CN107097946A - It is a kind of that posture hovering structure is become based on the aircraft for becoming vector structure - Google Patents
It is a kind of that posture hovering structure is become based on the aircraft for becoming vector structure Download PDFInfo
- Publication number
- CN107097946A CN107097946A CN201710177047.9A CN201710177047A CN107097946A CN 107097946 A CN107097946 A CN 107097946A CN 201710177047 A CN201710177047 A CN 201710177047A CN 107097946 A CN107097946 A CN 107097946A
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- Prior art keywords
- aircraft
- screw
- steering wheel
- travelling gear
- lock
- 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.)
- Pending
Links
- 239000013598 vector Substances 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 229920000049 Carbon (fiber) Polymers 0.000 claims abstract description 10
- 239000004917 carbon fiber Substances 0.000 claims abstract description 10
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 10
- 230000008859 change Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 239000002360 explosive Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 241000256626 Pterygota <winged insects> Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000010429 evolutionary process Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to a kind of based on the aircraft change posture hovering structure for becoming vector structure, mainly it is made up of two clamp mechanisms, transmission mechanism and rotating mechanism, rotating mechanism include：Carbon fiber horn, fixing device, flange bearing, fixing screws, lock-screw, bindiny mechanism, grub screw；Transmission mechanism includes:Intermediate connecting rod, the first travelling gear, steering wheel, lock-screw, the second travelling gear, locking nut, disc steering wheel arm.The two mechanisms cooperate, and complete to become vector functions.The present invention can make multi-rotor aerocraft keep body levels or skewed at any angle in flight or hovering.Present invention could apply to detect, monitor, sample collection, the every field such as security protection.
Description
Technical field
The present invention becomes posture hovering structure to be a kind of based on the aircraft for becoming vector structure, belongs to " multi-rotor aerocraft " neck
Domain.
Background technology
Current multi-rotor aerocraft is not accomplished machine people and equally serviced for the mankind all the time, is largely because nothing
Man-machine still only reside within equals winged aspect, is mounted with that mechanical arm can only be also suspended under unmanned plane even if common unmanned plane
Side, zone of action is limited, very dumb.So the desired aircraft that assigns is more multi-functional, flexible as winged insect, aircraft
Change posture hovering technology be particularly important.
The content of the invention
1st, goal of the invention：
The purpose of the present invention is to devise a kind of aircraft based on change vector structure for multi-rotor aerocraft to become posture
Hovering structure, allows aircraft to keep what is installed below the posture of wide-angle tilt, such aircraft in flight or hovering
The scope of activities of mechanical arm can be no longer limited to the lower section of aircraft water plane, can also be stretched over aircraft front and back
And top.So aircraft can become more flexibly, be that the mankind complete more multitask.
2nd, technical scheme
The present invention is a kind of to become posture hovering structure, including rotating mechanism 0-1, driver based on the aircraft for becoming vector structure
Structure 0-2, the two mechanisms cooperate, and complete to become vector functions.
Rotating mechanism as shown in Figure 2, consists of the following components:Carbon fiber horn 1, fixing device 2, flange bearing 3,
Fixing screws 4, lock-screw 5, bindiny mechanism 6, grub screw 7.
It is used for the rotor for carrying aircraft on carbon fiber horn 1, it is inserted in bindiny mechanism 6, and is locked by lock-screw 5
Tightly.Fixing device 2 is used to entirely become the fixation of vector mechanism on board the aircraft, is tightened by fixing screws 4.Fixing device 2 is enclosed on
Outside flange bearing 3, flange bearing 3 is enclosed on outside bindiny mechanism 6, and it is interference fit that the above, which coordinates,.The one side of grub screw 7 is used for
Connect the rotating mechanism of both sides, it is ensured that the synchronous rotary of both sides rotor when becoming vector；On the other hand it is used to connect transmission mechanism, its
In the aperture for being inserted in the first travelling gear 9, rotating mechanism and transmission mechanism are linked together together with intermediate connecting rod 8.
Transmission mechanism as shown in Figure 3, consists of the following components:Intermediate connecting rod 8, the first travelling gear 9, steering wheel 10,
Lock-screw 11, the second travelling gear 12, locking nut 13, disc steering wheel arm 14.
Intermediate connecting rod 8 is inserted in the middle macropore of the first travelling gear 9, and the two ends of intermediate connecting rod are inserted in bindiny mechanism 6,
It is interference fit above.The effect of intermediate connecting rod is that rotating mechanism and transmission mechanism are fixed on one jointly with grub screw 7
Rise.Lock-screw 11 and locking nut 13 are fixed together the second travelling gear 12 and disc steering wheel arm 14, and steering wheel 10 is consolidated
It is scheduled on disc steering wheel arm 14.Steering wheel 10 is fixed on aircraft fuselage, and two travelling gears are fitted close.
3rd, advantage and effect
The a kind of of the present invention becomes posture hovering structure based on the aircraft for becoming vector structure, multi-rotor aerocraft can be made to exist
Body levels or skewed at any angle are kept when flight or hovering.Thus as the evolutionary process of " from ape to people ", aircraft can
So that with suberect posture flight is connect, the both hands of aircraft are liberated, so as to help the mankind to complete more multitask in space.
Also make it possible that aircraft drops to metope.So this technology can apply to detection, monitoring, sample collection, security protection etc.
Every field.
Brief description of the drawings
Fig. 1：The general assembly drawing of the present invention.
Fig. 2：The explosive view of rotating mechanism of the present invention.
Fig. 3：The explosive view of transmission mechanism of the present invention.
Fig. 4:Bindiny mechanism's structure chart of the present invention.
Fig. 5:For flange bearing structure chart of the present invention.
Fig. 6：Existing carry-on schematic diagram is installed on for the embodiment of the present invention.
Fig. 7:For control process flow chart of the embodiment of the present invention.
Sequence number in figure, symbol, the meaning representated by code name is as follows：
1：Carbon fiber horn 2：Fixing device 3：Flange bearing
4：Fixing screws 5：Lock-screw 6：Bindiny mechanism
7：Grub screw 8：Intermediate connecting rod 9：First travelling gear
10：Steering wheel 11：Lock-screw 12：Second travelling gear
13：Locking nut 14：Disc steering wheel arm 0-1：Rotating mechanism
0-2：Transmission mechanism
Embodiment
With reference to the accompanying drawings and examples, technical scheme is described further.
As shown in fig. 6, the type that the embodiment of the present invention is applied is the rotor of coaxial double-oar four, frame profile is H-shaped, so
One frame aircraft needs to carry the change posture hovering structure described in two.Specific assembling process is as follows：
The present invention is a kind of to become posture hovering structure based on the aircraft for becoming vector structure, by rotating mechanism 0-1 and driver
Structure 0-2 two parts are constituted, and two parts are linked together by intermediate connecting rod, by being hereafter described in detail.
1. rotating mechanism：
As shown in Figure 2, it is unilateral rotating mechanism, consists of the following components:Carbon fiber horn 1, fixing device 2, method
Blue bearing 3, fixing screws 4, lock-screw 5, bindiny mechanism 6, grub screw 7.
It is used for the rotor for carrying aircraft on carbon fiber horn 1, it is inserted in bindiny mechanism 6 (such as Fig. 4), and by locking screw
Nail 5 is locked.
Fixing device 2 is used to rotating mechanism being fixed on aircraft fuselage, is tightened by fixing screws 4.
Fixing device 2 is enclosed on flange bearing 3 (such as Fig. 5) outside, and flange bearing 3 is enclosed on outside bindiny mechanism 6, and the above, which coordinates, is
Interference fit.
Grub screw 7 has two effects.One is the rotating mechanism for connecting both sides, it is ensured that both sides rotor when becoming vector
Synchronous rotary；Two be to be used to connect transmission mechanism, and during assembling, it is inserted in the aperture of the first travelling gear 9 in fig. 3, with
Between connecting rod 8 rotating mechanism and transmission mechanism are linked together (effect of intermediate connecting rod is described in detail below) together.
2. transmission mechanism：
As shown in Figure 3, transmission mechanism consists of the following components:Intermediate connecting rod 8, the first travelling gear 9, steering wheel 10,
Lock-screw 11, the second travelling gear 12, locking nut 13, disc steering wheel arm 14.
During assembling, in the middle macropore of the insertion travelling gear 9 of intermediate connecting rod 8, the two ends of intermediate connecting rod are inserted in such as the institute of accompanying drawing 2
It is interference fit above in the bindiny mechanism 6 shown.The effect of intermediate connecting rod be with grub screw 7 jointly rotating mechanism and
Transmission mechanism is fixed together.
Lock-screw 11 and locking nut 13 are fixed together the second travelling gear 12 and disc steering wheel arm 14, steering wheel
10 are fixed on disc steering wheel arm 14.Steering wheel 10 is screwed on aircraft fuselage, and two travelling gears are tight
Close fit.
3. integral installation：
Two change posture hovering structures of the invention are one in front and one in back to be arranged in aircraft carbon fiber plate, due to aircraft
Load is different, so the size of aircraft oar is also different, but only need to be according to former and later two change vectors of the size adjusting of different oars
The spacing of mechanism, and the length of four carbon fiber horns just can be with.
The a kind of of the embodiment of the present invention becomes posture hovering structure based on the aircraft for becoming vector structure, is become by servos control
Vector mechanism, makes rotor vert certain angle, at the same time controls the pitching of aircraft, makes aircraft reversed dip identical angle
Degree can be achieved aircraft and be hovered in the air with stable lateral attitude.Specific control method is as follows：Effector refers to posture is become
Order passes through after MAVLink protocol packings, can voluntarily select channel, instruction is passed to by serial ports the controller of aircraft
(hereinafter referred to as flying control).In Fig. 6, using WiFi as channel, the flow chart of control process is given.
Winged control is received after instruction, and the steering wheel become in vector mechanism of aircraft is controlled immediately, former and later two steering wheels is all turned
To angle on target, so as to drive rotor to be tilted to angle on target, during rotor verts, fly control all the time by pid algorithm control
Itself pitching is made, makes the aircraft body with respect to the horizontal plane same angle of reversed dip, can thus ensure flight always
Device propeller is level, and aircraft body has had been tilted to angle on target, so as to realize that aircraft becomes posture hovering.
Claims (1)
1. a kind of become posture hovering structure based on the aircraft for becoming vector structure, mainly it is made up of two clamp mechanisms, transmission mechanism
And rotating mechanism, the mutual cooperation of the two mechanisms, complete to become vector functions；
Rotating mechanism includes：It is carbon fiber horn, fixing device, flange bearing, fixing screws, lock-screw, bindiny mechanism, without a head
Screw；Carbon fiber horn is used for the rotor for carrying aircraft, and it is inserted in bindiny mechanism, and is locked by lock-screw；Fixed dress
The fixation of vector mechanism will entirely be become on board the aircraft by putting, and be tightened by fixing screws；Fixing device is enclosed on outside flange bearing, flange shaft
Bearing sleeve is outside bindiny mechanism, and it is interference fit that the above, which coordinates,；Grub screw is inserted in the aperture of the first travelling gear, with centre
Connecting rod together links together rotating mechanism and transmission mechanism；
Transmission mechanism includes:Intermediate connecting rod, the first travelling gear, steering wheel, lock-screw, the second travelling gear, locking nut, circle
Dish type steering wheel arm；Intermediate connecting rod is inserted in the middle macropore of the first travelling gear, and the two ends of intermediate connecting rod are inserted in bindiny mechanism,
It is interference fit above；Lock-screw and locking nut are fixed together the second travelling gear and disc steering wheel arm, rudder
Machine is fixed on disc steering wheel arm；Steering wheel is fixed on aircraft fuselage, and two travelling gears are fitted close.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710177047.9A CN107097946A (en) | 2017-03-22 | 2017-03-22 | It is a kind of that posture hovering structure is become based on the aircraft for becoming vector structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710177047.9A CN107097946A (en) | 2017-03-22 | 2017-03-22 | It is a kind of that posture hovering structure is become based on the aircraft for becoming vector structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107097946A true CN107097946A (en) | 2017-08-29 |
Family
ID=59676120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710177047.9A Pending CN107097946A (en) | 2017-03-22 | 2017-03-22 | It is a kind of that posture hovering structure is become based on the aircraft for becoming vector structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107097946A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108515822A (en) * | 2018-05-11 | 2018-09-11 | 西南交通大学 | Air-ground amphibious robot of omnidirectional |
| CN115042981A (en) * | 2022-07-19 | 2022-09-13 | 南开大学 | Turbojet aircraft and driving method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020104922A1 (en) * | 2000-12-08 | 2002-08-08 | Mikio Nakamura | Vertical takeoff and landing aircraft with multiple rotors |
| CN104760695A (en) * | 2015-03-23 | 2015-07-08 | 松翰科技(深圳)有限公司 | Method for controlling quadrotor aircraft by vector rotation method |
| CN205150241U (en) * | 2015-11-06 | 2016-04-13 | 东莞华南设计创新院 | Differential vector impels servo |
| CN105711810A (en) * | 2016-04-15 | 2016-06-29 | 仲贤辉 | Improved folding-wing unmanned aerial vehicle for municipal garden greening |
| CN106132825A (en) * | 2013-12-23 | 2016-11-16 | 李尚泫 | Many rotor flyings body |
-
2017
- 2017-03-22 CN CN201710177047.9A patent/CN107097946A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020104922A1 (en) * | 2000-12-08 | 2002-08-08 | Mikio Nakamura | Vertical takeoff and landing aircraft with multiple rotors |
| CN106132825A (en) * | 2013-12-23 | 2016-11-16 | 李尚泫 | Many rotor flyings body |
| CN104760695A (en) * | 2015-03-23 | 2015-07-08 | 松翰科技(深圳)有限公司 | Method for controlling quadrotor aircraft by vector rotation method |
| CN205150241U (en) * | 2015-11-06 | 2016-04-13 | 东莞华南设计创新院 | Differential vector impels servo |
| CN105711810A (en) * | 2016-04-15 | 2016-06-29 | 仲贤辉 | Improved folding-wing unmanned aerial vehicle for municipal garden greening |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108515822A (en) * | 2018-05-11 | 2018-09-11 | 西南交通大学 | Air-ground amphibious robot of omnidirectional |
| CN115042981A (en) * | 2022-07-19 | 2022-09-13 | 南开大学 | Turbojet aircraft and driving method thereof |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170829 |
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| WD01 | Invention patent application deemed withdrawn after publication |