CN106741911A - Robot unmanned plane - Google Patents
Robot unmanned plane Download PDFInfo
- Publication number
- CN106741911A CN106741911A CN201611261446.5A CN201611261446A CN106741911A CN 106741911 A CN106741911 A CN 106741911A CN 201611261446 A CN201611261446 A CN 201611261446A CN 106741911 A CN106741911 A CN 106741911A
- Authority
- CN
- China
- Prior art keywords
- wing
- gear
- unmanned plane
- robot
- shield
- 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
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Classifications
-
- 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
- B64C27/10—Helicopters with two or more rotors arranged coaxially
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
-
- 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
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention discloses robot unmanned plane, it is related to aircraft field, robot unmanned plane, including robot chassis, wing elevating mechanism, wing rotating mechanism, wing shield mechanism, robot sets organism on chassis, wing shield mechanism is provided with body, it is provided with to be slided in liftway, liftway in body and is provided with wing elevating mechanism, wing rotating mechanism is provided with wing elevating mechanism.Robot unmanned plane of the present invention, occupies little space with compact conformation, the characteristics of with DCB Specimen flight stability.
Description
Technical field
The present invention relates to aircraft field, specifically, it is related to a kind of robot unmanned plane.
Background technology
Current civilian unmanned plane is widely used in taking photo by plane, fire-fighting, police investigation, land mapping, to ocean, high-tension line,
The condition of a disaster, meteorology etc. are monitored.Traditional unmanned plane is that this unmanned plane is in use, due to four using four axle rotors mostly
Scope is very big when rotor launches, and is often unfavorable for being flown in narrow scope, or easily encountering barrier occurs air crash.
The content of the invention
The technical problems to be solved by the invention are：A kind of robot unmanned plane is provided, there is the device compact conformation to account for
It is small with space, the characteristics of with DCB Specimen flight stability.
In order to solve the above technical problems, the technical scheme is that：
Robot unmanned plane, including robot chassis, wing elevating mechanism, wing rotating mechanism, wing shield mechanism, institute
State and organism is set on robot chassis, wing shield mechanism is provided with the body, lifting is provided with the body logical
Slided in road, the liftway and be provided with the wing elevating mechanism, the wing is provided with the wing elevating mechanism
Rotating mechanism.
Preferably, being provided with gathering sill on the liftway, the wing elevating mechanism is stretched including hollow wing
Shaft, is provided with the guide ledges being adapted with the gathering sill on the wing projecting shaft, the guide ledges are embedded in described
In gathering sill, the lower end of the wing projecting shaft is connected by feed screw nut with leading screw, the leading screw be arranged on the machine
The output shaft connection of the spindle motor on people chassis, the bottom of the body is provided with some machine fans.
Preferably, the gathering sill quantity is two, and opposing parallel setting；The machine fan quantity is four, and right
Title is arranged on underpart.
Preferably, the wing rotating mechanism includes being arranged on the wing steering wheel of the wing projecting shaft upper end and consolidates
The gear fixed mount at the top of the wing projecting shaft is scheduled on, the top rotary setting in the gear fixed mount has upper rotor tooth
Wheel, the bottom in the gear fixed mount is fixed with fixed helical gear, and the gear fixed mount middle setting has swing pinion
Connecting shaft, the swing pinion connecting shaft middle part is fixedly connected sprocket drive spindle, and the two ends of the gear shaft are connected to
One swing pinion, the top and bottom of the swing pinion are engaged with the upper rotor gear and fixed helical gear respectively, institute
The lower end for stating swing pinion connecting shaft is connected through the bottom of the gear fixed mount with the output shaft of the wing steering wheel, described
The upper end of swing pinion connecting shaft is connected through the top of the gear fixed mount with upper rotor connecting bushing, and the upper rotor connects
Spindle set lower, outer perimeter is enclosed and is provided with lower rotor connecting bushing, and the lower rotor connecting bushing lower end connects with the upper rotor gear
Connect, lower rotor wing disk and upper rotor wing disk be separately installed with the lower rotor connecting bushing and upper rotor connecting bushing,
Wing-folding device is provided with the lower rotor wing disk and the upper rotor wing disk.
Preferably, the wing-folding device includes wing-folding motor and folds gear, the folding motor connection
There is worm screw, the worm screw engages with the folding gear, and the folding gear is connected with wing.
Preferably, being provided with bearing between the lower rotor connecting bushing and the upper rotor connecting bushing.
Preferably, described wing shield mechanism includes being hinged on the wing shield above the body, the wing
Shield is connected by shield connecting rod with the middle part of the wing projecting shaft.
Preferably, being additionally provided with wing hole and shield company positioned at the body top of the surrounding edge of the wing projecting shaft
Bar slotted eye.
Preferably, steering engine driver is additionally provided with the robot chassis, on the output shaft of the steering engine driver
Omnidirectional driving wheel is installed.
Preferably, the quantity of the steering engine driver is four.
After employing above-mentioned technical proposal, the beneficial effects of the invention are as follows：
Due to robot unmanned plane, including robot chassis, wing elevating mechanism, wing rotating mechanism, wing shield machine
Structure, when robot unmanned plane is deposited, wing-folding can be stored in body by wing rotating mechanism by wing elevating mechanism again
It is interior, and the closing of wing shield mechanism so that compact overall structure occupies little space, when robot unmanned plane lets startup fly away,
Wing elevating mechanism will rise in wing slave body, and wing rotating mechanism launches wing, starts flight.
Because the bottom of body is provided with some machine fans, when robot unmanned plane takes off, being fanned by machine can not only control
The horizontal direction of robot unmanned plane processed, can also in the horizontal direction provide power.
Due to being separately installed with lower rotor wing disk and upper gyroplane on lower rotor connecting bushing and upper rotor connecting bushing
The direction of rotation of wing disk, lower rotor wing disk and upper rotor wing disk conversely, therefore robot unmanned plane has bispin wing structure,
Flight stability.
Due to wing-folding device include wing-folding motor and fold gear, wing-folding motor can by rotate forward and
Invert to control the expansion and folding of wing.
Due to being provided with bearing, therefore robot unmanned plane during flying between lower rotor connecting bushing and upper rotor connecting bushing
When avoid wing from shaking, fly it is more stable.
Because wing shield is connected by shield connecting rod with the middle part of wing projecting shaft, therefore by the liter of wing projecting shaft
Drop just can control the switch of wing shield.
In sum, robot unmanned plane of the present invention solves four axle unmanned plane in the prior art, when four rotors launch
When scope it is very big, be unfavorable in narrow scope fly, or easily encounter barrier occur air crash problem.Machine of the present invention
Device people's unmanned plane, occupies little space with compact conformation, the characteristics of with DCB Specimen flight stability.
Brief description of the drawings
Structural representation when Fig. 1 is the wing shield mechanism closing of robot unmanned plane of the present invention；
Structural representation when Fig. 2 is the wing shield mechanism opening of robot unmanned plane of the present invention；
Fig. 3 is the top view of robot unmanned plane of the present invention；
Fig. 4 is the left view of Fig. 3；
Fig. 5 is the sectional view on the middle B-B directions of Fig. 3；
Fig. 6 is the structural representation of wing-folding device in Fig. 5；
Fig. 7 is the structural scheme of mechanism of Fig. 5 middle gears fixed mount and internal part；
In figure：1. robot chassis, 2. wing elevating mechanism, 3. wing rotating mechanism, 4. wing shield mechanism, 5. machine
Body, 6. gathering sill, 7. steering engine driver, 8. omnidirectional driving wheel, 9. wing, 10. wing projecting shaft, 11. guide ledges, 12.
Thick stick nut, 13. leading screws, 14. spindle motors, 15. wing steering wheels, 16. gear fixed mounts, rotor gear on 17., 18. fix oblique
Gear, 19. swing pinion connecting shafts, 20. gear shafts, rotor connecting bushing on 21., 22. times rotor connecting bushings, 23. backspins
Wing wing disk, rotor wing disk on 24., 25. wing-folding devices, 26. wing-folding motors, 27. folding gears, 28. worm screws,
29. machines are fanned, 30 liftways, 31 wing shields, 32. shield connecting rods, 33. wing holes, 34. shield link slots.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and examples.
As shown in Figure 1, Figure 2, Fig. 5 is jointly shown, robot unmanned plane, including robot chassis 1, wing elevating mechanism 2, wing
Rotating mechanism 3, wing shield mechanism 4 sets organism 5 on robot chassis 1, wing shield mechanism 4 is provided with body 5,
Liftway 30 is provided with body 5, is slided on liftway 30 and is provided with wing elevating mechanism 2, set on wing elevating mechanism 2
Wing rotating mechanism 3 is equipped with, four steering engine drivers 7 is additionally provided with body people chassis 1, on the output shaft of steering engine driver 7
Omnidirectional driving wheel 8 is installed.
When robot unmanned plane is deposited, wing 9 can be folded and pass through wing elevating mechanism 2 again by wing rotating mechanism 3
Be stored in body, while wing shield mechanism 4 is closed so that compact overall structure occupies little space, when robot nobody
When machine lets startup fly away, wing elevating mechanism 2 will rise in the slave body of wing 9, and wing rotating mechanism 3 launches wing 9, starts and flies
OK.
As Fig. 2, Fig. 3, Fig. 4, Fig. 5 jointly shown in, in the present invention, be provided with liftway 30 two it is opposing parallel
Gathering sill 6, wing elevating mechanism 2 includes hollow wing projecting shaft 10, is provided with wing projecting shaft 10 and is mutually fitted with gathering sill 6
The guide ledges 11 matched somebody with somebody, guide ledges 11 are embedded in gathering sill 6, and the lower end of wing projecting shaft 10 passes through feed screw nut 12 and leading screw
13 connections, leading screw 13 is connected with the output shaft for being arranged on the One On The Chassis spindle motor 14 of robot, and the bottom of body 5 symmetrically sets
Four machine fans 29 are equipped with, machine fan 29 can not only control the horizontal direction of robot unmanned plane, can also carry in the horizontal direction
For power.
As Fig. 2, Fig. 5, Fig. 7 jointly shown in, in the present invention, wing rotating mechanism 3 include be arranged on wing projecting shaft 10
The wing steering wheel 15 of upper end and the gear fixed mount 16 being fixed at the top of wing projecting shaft 10, the top in gear fixed mount 16
Rotary setting has upper rotor gear 17, and the bottom in gear fixed mount 16 is fixed with fixed helical gear 18, gear fixed mount 16
Middle setting has swing pinion connecting shaft 19, and the middle part of swing pinion connecting shaft 19 is fixedly connected sprocket drive spindle 20, gear shaft
20 two ends are connected to a swing pinion 21, the top and bottom of swing pinion 21 respectively with upper rotor gear 17 and solid
Determine helical gear 18 to engage, the lower end of swing pinion connecting shaft 19 passes through the bottom of gear fixed mount 16 and the output of wing steering wheel 15
Axle is connected, and the upper end of swing pinion connecting shaft 19 is connected through the top of gear fixed mount 16 with upper rotor connecting bushing 21, on
The lower, outer perimeter of rotor connecting bushing 21 is enclosed and is arranged with lower rotor connecting bushing 22, the lower lower end of rotor connecting bushing 22 and upper rotor tooth
Wheel 17 is connected, and lower rotor wing disk 23 and upper rotor are separately installed with lower rotor connecting bushing 22 and upper rotor connecting bushing 21
Wing-folding device 25 is provided with wing disk 24, lower rotor wing disk 23 and upper rotor wing disk 24.Because lower rotor connects
Lower rotor wing disk 23 and upper rotor wing disk 24, lower gyroplane are separately installed with spindle set 22 and upper rotor connecting bushing 21
The direction of rotation of wing disk 23 and upper rotor wing disk 24 is conversely, therefore robot unmanned plane has bispin wing structure, flight stability.
As Fig. 5, Fig. 6 jointly shown in, in the present invention, wing-folding device 25 include wing-folding motor 26 and fold tooth
Wheel 27, folds motor 26 and is connected with 28, and worm screw 28 engages with gear 27 is folded, and folds gear 27 and is connected with wing 9, wing-folding
Motor 26 can control the expansion and folding of wing 9 by rotating and reverse.
In the present invention, bearing, therefore machine are provided between lower rotor connecting bushing 22 and upper rotor connecting bushing 21
Avoid wing 9 to shake during people's unmanned plane during flying, fly more stable.
As shown in figure 5, in the present invention, wing shield mechanism 4 includes the wing shield 31 being hinged on body 5, wing
Shield 31 is hinged by shield connecting rod 32 with the middle part of wing projecting shaft 10.
As shown in Fig. 2 in the present invention, the top of body 5 positioned at the surrounding edge of wing projecting shaft 10 is additionally provided with wing hole
33 and shield link slot 34.
Above-described embodiment is only the citing of the specific embodiment of the invention, and protection scope of the present invention is with claim
Content is defined, any equivalent transformation carried out based on technical inspiration of the invention, also within protection scope of the present invention.
Claims (10)
1. robot unmanned plane, including robot chassis, wing elevating mechanism, wing rotating mechanism, wing shield mechanism, it is special
Levy and be：Organism is set on the robot chassis, is provided with the body in wing shield mechanism, the body and set
Have to be slided in liftway, the liftway and be provided with the wing elevating mechanism, be provided with the wing elevating mechanism
The wing rotating mechanism.
2. robot unmanned plane as claimed in claim 1, it is characterised in that：Gathering sill, institute are provided with the liftway
Stating wing elevating mechanism includes hollow wing projecting shaft, is provided with what is be adapted with the gathering sill on the wing projecting shaft
Guide ledges, the guide ledges are embedded in the gathering sill, and the lower end of the wing projecting shaft passes through feed screw nut and leading screw
Connection, the leading screw is connected with the output shaft of the spindle motor being arranged on the robot chassis, and the bottom of the body sets
It is equipped with some machine fans.
3. robot unmanned plane as claimed in claim 2, it is characterised in that：The gathering sill quantity is two, and relatively flat
Row is set；The machine fan quantity is four, and is symmetricly set on underpart.
4. robot unmanned plane as claimed in claim 2, it is characterised in that：The wing rotating mechanism is described including being arranged on
The wing steering wheel of wing projecting shaft upper end and the gear being fixed at the top of the wing projecting shaft fix house, and the gear is fixed
Top rotary setting in frame has upper rotor gear, and the bottom in the gear fixed mount is fixed with fixed helical gear, described
Gear fixed mount middle setting has swing pinion connecting shaft, and the swing pinion connecting shaft middle part is fixedly connected with gear
Axle, the two ends of the gear shaft are connected to a swing pinion, the top and bottom of the swing pinion respectively with it is described
Upper rotor gear and the engagement of fixed helical gear, the lower end of the swing pinion connecting shaft through the bottom of the gear fixed mount with
The output shaft connection of the wing steering wheel, the top of family and upper rotor are fixed in the upper end of the swing pinion connecting shaft through gear
Connecting bushing is connected, and the upper rotor connecting bushing lower, outer perimeter is enclosed and is arranged with lower rotor connecting bushing, the lower rotor connection
Axle sleeve lower end is connected with the upper rotor gear, is separately installed with down on the lower rotor connecting bushing and upper rotor connecting bushing
Wing-folding is provided with rotor wing disk and upper rotor wing disk, the lower rotor wing disk and the upper rotor wing disk
Device.
5. robot unmanned plane as claimed in claim 4, it is characterised in that：The wing-folding device includes wing-folding electricity
Machine and fold gear, the folding motor connection has a worm screw, and the worm screw engage with the folding gear, the folding gear and
Wing is connected.
6. robot unmanned plane as claimed in claim 4, it is characterised in that：The lower rotor connecting bushing and the upper rotor
Bearing is provided between connecting bushing.
7. robot unmanned plane as claimed in claim 2, it is characterised in that：Described wing shield mechanism includes being hinged on institute
The wing shield on body is stated, the wing shield is connected by shield connecting rod with the wing projecting shaft.
8. robot unmanned plane as claimed in claim 7, it is characterised in that：Described in surrounding edge positioned at the wing projecting shaft
Body top is additionally provided with wing hole and shield link slot.
9. the robot unmanned plane as described in any one of claim 1 to 8, it is characterised in that：Also set on the robot chassis
Steering engine driver is equipped with, omnidirectional driving wheel is installed on the output shaft of the steering engine driver.
10. robot unmanned plane as claimed in claim 9, it is characterised in that：The quantity of the steering engine driver is four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611261446.5A CN106741911B (en) | 2016-12-30 | 2016-12-30 | Unmanned plane of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611261446.5A CN106741911B (en) | 2016-12-30 | 2016-12-30 | Unmanned plane of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106741911A true CN106741911A (en) | 2017-05-31 |
| CN106741911B CN106741911B (en) | 2023-10-13 |
Family
ID=58954036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611261446.5A Active CN106741911B (en) | 2016-12-30 | 2016-12-30 | Unmanned plane of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106741911B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813953A (en) * | 2017-10-11 | 2018-03-20 | 东莞市联洲知识产权运营管理有限公司 | A kind of folding device for unmanned plane robot |
| CN107933887A (en) * | 2017-10-23 | 2018-04-20 | 四川大学 | A kind of rudder piece development mechanism |
| CN109318258A (en) * | 2018-10-26 | 2019-02-12 | 歌尔股份有限公司 | Movement mechanism and movable equipment |
| EP3575212A3 (en) * | 2018-05-29 | 2020-02-19 | Spin Master Ltd. | Collapsible flying device |
| USD920442S1 (en) | 2019-02-15 | 2021-05-25 | Spin Master Ltd. | Flying device |
| CN109318258B (en) * | 2018-10-26 | 2024-04-30 | 歌尔股份有限公司 | Motion mechanism and movable device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107813953A (en) * | 2017-10-11 | 2018-03-20 | 东莞市联洲知识产权运营管理有限公司 | A kind of folding device for unmanned plane robot |
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| EP3575212A3 (en) * | 2018-05-29 | 2020-02-19 | Spin Master Ltd. | Collapsible flying device |
| US10800519B2 (en) | 2018-05-29 | 2020-10-13 | Spin Master Ltd. | Collapsible flying device |
| US11370533B2 (en) | 2018-05-29 | 2022-06-28 | Spin Master Ltd. | Collapsible flying device |
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| CN109318258B (en) * | 2018-10-26 | 2024-04-30 | 歌尔股份有限公司 | Motion mechanism and movable device |
| USD920442S1 (en) | 2019-02-15 | 2021-05-25 | Spin Master Ltd. | Flying device |
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| Publication number | Publication date |
|---|---|
| CN106741911B (en) | 2023-10-13 |
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