 53 of plate 52 and the 3rd.
In the present invention, the design of bracket component 5 is used for being fixedly mounted for performing high-altitude oceangoing voyage journey task, such as
Power supply, battery, control device, equipment of taking photo by plane etc..Bracket component 5 will consider weight, therefore be wanted from light material processing, structure
It is compact, firm.
Fuselage cradle 2 and spiral arm 1：
Referring to shown in Fig. 2, Fig. 2A, Fig. 2 B, Fig. 5, Fig. 5 A, Fig. 5 B, the middle part of spiral arm 1 is convex provided with A through hole 1A, A semi arches
Play 1A1 and B semi arch projections 1A2；A semi arch projections 1A1 is fastened at axle sleeve 3F A blocks 3F2；The B semi arches are raised
1A2 is fastened at axle sleeve 3F B blocks 3F3；A through holes 1A passes through for main shaft 4；One end of spiral arm 1, which is provided with, to be used to install B spiral shells
Oar 6B right annulus end 1B is revolved, the other end of spiral arm 1 is provided with the left annulus end 1C for being used for installing D propellers 6D.Spiral arm 1 and axle sleeve
3F fixation is coordinated by A semi arch projection 1A1 and A block 3F2, B semi arch projection 1A2 and B blocks 3F3 concaveconvex structure,
So that spiral arm 1 around main shaft 4 as clockwise movement deployed when, do not easily cause position slip, reach the lock of spiral arm 1 and axle sleeve 3F
It is fixed.
Referring to shown in Fig. 2, Fig. 2A, Fig. 2 B, Fig. 5, Fig. 5 A, Fig. 5 C, the left end of fuselage cradle 2 is provided with left support arm 2C, the left side
Support arm 2C end is provided with the left annulus end 2C1 for being used for installing C propellers 6C；The right-hand member of fuselage cradle 2 is provided with right support arm 2B, described
Right support arm 2B end is provided with the right annulus end 2B1 for being used for installing A propellers 6A；The fuselage body 2A of fuselage cradle 2 is provided with ten
Word through hole 2A2, the B through holes 2A1 passed through for main shaft 4, the snap through hole 2A5 for placing snap 3C and realize fuselage sheet
The lightening hole 2A3 of body 2A losss of weight.The A directions groove 2A2A and B directions groove 2A2B of the cross-hole 2A2 is orthogonal, A directions groove
Centre of gyration bar 3D, the B direction groove 2A2B that 2A2A is used to place spiral arm expansion locked component 3 are used for the long support arm that posture latches 3E
3E3 is passed through.Referring to shown in Fig. 6 D, Fig. 6 E, posture lock 3E long support arm 3E3 is located at fuselage body 2A at the groove 2A2B of B directions
Below plate 2A-2, and posture lock 3E short support arm 3E4 be located at plate 2A-1 above fuselage body 2A.Positioned at cross-hole
Fuselage body 2A at 2A2 acts the limitation for reaching and 3E being latched to posture around the position size of revolution center-pole 3D motion.
Spiral arm deploys locked component 3 and main shaft 4：
Referring to shown in Fig. 2, Fig. 6, Fig. 6 B, Fig. 6 C, main shaft 4 be provided with from top to bottom torsional spring slot 4A, buckle slot 4B, shaft shoulder 4C and
Thread segment 4D, A the crosspieces 3H1, the buckle slot 4B that the torsional spring slot 4A is used to place torsion spring 3H are used for placement opening buckle 3G,
Expansion fixed plate 3A and spiral arm 1 are socketed with the shaft shoulder 4C, axle sleeve 3F is threaded with the thread segment 4D.On main shaft 4
Thread segment 4D be left hand thread, due to main shaft 4 drive spiral arm 1 expansion campaign for clockwise direction (as shown in Figure 2), so
Thread segment 4D on main shaft 4 is designed as left hand thread, and spiral arm 1 can be made to prevent axle sleeve 3F from sliding in motion process is deployed.Such as
Shown in Fig. 6 C, in the presence of torsion spring 3H, main shaft 4 rotates, so that the spiral arm 1 and axle sleeve 3F that are connected with main shaft 4 also rotate, it is main
Axle 4 and axle sleeve 3F threaded connection design is advantageous to prevent rotation process bottom bracket axle 3F from sliding from main shaft 4 into left hand thread.
Referring to shown in Fig. 2, Fig. 6, Fig. 6 A, Fig. 6 B, Fig. 6 D, spiral arm expansion locked component 3 includes expansion fixed plate 3A, U
Shape pressing plate 3B, snap 3C, centre of gyration bar 3D, posture lock 3E, axle sleeve 3F, opening buckle 3G and torsion spring 3H.
Deploy fixed plate 3A, expansion fixed plate 3A is provided with rectangular through-hole 3A1, spindle through-hole 3A2, and rectangular through-hole 3A1 is used
In the long support arm 3E3 for placing posture lock 3E, spindle through-hole 3A2 passes through for main shaft 4.Expansion fixed plate 3A is fixed by screw
In the lower section of fuselage cradle 2.Referring to shown in Fig. 5 C, the long support arm 3E3 will first pass through the cross on the fuselage body 2A of fuselage cradle 2
After through hole 2A2 B directions groove 2A2B, then it is placed in rectangular through-hole 3A1.
U-shaped pressing plate 3B, U-shaped pressing plate 3B are provided with the snap arm groove 3B1 for the short support arm 3E4 for being used to place posture lock 3E.
Snap 3C, snap 3C one end are adhesively fixed on posture lock 3E snap button 3E2, and the snap 3C other end glues
Connect and be fixed on expansion fixed plate 3A.Snap 3C is placed in fuselage body 2A snap through hole 2A5.
After centre of gyration bar 3D, centre of gyration bar 3D latch the through hole 3E1 on 3E through posture, the ten of fuselage cradle 2 is placed in
In word through hole 2A2 A directions groove 2A2A (as shown in Figure 5 C), and top is realized the centre of gyration by the U-shaped pressing plate 3B of bonding
Bar 3D is compressed.
Referring to shown in Fig. 6 A, posture lock 3E, posture lock 3E is provided with long support arm 3E3, short support arm 3E4, snap button 3E2
With through hole 3E1；It is limit opening 3E5 between long support arm 3E3 and short support arm 3E4；The snap button 3E2 is used for the snap that is adhesively fixed
3C one end；The through hole 3E1 passes through for centre of gyration bar 3D.The rectangle that the long support arm 3E3 is placed in expansion fixed plate 3A leads to
In the 3A1 of hole, the short support arm 3E4 is placed in U-shaped pressing plate 3B snap arm groove 3B1.
Axle sleeve 3F, axle sleeve 3F are provided with left hand thread through hole 3F1, A block 3F2 and B block 3F3, A block 3F2 and B blocks
It is opening 3F4 between 3F3；The opening 3F4 is used to place spiral arm 1 (as shown in Figure 6B)；The left hand thread through hole 3F1 is used for
One end of main shaft 4 passes through, through the thread segment 4D of left hand thread through hole 3F1 main shaft 4 on be threadedly coupled axle sleeve 3F so that axle
Set 3F is threaded on the thread segment 4D of main shaft 4.
Be open buckle 3G, and opening buckle 3G is placed in the buckle slot 4B of main shaft 4.For preventing to be socketed on main shaft 4
Deploy the motion of fixed plate 3A and spiral arm 1 in axial direction (i.e. above-below direction).
Torsion spring 3H, torsion spring 3H are provided with spring body 3H3, torsion spring A crosspieces 3H 1 and torsion spring B crosspieces 3H2, the spring body 3H3 sets
In the buckle slot 4B of main shaft 4 top, the torsion spring A crosspieces 3H1 is placed in the torsional spring slot 4A of the end of main shaft 4, and the torsion spring B is horizontal
Section 3H2 is placed in fuselage cradle 2A spring groove 2A4 (as shown in Fig. 5 A, Fig. 5 C).In quadrotor automatically from the whole of rocket
After being ejected in stream cover, in the presence of torsion spring 3H, main shaft 4 rotates, and then spiral arm 1 rotates, and spiral arm 1 skims over posture lock 3E length
Block 3A3 (as shown in Figure 2 A) is reached after support arm 3E3, this is also the maximum position that spiral arm 1 can reach, now, posture lock
3E long support arm 3E3 resets in the presence of snap 3C, and upspring long support arm 3E3 so that spiral arm 1 can only be herein in deployed condition
Moved (as illustrated in fig. 6e) in position.
Spiral arm in quadrotor of the present invention is from the course of work for being expanded to locking：
It is shown in Figure 1, after quadrotor 10 is sent to specified altitude assignment by rocket 20, quadrotor 10 from
Ejected in the radome fairing 30 of rocket 20, now the structure of quadrotor 10 needs automatic from folded state (i.e. original state)
State of flight is converted into, refer to shown in Fig. 3.Hand foldable state, which is in, in quadrotor 10 (facilitates placement into rectification
In cover 30) when, posture lock 3E long support arm 3E3 is prominent in (as shown in Figure 2 A) of the lower section of fuselage cradle 2, when 1 turn of spiral arm
When trend state of flight is moved, spiral arm 1 presses through posture lock 3E long support arm 3E3, and posture lock 3E can be around revolution center-pole 3D
Rotate, the one end for having snap button 3E2 can be downward so that long support arm 3E3 is pressed into rectangular through-hole 3A1 completely；When spiral arm 1 skims over
After posture lock 3E, in the presence of snap 3C, posture lock 3E long support arm 3E3 puts down reset again, reaches and prevents spiral arm 1
Revolution is (as illustrated in fig. 6e).
The quadrotor for the rocket propulsion that the present invention designs, utilize hand assembled main shaft 4, spiral arm 1, torsion spring 3H, axle
Cover 3F so that the quadrotor being placed in radome fairing 30 is folded state.When the quadrotor of rocket propulsion arrives
Up to after specified altitude assignment, quadrotor and Separation, now torsion spring 3H turned round, cantilever 1 is in Automatic-expanding trend, in torsion spring
3H recovers under the driving of normal morphology, and main shaft 4 turns clockwise, and main shaft 4 drives axle sleeve 3F motions, because spiral arm 1 is arranged on axle
Cover on 3F (shown in Fig. 6 C), spiral arm 1 moves with axle sleeve 3F.Spiral arm 1 and axle sleeve 3F contacts area are big, prevent that the structure of spiral arm 1 from being turned round
Power is destroyed, and spiral arm 1 leaves initial position, rotated around main shaft 4, skims over the posture lock 3E of spiral arm expansion locked component 3 length
Support arm 3E3, clockwise movement (shown in Fig. 6 E) can not be continued by block 3A3 limitations.Spiral arm 1 skims over the long support arm of posture lock 3
During 3E, snap 3C first compresses recovers normal morphology afterwards, and short support arm 3E4 is by the cross-hole 2A2 on fuselage body
Fuselage panel is spacing, and long support arm 3E3 upsprings downwards, prevents spiral arm 1 reverse.In torsion spring 3H, opening buckle 3G, main shaft 4 and axle sleeve
In the presence of 3F, the Automatic-expanding of spiral arm 1 is realized, in expansion fixed plate 3A, U-shaped fixed plate 3B, posture lock 3E, snap 3C
With the automatic locking that spiral arm 1 is realized in the presence of centre of gyration bar 3B.
The present invention devises a kind of quadrotor suitable for rocket propulsion, and solving traditional quadrotor can not
The capability problemses of oceangoing voyage journey operation are realized, the rocket of selection has the space for placing quadrotor, and possesses four rotors
Carrying capacity of the vehicle launch to specified altitude assignment.Rocket delivery quadrotor of the present invention is producing thrust conveying by rocket
To specified altitude assignment, the quadrotor and Separation of carrying, the tasks such as shooting investigation are performed by quadrotor.Four
Rotor craft is carried by rocket, is had working depth high, is reached the features such as specified altitude assignment speed is fast.
Claims (7)
1. a kind of quadrotor suitable for rocket propulsion, the quadrotor is loaded in inside the radome fairing of rocket,
Quadrotor is transmitted into by specified altitude assignment by rocket；
The quadrotor is provided with brushless electric machine (7A, 7B, 7C, 7D), propeller (6A, 6B, 6C, 6D), A brushless electric machines
A propellers (6A) are installed on the output shaft of (7A), B propellers (6B) are installed on the output shaft of B brushless electric machines (7B), C without
C propellers (6C) are installed on the output shaft of brush motor (7C), D propellers are installed on the output shaft of D brushless electric machines (7D)
(6D)；
It is characterized in that：Quadrotor also includes spiral arm (1), fuselage cradle (2), spiral arm expansion locked component (3), main shaft
And bracket component (5) (4)；
Bracket component (5) includes first panel (51), second panel (52), the 3rd panel (53), starting stave (54), second
Riser (55) and multiple support columns；
BA support columns (51A), BB support columns (51B), BC support columns (51C), BD support columns (51D) are arranged on first panel (51)
Between second panel (52)；
CA support columns (52A), CB support columns (52B), CC support columns (52C), CD support columns (52D) are arranged on second panel (52)
Between the 3rd panel (53)；
AA support columns (5A), AB support columns (5B), AC support columns (5C), AD support columns (5D) are arranged on second panel (52) and machine
Between stature (2)；
Starting stave (54) is arranged between BA support columns (51A) and BD support columns (51D)；Second riser (55) is arranged on CA branch
Between dagger (52A) and CD support columns (52D)；Power supply is installed in space between first panel (51) and second panel (52)
Module (50)；Control module (40) is installed in space between second panel (52) and the 3rd panel (53)；
The middle part of spiral arm (1) is provided with A through holes (1A), A semi arches raised (1A1) and B semi arches are raised (1A2)；The A semi arches are convex
Play A blocks (3F2) place that (1A1) is fastened on axle sleeve (3F)；B semi arches projection (1A2) is fastened on the B blocks of axle sleeve (3F)
(3F3) place；The A through holes (1A) pass through for main shaft (4)；One end of spiral arm (1) is provided with the right circle for being used for installing B propellers (6B)
Ring end (1B), the other end of spiral arm (1) are provided with the left annulus end (1C) for being used for installing D propellers (6D)；
The left end of fuselage cradle (2) is provided with left support arm (2C), and the end of the left support arm (2C), which is provided with, to be used to install C propellers (6C)
Left annulus end (2C1)；The right-hand member of fuselage cradle (2) is provided with right support arm (2B), and the end of the right support arm (2B), which is provided with, to be used to pacify
Fill the right annulus end (2B1) of A propellers (6A)；The fuselage body (2A) of fuselage cradle (2), which is provided with, is used for the B that main shaft (4) passes through
Through hole (2A1), for install spiral arm expansion locked component (3) cross-hole (2A2) and realize fuselage body (2A) loss of weight
Lightening hole (2A3)；
Main shaft (4) is provided with torsional spring slot (4A), buckle slot (4B), the shaft shoulder (4C) and thread segment (4D), the torsional spring slot from top to bottom
(4A) is used for the A crosspieces (3H1) for placing torsion spring (3H), and the buckle slot (4B) is used to place opening buckle (3G), the shaft shoulder
Expansion fixed plate (3A) and spiral arm (1) are socketed with (4C), axle sleeve (3F) is threaded with the thread segment (4D)；
Spiral arm expansion locked component (3) includes expansion fixed plate (3A), U-shaped pressing plate (3B), snap (3C), centre of gyration bar
(3D), posture lock (3E), axle sleeve (3F), opening buckle (3G) and torsion spring (3H)；
Deploy fixed plate (3A) and be provided with rectangular through-hole (3A1), spindle through-hole (3A2), rectangular through-hole (3A1) is used to place posture
The long support arm (3E3) of (3E) is latched, spindle through-hole (3A2) passes through for main shaft (4)；Expansion fixed plate (3A) is fixed by screw
In the lower section of fuselage cradle (2)；
One end of snap (3C) is adhesively fixed on the snap button (3E2) of posture lock (3E), the other end bonding of snap (3C)
It is fixed in expansion fixed plate (3A)；Snap (3C) is placed in the snap through hole (2A5) of fuselage body (2A)；
After centre of gyration bar (3D) latches the through hole (3E1) on (3E) through posture, the cross-hole of fuselage cradle (2) is placed in
In the A directions groove (2A2A) of (2A2), and top is bonded with U-shaped pressing plate (3B)；
Posture lock (3E) is provided with long support arm (3E3), short support arm (3E4), snap button (3E2) and through hole (3E1)；The snap
Button (3E2) is used for snap (3C) one end that is adhesively fixed；The through hole (3E1) passes through for centre of gyration bar (3D)；It is described to draw money on credit
Arm (3E3) is placed in the rectangular through-hole (3A1) of expansion fixed plate (3A), and the short support arm (3E4) is placed in U-shaped pressing plate (3B) card
In arm groove (3B) 1；
Axle sleeve (3F) is provided with left hand thread through hole (3F1), A blocks (3F2) and B blocks (3F3), A blocks (3F2) and B blocks
It is opening (3F4) between (3F3)；The opening (3F4) is used to place spiral arm (1)；The tapped through hole (3F1) is used for main shaft
(4) one end passes through, and is threaded on the thread segment (4D) of main shaft (4)；
Opening buckle (3G) is placed in the buckle slot (4B) of main shaft (4)；
Torsion spring (3H) is provided with spring body (3H3), torsion spring A crosspieces (3H1) and torsion spring B crosspieces (3H2), and the spring body (3H3) is enclosed on
The top of the buckle slot (4B) of main shaft (4), the torsion spring A crosspieces (3H1) are placed in the torsional spring slot (4A) of main shaft (4) end, institute
Torsion spring B crosspieces (3H2) are stated to be placed in fuselage body (2A) spring groove (2A4).
A kind of 2. quadrotor suitable for rocket propulsion according to claim 1, it is characterised in that：Four rotation
When rotor aircraft is loaded into inside the radome fairing of rocket, the quadrotor is in folded state；Finger is being sent to by rocket
After determining height, and Separation, the quadrotor Automatic-expanding is into state of flight after separation.
A kind of 3. quadrotor suitable for rocket propulsion according to claim 2, it is characterised in that：In flight shape
The quadrotor of state, spiral arm (1) realize that position locks by block (3A3) and long support arm (3E3).
A kind of 4. quadrotor suitable for rocket propulsion according to claim 1, it is characterised in that：The spiral
Oar (6A, 6B, 6C, 6D) from 5030 propellers, 5035 propellers, 5040 propellers, 5045 propellers, 5050 propellers,
6030 propellers, 6035 propellers, 6040 propellers, 6045 propellers, 6050 propellers or 6055 propellers.
A kind of 5. quadrotor suitable for rocket propulsion according to claim 1, it is characterised in that：Main shaft (4)
On thread segment (4D) be left hand thread structure.
A kind of 6. quadrotor suitable for rocket propulsion according to claim 1, it is characterised in that：Axle sleeve (3F)
It is to be rotated clockwise around main shaft (4).
A kind of 7. quadrotor suitable for rocket propulsion according to claim 1, it is characterised in that：Pass through rocket
The quadrotor is launched to high-altitude, performs high-altitude oceangoing voyage journey task.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610641408.6A CN106184704B (en) | 2016-08-08 | 2016-08-08 | A kind of quadrotor suitable for rocket propulsion |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610641408.6A CN106184704B (en) | 2016-08-08 | 2016-08-08 | A kind of quadrotor suitable for rocket propulsion |
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| CN106184704B true CN106184704B (en) | 2018-03-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109229349A (en) * | 2017-07-11 | 2019-01-18 | 上海伯镭智能科技有限公司 | A kind of long endurance multi-rotor unmanned aerial vehicle |
| FR3070607B1 (en) * | 2017-09-07 | 2020-09-04 | Parrot Drones | ROTATING BLADE DRONE INCLUDING A FOLDABLE DRONE STRUCTURE |
| CN110683070A (en) * | 2018-07-04 | 2020-01-14 | 北京理工大学 | Rocket-borne rotor unmanned aerial vehicle |
| CN110683069A (en) * | 2018-07-04 | 2020-01-14 | 北京理工大学 | Carry on rotor unmanned aerial vehicle's arrow machine system |
| CN110683071A (en) * | 2018-07-04 | 2020-01-14 | 北京理工大学 | Carrying system carrying rotor unmanned aerial vehicle |
| CN110683072A (en) * | 2018-07-04 | 2020-01-14 | 北京理工大学 | Rocket-borne rotor unmanned aerial vehicle projection method |
| CN110857149A (en) * | 2018-08-23 | 2020-03-03 | 北京理工大学 | But carrying rotor unmanned aerial vehicle's delivery system of recovery type |
| CN110857146B (en) * | 2018-08-24 | 2021-12-24 | 北京理工大学 | Carry on many rotor unmanned aerial vehicle's delivery system |
| CN110861781A (en) * | 2018-08-27 | 2020-03-06 | 北京理工大学 | Rocket-borne rotor unmanned aerial vehicle control system |
| CN110871904B (en) * | 2018-08-29 | 2023-05-02 | 北京理工大学 | Separated carrying system for carrying rotor unmanned aerial vehicle |
| CN109896002B (en) * | 2019-02-14 | 2020-12-18 | 西安理工大学 | Deformable four-rotor aircraft |
| IL283403B2 (en) * | 2021-05-24 | 2023-06-01 | Spear U A V Ltd | Drone arms locking/deployment mechanism |
| JP7123459B1 (en) * | 2022-03-30 | 2022-08-23 | 株式会社石川エナジーリサーチ | flight device |
| CN117446233A (en) * | 2023-09-21 | 2024-01-26 | 彭阳县自然资源局 | Measurement device for urban and rural planning and design |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR100786313B1 (en) * | 2004-09-24 | 2007-12-17 | 조금배 | Missile-Type Unmanned Helicopter |
| GB2491129B (en) * | 2011-05-23 | 2014-04-23 | Blue Bear Systems Res Ltd | Air vehicle |
| CN203528812U (en) * | 2013-09-06 | 2014-04-09 | 天津云友科技有限公司 | Foldable four-rotor aircraft |
| CN105059528B (en) * | 2015-07-23 | 2017-12-12 | 致导科技（北京）有限公司 | A kind of folding unmanned plane |
| CN105000163B (en) * | 2015-08-23 | 2017-12-08 | 代一泓 | A kind of more rotor unmanned aircrafts of fold-down formula |
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