CN106586006A - Land-space amphibious rotor craft capable of omnidirectional rolling on ground, and installation and control method for land and-space amphibious rotor craft - Google Patents
Land-space amphibious rotor craft capable of omnidirectional rolling on ground, and installation and control method for land and-space amphibious rotor craft Download PDFInfo
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- CN106586006A CN106586006A CN201710058392.0A CN201710058392A CN106586006A CN 106586006 A CN106586006 A CN 106586006A CN 201710058392 A CN201710058392 A CN 201710058392A CN 106586006 A CN106586006 A CN 106586006A
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- 238000005096 rolling process Methods 0.000 title claims abstract description 77
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000009434 installation Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 85
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 15
- 230000000694 effects Effects 0.000 claims description 15
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 7
- 229910052799 carbon Inorganic materials 0.000 claims description 7
- 239000000835 fiber Substances 0.000 claims description 7
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 abstract description 4
- 229910052744 lithium Inorganic materials 0.000 abstract description 4
- 239000000463 material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 229910021385 hard carbon Inorganic materials 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 229920006324 polyoxymethylene Polymers 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/06—Landing aids; Safety measures to prevent collision with earth's surface mechanical
-
- 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
Abstract
The invention discloses a land-space amphibious rotor craft capable of omnidirectional rolling on the ground, and an installation and control method for the land and-space amphibious rotor craft, and belongs to the technical field of aircrafts. The rotor craft is provided with a flight control system and a power system, and the flight control system consists of a rotor wing rack and a main controller. The power system employs a lithium battery as a power supply. The periphery of an omnidirectional rolling mechanism is presented as a spherical support structure. A spherical support is a big circular guide rail, and an aircraft passes through a straight rod passing through the center. Two ends of the straight rod are respectively provided with a pulley, and the pulleys are embedded into the big circular guide rail. The pulleys employ rolling bearings. Aiming at a problem that a rotor craft is liable to be damaged in the prior art and a problem that a rotor craft is liable to be damaged in the prior art during collision and landing, the rotor craft can drive the spherical support to make omnidirectional rolling motion on the ground, and the spherical support structure protects the rotor craft.
Description
Technical field
The present invention relates to vehicle technology field, more particularly to a kind of can fly in the air-ground amphibious rotor of ground omnidirectional rolling
Row device and its installation and control method.
Background technology
Rotor craft has the characteristics of mobility and strong flexibility, but due to needing to maintain state of flight, its motion effect
Rate is not high.Meanwhile, rotor is high for stability of a system requirement, is easily damaged in collision and landing, existing foot rest
Omnibearing protection can not be provided with guard circle, is easily toppled over after rotor craft landing shock and is caused secondary damage.
Chinese invention patent, publication number：CN105539037A, publication date：On May 4th, 2016, disclosing one kind can be on ground
Land four rotor unmanned aircrafts of sky that face rolls, belong to four rotor unmanned aircraft technical fields, including four rotor mechanisms, flexibility
Spherical shell mechanism and control system, are of coupled connections between four rotor mechanisms and flexible spherical shell mechanism by rotating shaft and bearing, four rotors
Mechanism is processed by carbon fiber, and flexible spherical shell mechanism is processed by polyformaldehyde material, and bearing is plastic bearing, four gyroplanes
Structure is made up of pedestal, major axis, short axle, installing rack, motor and rotor, and base interior is provided with control system, flexible spherical shell machine
Structure is made up of two fixed seats and a plurality of Arcuate flexible bar, and the center of Arcuate flexible bar is provided with rolling ring, and Arcuate flexible bar interts
In rolling ring, control system includes battery, control assembly and sensing system.The invention applied range, four rotors without
People's aircraft not only can arbitrarily fly, and can realize rolling on the ground and freely walk, and be also prevented from high-altitude and fall
Fall behind and damage.It is disadvantageous in that one-axis system can not meet the multivariant movement of rotor wing unmanned aerial vehicle, cause the fortune on ground
Dynamic rail mark is difficult to control to.
Chinese invention patent, publication number：CN 105539037A, publication date：On May 4th, 2016, disclose rotation more than one kind
Wing unmanned vehicle protection device includes centre frame, hemisphere containment vessel, support unit and spherical containment vessel；The hemisphere containment vessel
Center bearing bracket upper end is fixed on, the spherical containment vessel is fixed on the center bearing bracket lower end, and circumference is equal on the center bearing bracket
Support unit described in four groups of cloth；The support unit includes supporting mechanism, support arm and support nut, and the supporting mechanism is inner
It is fixedly connected with the center bearing bracket, two outer ends of the supporting mechanism are respectively by key and support nut and a support arm
It is fixedly connected.The invention can effectively protect aircraft, improve the service life of many rotor unmanned aircrafts, indirectly save
Cost.It is disadvantageous in that spherical shell does not have preferable locomotivity, and to increase do not bring new effect while heavy burden
Benefit.
The content of the invention
1. the invention technical problem to be solved
For the problem that the rotor craft of prior art is easily damaged in collision and landing, the invention provides one
Planting can be in the air-ground amphibious rotor craft of ground omnidirectional rolling and its installation and control method.It is by aircraft and spherical guarantor
The combination of retaining frame allows aircraft in ground surface, it is possible to reduces when colliding and landing and damages.
2. technical scheme
To solve the above problems, the technical scheme that the present invention is provided is：
It is a kind of can be in the air-ground amphibious rotor craft of ground omnidirectional rolling, including rotor craft and beaded support machine
Structure；The rotor craft is located in beaded support mechanism, also including straight-bar, wherein, rotor craft includes flight control system
System and power-supply system, flight control system includes rotor frame and master control system, and master control system is located at the center of rotor frame, electricity
Origin system be located at master control system lower section, straight-bar through rotor craft fuselage be located at beaded support mechanism center, the two of straight-bar
End is located in beaded support mechanism.
Preferably, beaded support mechanism includes round guide, and straight-bar is respectively arranged at two ends with a pulley or rolling bearing, right
In the pulley answered or the embedded round guide of rolling bearing.
Preferably, described straight-bar passes through the fuselage of rotor craft, rotor craft to be located on the midpoint of straight-bar, rotor
Aircraft can rotate on straight-bar.
Preferably, beaded support mechanism also includes annulus, and annulus is coaxial with round guide, and annulus and round guide are square with the axis,
It is uniformly distributed to form beaded support mechanism.
Preferably, master control system includes inertial navigation unit and processor, and processor is connected with inertial navigation unit.
Preferably, beaded support mechanism is carbon fibre spheroid support.
It is a kind of to comprise the following steps in the installation method of the air-ground amphibious rotor craft of ground omnidirectional rolling：
A, in accordance with the above a kind of can be in the air-ground amphibious rotor crafts of ground omnidirectional rolling；
After inertial navigation unit and processor connection in B, master control system, by rotor frame, master control system and power supply system
System fits together composition rotor craft；
C, straight-bar pass through rotor craft, rotor craft to be located at the midpoint of straight-bar, can rotate on straight-bar, in straight-bar
Two ends are installed by pulley；
D, the pulley or rolling bearing on straight-bar is embedded in round guide, annulus and round guide are fixed together to be formed
Beaded support mechanism.
It is a kind of to comprise the following steps in the control method of the air-ground amphibious rotor craft of ground omnidirectional rolling：
A, in accordance with the above a kind of can be in the installation method structures of the air-ground amphibious rotor craft of ground omnidirectional rolling
Build it is above-described it is a kind of can be in the air-ground amphibious rotor craft of ground omnidirectional rolling；
B, power-supply system are powered for rotor craft, the appearance of inertial navigation unit collection of the processor in master control system
State information controls rotary-wing flight；
C, rotor craft can be rotated around straight-bar, during flight, tilted forward and back and do not restricted by straight-bar, before and after can producing
Motive force, completes to move forward and backward；
Rotor craft tilts drive straight-bar along round guide rotation, it is also possible to produces sideways against power, completes left and right
It is mobile；
Power when D, rotor craft landing are rolled comes from the horizontal direction that the rotor inclination of rotor frame is provided
Component；When rotor craft is tilted forward and back, beaded support mechanism rotates under frictional ground force effect around straight-bar, fortune before and after completing
It is dynamic；When rotor craft tilts, the pulley for driving straight-bar two ends is rotated along round guide, left sideways against beaded support mechanism
Right motion；
Preferably, straight-bar is respectively arranged at two ends with a pulley or rolling bearing, and corresponding pulley or rolling bearing be embedded
In round guide.
Preferably, described annulus and round guide are constituted by two hemisphere, two hemisphere detachable connections.
3. beneficial effect
The technical scheme provided using the present invention, compared with prior art, is had the advantages that：
(1) a kind of of the present invention can be in the air-ground amphibious rotor craft of ground omnidirectional rolling, the flight of rotor craft
Flight of the master control in control system to rotor craft plays control and driving effect, and power-supply system is provided for flight control system
Electric energy, power-supply system can adopt lithium battery power supply or other species batteries can be with, and straight-bar will through the fuselage of rotor craft
Rotor craft is fixed on beaded support mechanism center, and beaded support mechanism is located at the outside of rotor craft, to rotor flying
Device plays a part of fixed, support and protects, after rotor craft landing, can by the spherical structure of beaded support mechanism
Roll on the ground, and rotor craft is when landing, it is to avoid rotor craft directly collides landing, reduces damage；
(2) a kind of of the present invention can be before and after and left in the air-ground amphibious rotor craft of ground omnidirectional rolling, round guide
Right two frees degree are rolled, and the pulley at straight-bar two ends slides in round guide, and the rotor craft on straight-bar is inside round guide
Balance is kept, by the supporting role of straight-bar, before and after holding and left and right two free degree is rolled；
(3) a kind of of the present invention can be in the air-ground amphibious rotor craft of ground omnidirectional rolling, and described straight-bar is through rotation
The fuselage of rotor aircraft, rotor craft is located on the midpoint of straight-bar, and rotor craft can rotate on straight-bar, on straight-bar midpoint
Rotor craft can keep balance, be easy to control；
(4) a kind of of the present invention can be in the air-ground amphibious rotor craft of ground omnidirectional rolling, and beaded support mechanism also wraps
Annulus is included, annulus is coaxial with round guide, annulus and round guide are square with the axis, be uniformly distributed to form beaded support mechanism, Duo Geyuan
Ring and round guide cavities formed co-axial beaded support mechanism, beaded support mechanism plays protection supporting role to rotor craft, is easy to rotation
Rotor aircraft drives omnidirectional rolling of the beaded support mechanism around ground is done；
(5) a kind of of the present invention can include inertia in the air-ground amphibious rotor craft of ground omnidirectional rolling, master control system
Navigation elements and processor, processor is connected with inertial navigation unit, and processor is believed according to the attitude that inertial navigation unit is gathered
Breath control flight attitude, controls rotary-wing flight；
(6) a kind of of the present invention can be in the air-ground amphibious rotor craft of ground omnidirectional rolling, and beaded support mechanism is carbon
Fine spheroid support, while the hard carbon fibre material of the lightweight of beaded support mechanism meets protection fuselage, will not be significantly increased weight
Amount, can provide more preferable locomotivity simultaneously in protection, meet the needs of energy-conservation, it is ensured that endurance, and can effectively support
Shock when gear and landing and between ground；
(7) it is of the invention it is a kind of can be described in the installation method of the air-ground amphibious rotor craft of ground omnidirectional rolling
Annulus and round guide are constituted by two hemisphere, two hemisphere detachable connections, and the beaded support mechanism is detachably into two
Individual hemisphere, by screw connection, meets inserting and taking-up for rotor craft dismounting；
(8) a kind of of the present invention can fly in the control method of the air-ground amphibious rotor craft of ground omnidirectional rolling, rotor
Row device can be rotated around straight-bar, during flight, tilted forward and back and do not restricted by straight-bar, can produce before and after motive force, complete to advance
And retrogressing；Rotor craft tilts drive straight-bar along round guide rotation, it is also possible to produce sideways against power, completes left and right and moves
It is dynamic；Spherical shell mechanism has no effect on aircraft locomitivity while providing protection, and rotor craft can drive beaded support machine
Omnidirectional rolling of the structure around ground is done.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the overlooking the structure diagram of the present invention；
Fig. 3 is the main structure diagram of the present invention；
Fig. 4 is the pulley guide rails joint portion partial enlarged drawing of the present invention.
Specific embodiment
To further appreciate that present disclosure, with reference to drawings and Examples, the present invention is described in detail.
It is a kind of can be in the air-ground amphibious rotor craft of ground omnidirectional rolling, including rotor craft 2 and beaded support machine
Structure；The rotor craft 2 is located in beaded support mechanism 1, also including straight-bar 3, wherein, rotor craft 2 includes flight control
System processed and power-supply system, flight control system includes rotor frame 21 and master control system, and master control system is located at rotor frame 21
Center, power-supply system be located at master control system lower section, straight-bar 3 through rotor craft 2 fuselage be located at beaded support mechanism 1 in
The heart, the two ends of straight-bar 3 are located in beaded support mechanism 1.
Flight of the master control in the flight control system of rotor craft 2 to rotor craft 2 plays control and driving effect,
Power-supply system provides electric energy for flight control system, and power-supply system can adopt lithium battery power supply or other species batteries can be with,
Rotor craft 2 is fixed on the center of beaded support mechanism 1, beaded support mechanism 1 by straight-bar 3 through the fuselage of rotor craft 2
Positioned at the outside of rotor craft 2, fixed, support is played a part of to rotor craft 2 and is protected, fallen in rotor craft 2
Behind ground, can roll on the ground by the spherical structure of beaded support mechanism 1, and during the landing of rotor craft 2, it is to avoid rotor
Aircraft 2 directly collides landing, reduces and damages.
Beaded support mechanism 1 includes round guide 11, and straight-bar 3 is respectively arranged at two ends with a pulley 31 or rolling bearing, right
In the pulley 31 answered or the embedded round guide 11 of rolling bearing.
Round guide 11 is rolled before and after with the free degree of left and right two, and the pulley 31 at the two ends of straight-bar 3 slides in round guide 11,
Rotor craft 2 on straight-bar 3 keeps balance inside round guide 11, by the supporting role of straight-bar 3, before and after holding and left and right
Two frees degree are rolled.
Through the fuselage of rotor craft 2, on the midpoint of straight-bar 3, rotor flies rotor craft 2 described straight-bar 3
Row device 2 can rotate on straight-bar 3, and the rotor craft 2 on the midpoint of straight-bar 3 can keep balance, be easy to control.
Beaded support mechanism 1 also includes annulus 12, and annulus 12 is coaxial with round guide 11, and annulus 12 and round guide 11 hang down with axle
Directly, it is uniformly distributed to form beaded support mechanism 1.The quantity of annulus 12 be 3 and more than, when annulus 12 quantity be 3,4,5,6
Or (selected according to the needs of smooth motion) during other numerical value such as 7, the movement effects of beaded support mechanism 1 are more preferable.
Multiple annulus 12 and the cavities formed co-axial beaded support mechanism 1 of round guide 11, beaded support mechanism 1 is to rotor craft 2
Protection supporting role is played, is easy to rotor craft 2 to drive omnidirectional rolling of the beaded support mechanism 1 around ground is done.
Master control system includes inertial navigation unit and processor, and processor is connected with inertial navigation unit, processor according to
The attitude information control flight attitude of inertial navigation unit collection, control rotor craft 2 flies.
Beaded support mechanism 1 is carbon fibre spheroid support, and the carbon fibre material that the lightweight of beaded support mechanism 1 is hard meets protection
Shock when while fuselage, weight will not be significantly increased, it is ensured that endurance, and can effectively keep out landing and between ground.
It is a kind of to comprise the following steps in the installation method of the air-ground amphibious rotor craft of ground omnidirectional rolling：
A, in accordance with the above a kind of can be in the air-ground amphibious rotor crafts of ground omnidirectional rolling；
After inertial navigation unit and processor connection in B, master control system, by rotor frame 21, master control system and power supply
System assembles constitute rotor craft 2 together；
C, straight-bar 3 pass through rotor craft 2, rotor craft 2 to be located at the midpoint of straight-bar 3, can rotate on straight-bar 3,
The two ends of straight-bar 3 are installed by pulley 31；
D, the pulley 31 or rolling bearing on straight-bar 3 is embedded in round guide 11, annulus 12 and round guide 11 are fixed
Beaded support mechanism 1 is formed together.
The quantity of annulus 12 be 3 and more than, when the quantity of annulus 12 is other numerical value such as 3,4,5,6 or 7 (according to flat
The needs of sliding movement are selected), the movement effects of beaded support mechanism 1 are more preferable.
It is a kind of to comprise the following steps in the control method of the air-ground amphibious rotor craft of ground omnidirectional rolling：
A, in accordance with the above a kind of can be in the installation method structures of the air-ground amphibious rotor craft of ground omnidirectional rolling
Build it is above-described it is a kind of can be in the air-ground amphibious rotor craft of ground omnidirectional rolling；
B, power-supply system are powered for rotor craft 2, inertial navigation unit collection of the processor in master control system
Attitude information control rotor craft 2 flies；
C, rotor craft 2 can be rotated around straight-bar 3, during flight, tilted forward and back and do not restricted by straight-bar 3, can be produced
In front and back motive force, completes to move forward and backward；
Rotor craft 2 tilts and drives straight-bar 3 to rotate along round guide 11, it is also possible to produces sideways against power, completes
Move left and right；Spherical shell mechanism has no effect on aircraft locomitivity while providing protection, and rotor craft 2 can drive spherical
Omnidirectional rolling of the bracket institution 1 around ground is done.
Power when D, the landing of rotor craft 2 are rolled comes from the rotor of rotor frame 21 and inclines the horizontal direction for providing
Component；When rotor craft 2 is tilted forward and back, beaded support mechanism 1 rotates under frictional ground force effect around straight-bar 3, completes
Move forward and backward；When rotor craft 2 tilts, the pulley 31 for driving the two ends of straight-bar 3 is rotated along round guide 11, sideways against ball
The side-to-side movement of shape bracket institution 1；
Straight-bar 3 is respectively arranged at two ends with a pulley 31 or rolling bearing, corresponding pulley 31 or rolling bearing embedded circle
In guide rail 11, described annulus 12 and round guide 11 is constituted by two hemisphere, two hemisphere detachable connections.
The beaded support mechanism 1 is detachable into two hemisphere, by screw connection, meets the dismounting of rotor craft 2
Insert and taking-up.
Embodiment 1
With reference to Fig. 1-4, it is a kind of can be in the air-ground amphibious rotor craft of ground omnidirectional rolling, including the He of rotor craft 2
Beaded support mechanism 1；The rotor craft 2 is located in beaded support mechanism 1, also including straight-bar 3, wherein, rotor craft 2
Including flight control system and power-supply system, flight control system includes rotor frame 21 and master control system, and master control system is located at
The center of rotor frame 21, power-supply system is located at master control system lower section, and straight-bar 3 is located at spherical through the fuselage of rotor craft 2
The center of bracket institution 1, the two ends of straight-bar 3 are located in beaded support mechanism 1.
Flight of the master control in the flight control system of rotor craft 2 to rotor craft 2 plays control and driving effect,
Power-supply system provides electric energy for flight control system, and power-supply system can adopt lithium battery power supply or other species batteries can be with,
Rotor craft 2 is fixed on the center of beaded support mechanism 1, beaded support mechanism 1 by straight-bar 3 through the fuselage of rotor craft 2
Positioned at the outside of rotor craft 2, fixed, support is played a part of to rotor craft 2 and is protected, fallen in rotor craft 2
Behind ground, can roll on the ground by the spherical structure of beaded support mechanism 1, and during the landing of rotor craft 2, it is to avoid rotor
Aircraft 2 directly collides landing, reduces and damages.
Beaded support mechanism 1 includes round guide 11, and straight-bar 3 is respectively arranged at two ends with a pulley 31 or rolling bearing, right
In the pulley 31 answered or the embedded round guide 11 of rolling bearing.
Round guide 11 is rolled before and after with the free degree of left and right two, and the pulley 31 at the two ends of straight-bar 3 slides in round guide 11,
Rotor craft 2 on straight-bar 3 keeps balance inside round guide 11, by the supporting role of straight-bar 3, before and after holding and left and right
Two frees degree are rolled.
Through the fuselage of rotor craft 2, on the midpoint of straight-bar 3, rotor flies rotor craft 2 described straight-bar 3
Row device 2 can rotate on straight-bar 3, and the rotor craft 2 on the midpoint of straight-bar 3 can keep balance, be easy to control.
Beaded support mechanism 1 also includes annulus 12, and annulus 12 is coaxial with round guide 11, and annulus 12 and round guide 11 hang down with axle
Directly, it is uniformly distributed to form beaded support mechanism 1.
Multiple annulus 12 and the cavities formed co-axial beaded support mechanism 1 of round guide 11, beaded support mechanism 1 is to rotor craft 2
Protection supporting role is played, is easy to rotor craft 2 to drive omnidirectional rolling of the beaded support mechanism 1 around ground is done.
Master control system includes inertial navigation unit and processor, and processor is connected with inertial navigation unit, processor according to
The attitude information control flight attitude of inertial navigation unit collection, control rotor craft 2 flies.
Beaded support mechanism 1 is carbon fibre spheroid support, and the carbon fibre material that the lightweight of beaded support mechanism 1 is hard meets protection
While fuselage, weight will not be significantly increased, it is ensured that endurance, and can effectively keep out hitting between during landing and ground
Hit.
Described pulley 31 is substituted using rolling bearing, and described annulus 12 and round guide 11 is constituted by two hemisphere,
Two hemisphere detachable connections, the beaded support mechanism 1 is detachable into two hemisphere, by screw connection, meets rotor
What aircraft 2 was dismantled inserts and taking-up.
Rotor craft 2 has the characteristics of mobility and strong flexibility, but due to needing to maintain state of flight, its motion effect
Rate is not high.The beaded support mechanism 1 of the present invention allows the toggle ground plane rolling condition during task of rotor craft 2, can be with
Reduce the energy ezpenditure for maintaining state of flight huge.Meanwhile, the rotor of rotor craft 2 is high for stability of a system requirement,
Easily it is damaged in collision and landing, existing foot rest and guard circle can not provide omnibearing protection, and landing is easy after clashing into
Topple over and cause secondary damage；The beaded support mechanism 1 of the present invention can be hedged off from the outer world rotor craft 2, protect its structure
Complete and function is normal, and beaded support mechanism 1 can roll before and after with the free degree of left and right two, it is easier to which movement locus is entered
Row control.
Embodiment 2
The a kind of of the present embodiment can be in the installation method of the air-ground amphibious rotor craft of ground omnidirectional rolling including following
Step：
A, in accordance with the above a kind of can be in the air-ground amphibious rotor crafts of ground omnidirectional rolling；
After inertial navigation unit and processor connection in B, master control system, by rotor frame 21, master control system and power supply
System assembles constitute rotor craft 2 together；
C, straight-bar 3 pass through rotor craft 2, rotor craft 2 to be located at the midpoint of straight-bar 3, can rotate on straight-bar 3,
The two ends of straight-bar 3 are installed by pulley 31；
D, the pulley 31 or rolling bearing on straight-bar 3 is embedded in round guide 11, annulus 12 and round guide 11 are fixed
Beaded support mechanism 1 is formed together.
Embodiment 3
It is a kind of to comprise the following steps in the control method of the air-ground amphibious rotor craft of ground omnidirectional rolling：
A, in accordance with the above a kind of can be in the installation method structures of the air-ground amphibious rotor craft of ground omnidirectional rolling
Build it is above-described it is a kind of can be in the air-ground amphibious rotor craft of ground omnidirectional rolling；
B, power-supply system are powered for rotor craft 2, inertial navigation unit collection of the processor in master control system
Attitude information control rotor craft 2 flies；
C, rotor craft 2 can be rotated around straight-bar 3, during flight, tilted forward and back and do not restricted by straight-bar 3, can be produced
In front and back motive force, completes to move forward and backward；
Rotor craft 2 tilts and drives straight-bar 3 to rotate along round guide 11, it is also possible to produces sideways against power, completes
Move left and right；Spherical shell mechanism has no effect on aircraft locomitivity while providing protection, and rotor craft 2 can drive spherical
Omnidirectional rolling of the bracket institution 1 around ground is done.
Power when D, the landing of rotor craft 2 are rolled comes from the rotor of rotor frame 21 and inclines the horizontal direction for providing
Component；When rotor craft 2 is tilted forward and back, beaded support mechanism 1 rotates under frictional ground force effect around straight-bar 3, completes
Move forward and backward；When rotor craft 2 tilts, the pulley 31 for driving the two ends of straight-bar 3 is rotated along round guide 11, sideways against ball
The side-to-side movement of shape bracket institution 1；
Described pulley 31 is substituted using rolling bearing, and described annulus 12 and round guide 11 is constituted by two hemisphere,
Two hemisphere detachable connections, the beaded support mechanism 1 is detachable into two hemisphere, by screw connection, meets rotor
What aircraft 2 was dismantled inserts and taking-up.
Air-ground amphibious rotor craft 2 of the present invention is (i.e. spherical with spherical fender bracket by rotor craft 2
Bracket institution 1) combination allow rotor craft 2 in ground surface, and can collide landing when reduce damage.
As Figure 1-3, the present invention is applied to general commercial aircraft, and commercial aircraft typically meets with support
Drop, commercial aircraft is fit into after beaded support mechanism 1 and can be used directly, very convenient.
Below schematically to the present invention and embodiments thereof be described, the description does not have restricted, institute in accompanying drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited thereto.So, if the common skill of this area
Art personnel enlightened by it, in the case of without departing from the invention objective, is designed and the technical scheme without creative
Similar frame mode and embodiment, all should belong to protection scope of the present invention.
Claims (10)
1. a kind of can be in the air-ground amphibious rotor craft of ground omnidirectional rolling, including rotor craft (2) and beaded support machine
Structure (1)；The rotor craft (2) is in beaded support mechanism (1), it is characterised in that also including straight-bar (3), wherein, rotation
Rotor aircraft (2) includes flight control system and power-supply system, and flight control system includes rotor frame (21) and master control system,
Master control system is located at the center of rotor frame (21), and power-supply system is located at master control system lower section, and straight-bar (3) is through rotor craft
(2) fuselage is located at beaded support mechanism (1) center, and the two ends of straight-bar (3) are located in beaded support mechanism (1).
2. it is according to claim 1 it is a kind of can be in the air-ground amphibious rotor craft of ground omnidirectional rolling, it is characterised in that
Beaded support mechanism (1) includes round guide (11), and straight-bar (3) is respectively arranged at two ends with a pulley (31) or rolling bearing, right
In the pulley (31) answered or the embedded round guide (11) of rolling bearing.
3. it is according to claim 1 it is a kind of can be in the air-ground amphibious rotor craft of ground omnidirectional rolling, it is characterised in that
Through the fuselage of rotor craft (2), on the midpoint of straight-bar (3), rotor flies rotor craft (2) described straight-bar (3)
Row device (2) can rotate on straight-bar (3).
4. it is according to claim 1 it is a kind of can be in the air-ground amphibious rotor craft of ground omnidirectional rolling, it is characterised in that
Beaded support mechanism (1) also includes annulus (12), and annulus (12) is coaxial with round guide (11), annulus (12) and round guide (11) and
Axle is vertical, is uniformly distributed to form beaded support mechanism (1).
5. according to claim 1-4 any one it is a kind of can in the air-ground amphibious rotor craft of ground omnidirectional rolling,
Characterized in that, master control system includes inertial navigation unit and processor, processor is connected with inertial navigation unit.
6. according to claim 1-4 any one it is a kind of can in the air-ground amphibious rotor craft of ground omnidirectional rolling,
Characterized in that, beaded support mechanism (1) is carbon fibre spheroid support.
7. it is a kind of can to comprise the following steps in the installation method of the air-ground amphibious rotor craft of ground omnidirectional rolling：
A, it is according to claim 1 it is a kind of can be in the air-ground amphibious rotor craft of ground omnidirectional rolling；
After inertial navigation unit and processor connection in B, master control system, by rotor frame (21), master control system and power supply system
System fits together composition rotor craft (2)；
, through rotor craft (2), rotor craft (2) can revolve positioned at the midpoint of straight-bar (3) on straight-bar (3) for C, straight-bar (3)
Turn, pulley (31) is installed at the two ends of straight-bar (3)；
D, the pulley (31) or rolling bearing on straight-bar (3) is embedded in round guide (11), by annulus (12) and round guide
(11) it is fixed together to form beaded support mechanism (1).
8. it is a kind of can to comprise the following steps in the control method of the air-ground amphibious rotor craft of ground omnidirectional rolling：
A, it is according to claim 7 it is a kind of can be in the installation method structure of the air-ground amphibious rotor craft of ground omnidirectional rolling
Build described in claim 1 it is a kind of can be in the air-ground amphibious rotor craft of ground omnidirectional rolling；
B, power-supply system are rotor craft (2) power supply, the appearance of inertial navigation unit collection of the processor in master control system
State information control rotor craft (2) flight；
C, rotor craft (2) can be rotated around straight-bar (3), during flight, be tilted forward and back not by the restriction of straight-bar (3), can be produced
Motive force after before death, completes to move forward and backward；
Rotor craft (2) tilts drive straight-bar (3) along round guide (11) rotation, it is also possible to produce sideways against power, complete
Into moving left and right；
Power when D, rotor craft (2) landing are rolled comes from the rotor of rotor frame (21) and inclines the horizontal direction for providing
Component；When rotor craft (2) is tilted forward and back, beaded support mechanism (1) turns under frictional ground force effect around straight-bar (3)
It is dynamic, complete to move forward and backward；When rotor craft (2) tilts, the pulley (31) at straight-bar (3) two ends is driven along round guide (11)
Rotate, sideways against beaded support mechanism (1) side-to-side movement.
9. it is according to claim 8 it is a kind of can in the control method of the air-ground amphibious rotor craft of ground omnidirectional rolling,
Characterized in that, straight-bar (3) is respectively arranged at two ends with a pulley (31) or rolling bearing, corresponding pulley (31) or the axis of rolling
Hold in embedded round guide (11).
10. it is according to claim 8 it is a kind of can in the control method of the air-ground amphibious rotor craft of ground omnidirectional rolling,
Characterized in that, described annulus (12) and round guide (11) are constituted by two hemisphere, two hemisphere detachable connections.
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| CN201710058392.0A CN106586006B (en) | 2017-01-23 | 2017-01-23 | Land-air amphibious rotor craft capable of rolling omnidirectionally on ground and mounting and controlling method thereof |
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| CN201710058392.0A CN106586006B (en) | 2017-01-23 | 2017-01-23 | Land-air amphibious rotor craft capable of rolling omnidirectionally on ground and mounting and controlling method thereof |
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