CN106956767B

CN106956767B - Aircraft with a flight control device

Info

Publication number: CN106956767B
Application number: CN201710301968.1A
Authority: CN
Inventors: 白振业; 张术超
Original assignee: Rhfly Shenzhen Intelligent Device Co ltd
Current assignee: Ruidian Enji Energy Technology Shenzhen Co ltd; Ruidian Tianhang Intelligent Equipment Guangxi Co ltd
Priority date: 2017-05-02
Filing date: 2017-05-02
Publication date: 2020-06-02
Anticipated expiration: 2037-05-02
Also published as: CN106956767A

Abstract

The present application provides an aircraft, comprising: a main body having a propeller; a first frame surrounding the main body, the first frame and the main body being pivotally connected by a first shaft so that it can be turned relative to the main body ; The second frame and the third frame are symmetrically arranged on the outside of the first frame, and the second frame and the third frame are pivoted by the second axis perpendicular to the first axis and the first frame The connections are rotated so that they can each rotate in a plane perpendicular to the second axis; the edges of the second frame and the third frame extend beyond the edges of the first frame in the same direction. The aircraft provided by the present application can complete the actions of "walking" and "climbing a wall" by means of a frame, which reduces the crash probability of the aircraft, and enables the aircraft to rise and fall at will without being restricted by terrain.

Description

Aircraft with a flight control device

Technical Field

The embodiment of the invention relates to the technical field of aviation, in particular to an aircraft.

Background

With the development of multi-axis unmanned aerial vehicles, a plurality of multi-axis unmanned aerial vehicles with different forms appear on the market, but all of them are based on the traditional aerodynamic layout and the improved structure.

The motor of the existing aircraft is arranged perpendicular to the ground, and the defect that the flying attitude is easily influenced if external force is applied in the air is overcome.

In addition, the existing aircraft can only be used for aerial operation, can not touch the wall, and can not move on the ground, so that the application purpose is not diversified.

Therefore, it is an urgent problem to provide an aircraft with more stable flight attitude and functions of operating on the road, climbing the wall, and protecting safety.

Disclosure of Invention

In view of the problems in the prior art, the present invention provides an aircraft comprising:

a main body having a propeller;

a first frame surrounding the main body, the first frame and the main body being pivotally connected by a first shaft so that they can be flipped with respect to the main body;

a second frame and a third frame symmetrically disposed outside the first frame, the second frame and the third frame pivotally connected to the first frame by a second axis perpendicular to the first axis such that they are each rotatable in a plane perpendicular to the second axis;

edges of the second frame and the third frame are beyond edges of the first frame in the same direction.

The first frame of the aircraft can turn 360 degrees relative to the main body, and the second frame and the third frame can rotate in a plane, so that the aircraft can not turn over or crash like the existing aircraft when touching the ground or the wall, but can continue to move by virtue of the frames to complete actions similar to walking and climbing. Therefore, the probability of the crash of the aircraft can be reduced, and the aircraft can be lifted and descended at will without the limitation of terrain.

In some embodiments of the invention, the second frame and the third frame each comprise:

a connecting portion pivotally connected to the first frame by a second shaft; and

a peripheral frame surrounding the first frame;

the peripheral frame and the connecting portion are connected by spokes to enable the peripheral frame to rotate in a plane perpendicular to the second axis.

This kind of design can be when lightening aircraft whole weight, provides the support intensity for peripheral frame through the spoke. The spokes also serve as protection, shock absorption, and can protect important core components of the aircraft when the aircraft touches a wall or lands. In addition, the design is favorable for shooting by the camera device arranged on the main body, and the visual angle of the camera device cannot be influenced. Also plays a role of protecting important core components of the aircraft

In some embodiments of the invention, the spokes are bent such that a portion thereof is further outside of the plane in which the peripheral frame lies, to further form a reliable protective mesh structure.

In some embodiments of the invention, the spokes have a plurality of spokes that are evenly distributed between the connection portion and the peripheral frame.

In some embodiments of the present invention, the first shaft penetrates the main body and both ends thereof are pivotally connected to the first frame, respectively; the first frame has an axisymmetric shape, and the first axis coincides with a symmetry axis of the first frame.

In some embodiments of the invention, the second frame and the third frame are circular.

In some embodiments of the invention, the first end of the second shaft is used for connecting the connecting part of the second frame and the first frame, and the second end of the second shaft is used for connecting the connecting part of the third frame and the first frame: a portion of the second shaft between the first and second ends expands outwardly to form an arcuate frame capable of surrounding the body.

Since the first frame can be turned relative to the main body along the first axis, in order to avoid interference of the second axis with the above-mentioned turning motion, the second axis may be provided in two stages for pivotal connection of the first frame and the second frame and pivotal connection of the first frame and the third frame, respectively, and also like this embodiment, the middle portion of the second axis may be designed as a special arc-shaped frame surrounding the main body from two opposite directions, and the main body can be maintained within the arc-shaped frame regardless of how the first frame is turned. Furthermore, the second shaft also acts as a reinforcement for the first frame in practice.

In some embodiments of the present invention, the first end and the second end of the second shaft penetrate the connecting portion and then are bent toward the peripheral frame, and ends of the first end and the second end are fixedly connected to the peripheral frame.

The embodiment utilizes the extension of the tail end of the second shaft to form two additional spokes, so that the strength and the damping effect of the peripheral frame are further improved.

In some embodiments of the invention, the aircraft may further comprise:

the bearing part is fixedly arranged at the bottom of the main body;

the driving unit is arranged on the bearing part and used for driving the propeller to rotate; and

the control unit, the power supply unit and the sensor unit are arranged on the bearing part.

According to the aircraft provided by the embodiment, the power supply unit, the sensor unit and the control unit are arranged on the bearing part at the bottom of the main body, so that the power supply unit, the sensor unit and the control unit are arranged at a certain distance from the main body, and further, the gravity center of the aircraft is kept on the central shaft but below the aircraft body, so that the aircraft can be always kept stable in posture similar to a tumbler, and the aerial photography quality is improved.

In some embodiments of the invention, the drive unit is disposed at an angle to a bottom surface of the main body.

The drive unit can adopt a motor, the motor can form a certain angle with the ground, the angle can be less than or equal to 20 degrees, the specific degree is determined according to the model and the whole weight, the special condition can exceed the value, and the design has the advantage that the motor angle layout is favorable for the stability of the aircraft.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic illustration of a first perspective of an aircraft provided in accordance with an embodiment of the present invention;

FIG. 2 is a schematic illustration of a second perspective of the aircraft shown in FIG. 1;

fig. 3 is a top view of the aircraft shown in fig. 1.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Referring to fig. 1 to 3, an aircraft according to an embodiment of the present invention mainly includes a main body 1, a first frame 2, a second frame 3, a third frame 4, a first shaft 5, and a second shaft 6.

In particular, the body 1 has a plurality of propellers which can be uniformly distributed on the body 1 to counteract the torque generated between each other. The first frame 2 surrounds the body 1, i.e. the body 1 is completely inside the first frame 2. The first frame 2 and the main body 1 are pivotally connected by a first shaft 5 so that the first frame 2 can be turned relative to the main body 1. The second frame 3 and the third frame 4 are symmetrically disposed outside the first frame 2 and are pivotally connected to the first frame 2 by a second shaft 6 mutually perpendicular to the first shaft 5 so that they can each rotate in a plane perpendicular to the second shaft 6. The second frame 3 and the third frame 4 may be in the form of a sheet (different from the shapes shown in figures 1-3) with their edges extending beyond the edges of the first frame in the same direction.

According to the above arrangement, the first frame 2 can be turned over with respect to the main body 1, and the second frame 3 and the third frame 4 can be rotated on the first frame 2, the turning and rotating movements being independent of each other and not interfering with each other. Also, since the edges of the second frame 3 and the third frame 4 exceed the edges of the first frame 2 in the same direction, the second frame 3 and the third frame 4 serve as portions that mainly contact the wall or the bottom surface. Further, it will be appreciated by those skilled in the art that the second shaft 6 may be a unitary shaft having one end pivotally connecting the first and

second frames

2, 3 and the other end pivotally connecting the first and

third frames

2, 4. The second shaft 6 may also be two shafts for pivotally connecting the first and

second frames

2 and 3 and the first and

third frames

2 and 4, respectively.

In the embodiment shown in fig. 1 to 3, the second frame 3 and the third frame 4 each include a connecting

portion

31, 41 and a

peripheral frame

32, 42, which are symmetrically distributed on both sides of the first frame 2 and are identical in structure, and therefore the connecting portion 31 and the peripheral frame 32 of the second frame 3 will be described below as an example.

The connecting portion 31 and the first frame 2 are pivotally connected by the second shaft 6, and the peripheral frame 32 is arranged around the first frame 2. The peripheral frame 32 and the connecting portion 31 are connected by spokes 33 so that the peripheral frame 32 can rotate in a plane perpendicular to the second shaft 6. This arrangement enables the weight of the entire aircraft to be further reduced, higher strength to be obtained, and a wider field of view to be obtained when the imaging device is mounted on the main body 1, as compared to the above-described arrangement in which the second frame 3 and the third frame 4 are designed as thin plates.

In some embodiments of the invention, the spokes 33 are curved, with a portion thereof located further outside with respect to the plane of the peripheral frame 32, so that the spokes 33 not only have a structural reinforcing effect, but also form a protective mesh on the outside of the second frame 3, avoiding objects from colliding laterally with the second frame 3. The spokes 33 may have a plurality of spokes and be uniformly distributed between the connecting portion 31 and the peripheral frame 32 so that the second frame 3 is shaped like a bicycle wheel.

In some embodiments of the present invention, the first shaft 5 penetrates the main body 1, and both ends thereof are pivotally connected to the first frame 2, respectively. The first frame 2 has an axisymmetrical shape, and the first axis 5 coincides with the symmetry axis of the first frame 2, for example, the first frame 2 may have an axisymmetrical shape similar to a butterfly wing as shown in fig. 1 to 3, but is not limited thereto. The second frame 3 and the third frame 4 may then present circular ring shapes as shown in fig. 1-3, the second frame 3 and the third frame 4 extending beyond the edge of the first frame 2 in both the fore and aft direction of the entire aircraft, i.e. their edges extending beyond the edge of the first frame in the same direction.

With continued reference to fig. 1-3, in another embodiment of the present invention, the second shaft 6 may be as described above with a first end 61 for pivotally connecting the connecting portion 31 of the second frame 3 and the first frame 2 and a second end 62 for pivotally connecting the connecting portion 41 of the third frame 4 and the first frame 2. Unlike the above, the portion of the second shaft 6 between the first end 61 and the second end 62 is flared toward the outside to form an arc-shaped frame 63 capable of surrounding the main body 1. Therefore, the second shaft 6 does not hinder its movement, regardless of how the first frame 2 is turned with respect to the main body 1. The second shaft 6 of this shape also serves as a rib of the first frame 2.

The first 61 and second 62 ends of the second shaft 6 are bent towards the

peripheral frames

32, 42 after penetrating the connecting

portions

31, 41, respectively, and their ends are finally fixedly connected to the

peripheral frames

32, 42, respectively, and their bending degree may be the same as that of the spokes 33. In practice, it is entirely possible to treat the portions of them that are bent as spokes. For convenience of processing, the second shaft 6 may be formed by splicing two symmetrical parts as shown in fig. 1 to 3.

In some embodiments of the present invention, the aircraft may further include a bearing portion fixedly disposed at the bottom of the main body 1, a driving unit disposed on the bearing portion for driving the propeller to rotate, and a control unit and a power supply unit disposed on the bearing portion. The design mode is to move the center of gravity of the whole aircraft downwards, so that the aircraft can quickly adjust the flying posture to a stable posture when flying and touching the wall or the ground, and a structure similar to a tumbler is formed by matching the reversible first frame 2, the rotatable second frame 3 and the third frame 4.

In some embodiments of the present invention, the driving unit is angled with respect to the bottom surface of the main body 1, that is, when the bottom surface of the main body 1 is parallel with the ground, the driving unit is angled with respect to the ground.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. an aircraft, characterized in that, comprising:

a body with a propeller;

a first frame surrounding the body, the first frame and the body being pivotally connected by a first axis such that it can be turned relative to the body;

a second frame and a third frame symmetrically disposed outside the first frame, the second frame and the third frame being pivoted by a second axis perpendicular to the first axis and the first frame connected so that they can each rotate in a plane perpendicular to said second axis;

The edges of the second frame and the third frame extend beyond the edges of the first frame in the same direction;

Both the second frame and the third frame include:

a peripheral frame surrounding the first frame;

the peripheral frame and the connecting portion are connected by spokes so that the peripheral frame can rotate in a plane perpendicular to the second axis;

The first end of the second shaft is used to connect the connecting part of the second frame and the first frame, and the second end of the second shaft is used to connect the connecting part of the third frame and the first frame:

A portion of the second shaft between the first end and the second end expands outward to form an arcuate frame that can surround the body.

2. aircraft according to claim 1, is characterized in that:

The spokes are bent so that a portion of them is further outside the plane of the peripheral frame.

3. The aircraft according to any one of claims 1 or 2, wherein:

The spokes have a plurality of spokes, which are evenly distributed between the connecting portion and the peripheral frame.

4. aircraft according to claim 1, is characterized in that:

the first shaft penetrates through the main body and two ends thereof are pivotally connected to the first frame respectively;

The first frame has an axisymmetric shape, and the first axis coincides with the symmetry axis of the first frame.

5. aircraft according to claim 4, is characterized in that:

The second frame and the third frame are annular.

6. The aircraft according to claim 5, wherein:

The first end and the second end of the second shaft penetrate the connecting portion and then bend toward the peripheral frame, and the ends of the first end and the second end are fixedly connected to the peripheral frame.

7. The aircraft of claim 1, comprising:

a bearing portion fixedly arranged on the bottom of the main body;

a drive unit disposed on the bearing portion for driving the propeller to rotate; and

a control unit, a power supply unit and a sensor unit arranged on the carrying part.

8. The aircraft according to claim 7, wherein:

The driving unit and the bottom surface of the main body are arranged at an angle.