CN107336832B - Single-shaft double-rail aircraft - Google Patents
Single-shaft double-rail aircraft Download PDFInfo
- Publication number
- CN107336832B CN107336832B CN201710714808.XA CN201710714808A CN107336832B CN 107336832 B CN107336832 B CN 107336832B CN 201710714808 A CN201710714808 A CN 201710714808A CN 107336832 B CN107336832 B CN 107336832B
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- Prior art keywords
- rail
- track
- locator
- steering engine
- power
- Prior art date
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- 230000005540 biological transmission Effects 0.000 claims 1
- 230000006641 stabilisation Effects 0.000 abstract description 2
- 238000011105 stabilization Methods 0.000 abstract description 2
- 238000013519 translation Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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- 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
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/08—Geodetic or other open-frame structures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/26—Transmitting means without power amplification or where power amplification is irrelevant
- B64C13/28—Transmitting means without power amplification or where power amplification is irrelevant mechanical
- B64C13/34—Transmitting means without power amplification or where power amplification is irrelevant mechanical using toothed gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
- B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
- B64C17/06—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus by gyroscopic apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention discloses a single-shaft double-track aircraft, which is characterized in that two paddles and motors with opposite directions are arranged on a single diameter single shaft of an inner track to provide power, the inner track and an outer track are two annular tracks with racks, the track planes are mutually perpendicular, the motors for providing power are arranged on the inner side of the inner track, an expansion arm and the racks form an outer track together, and the directions of the power are positioned by the inner track and the outer track. The power direction of the outer rail direction can be controlled by sliding the locator on the outer rail. The locator controls the sliding of the inner rail, so that the direction of power in the direction of the inner rail can be controlled, and finally the power direction is comprehensively located. Triangular stabilization structures are used in large numbers. A plurality of pulleys are added between the locator and the inner and outer tracks, the stability is kept through a plurality of three-dimensional triangle structures between the rollers, and the expansion arm is provided to enable the single-shaft double-track aircraft to be a flight platform with extremely high free refitting degree.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicles, and particularly relates to a novel single-shaft double-rail aircraft structure and an operation method.
Background
Unmanned aerial vehicles are currently known to be most multiaxial aircraft, and free flight is achieved by adjusting the rotation speeds of motors on different shafts. The multi-axis unmanned aerial vehicle is simple to operate and can have multiple purposes. The unmanned aerial vehicle has wide application, low cost and higher efficiency; no risk of casualties; the method has the advantages of strong survivability, good maneuvering characteristics, convenient use, extremely important function in modern war and wider prospect in civil field. However, the multi-axis unmanned aerial vehicle needs to be powered by a single battery to simultaneously operate multiple rotors, so the endurance time is very limited. Multiaxial aircraft are intended to be more bulky than monoaxial aircraft due to their multiaxial nature. Moreover, due to the external blade and the characteristics of the flat structure, the blade and the frame are easy to break when falling, parts are easy to damage, and human beings are easy to be injured. Once falling down, the landing is difficult to take off again without manual maintenance, so that the landing has low reliability and cannot work for a long time. In addition, the existing aircraft is low in adaptability, is difficult to control and fly in severe weather or in complex terrains, and has higher requirements on unmanned aerial vehicles in jungles or rainy days.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a single-shaft double-track aircraft, which can improve the endurance time, safety, expansibility, applicability of different sites and weather and structural reliability.
Technical proposal
In order to solve the technical problems, the invention is realized by the following technical scheme:
The design scheme is as follows:
Two paddles and motors with opposite directions are arranged on a single diameter shaft of the inner rail to provide power, the two paddles are arranged on the same shaft, so that power in a single direction is provided, and the rotation angular speeds of the two motors are equal in magnitude and opposite in direction, so that spin can be counteracted; the rotating action can be completed by changing the rotating speed of the two paddles to form a rotating speed difference, so as to form a yaw angle.
The inner rail and the outer rail are two annular rails with racks, the rail planes are mutually perpendicular, a motor for providing power is arranged on the inner side of the inner rail, the expansion arm and the racks form an outer rail together, and the direction of the power is positioned by the inner rail and the outer rail. The two mutually perpendicular annular tracks form two axes of a spherical coordinate system, the elevation angle and the azimuth angle of the power direction are determined by the inner track and the outer track, and the position of the positioner can be changed only in the movable range of the inner track and the outer track, so that the power direction is changed. After the gyroscope is arranged on the inner rail, the pitch angle and the turnover angle of the gyroscope can be accurately acquired.
The locator and the track cooperate to change the direction of the power. The steering engine is arranged on the positioner, and simultaneously operates on the inner rail and the outer rail, and the inner rail and the outer rail are bridged to be responsible for transmitting force and changing power direction. When the steering engine pushes the positioner to move, a reaction force is generated, and the structure of the double rails which are mutually perpendicular enables the reaction force to increase through the rear arm of force of the positioner, so that unnecessary counter torque is greatly reduced. Meanwhile, the positioners are positioned at the two ends of the inner rail and the outer rail and are always positioned on the same axis to guide the power direction. The power direction of the outer rail direction can be controlled by sliding the locator on the outer rail. The locator controls the sliding of the inner rail, so that the direction of power in the direction of the inner rail can be controlled, and finally the power direction is comprehensively located.
An expansion arm is additionally arranged on the outer rail. The expanding arm enables the single-shaft double-track aircraft to be additionally provided with peripheral protection and various devices. The external expanding equipment is fixed through expanding the holes and the clamping grooves. For example, solar cell peripheries may be added to operate the aircraft for 24 hours. The weapon and the protection system are added to make the weapon and the protection system become an air fort. The expansion arm means that the single-shaft double-track aircraft can become a flight platform with extremely high free refitting degree.
Triangular stabilization structures are used in large numbers. A plurality of pulleys are added between the locator and the inner and outer tracks, and the stability is maintained through a plurality of three-dimensional triangle structures between the rollers.
Advantageous effects
Compared with the prior art, the invention has the beneficial effects that: the blades and the power are built in, so that high-speed fragments are not generated by breaking even if a crash occurs, and the safety is improved; only the single-shaft double paddles provide power, so that the use efficiency of energy sources is improved, and the duration is prolonged; the structure is high in reliability and expansibility, different expansion devices or different types of protective enclosures can be additionally arranged, the structure can be suitable for free flight in dense jungles or various weather conditions, more tasks are completed, and the applicability is good and the application range is wider; in addition, due to the single-axis characteristic, the volume can be smaller than that of multiple axes, and the device can better play roles in various fields.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic view of a track and motor in a general installation
FIG. 2 is an inner and outer track ring
FIG. 3 is an upper positioner
FIG. 4 is a lower fixture
FIG. 5 is a cross-sectional view of the upper positioner in connection with a dual rail
FIG. 6 is a cross-sectional view of the lower fixture connected to the dual rail
In the figure, 1 an upper motor of an inner rail, 2a lower motor of the inner rail, 3 a lower locator steering engine left, 4a lower locator steering engine right, 5 an upper locator steering engine left, 6 an upper locator steering engine right, 7 an upper locator outer rail steering engine, 8a lower locator outer rail steering engine, 9 an outer rail, 10, an inner rail, 11, an expanding arm, 12, a movable rail shaft, 13, an upper positioner, 14, an upper positioner expanding groove, 15, an upper positioner outer rail steering engine mounting port, 16, a lower positioner, 17, a lower positioner expanding groove, 18, a lower positioner outer rail steering engine mounting port, the device comprises an outer track rack, an inner track rack, an expansion arm expansion groove, an expansion arm expansion hole, a gyroscope sensor, an electric tuning device, a battery and signal processor device, a lower locator right steering engine mounting hole, a lower locator gear, a lower locator left steering engine mounting hole, an upper locator gear, an upper locator pulley block, a lower locator pulley block, a right steering engine mounting hole, a left steering engine mounting hole and an upper locator.
Detailed Description
Mounting the components; each component comprises: the device comprises an inner rail, an outer rail, an upper positioner, a lower positioner, an expansion arm, a steering engine, a motor, an electric regulator, a battery and a signal processor (a single-chip microcomputer/fpga board and the like can be used for processing data), a gyroscope sensor, a movable rail shaft, a gear, an upper positioner pulley block, a lower positioner pulley block and other additively expandable devices. The motor is connected with an electric tuning battery, the gyroscope, each steering engine and signal wires of the electric tuning are connected to a signal processing board, and the power wires are connected to the battery.
The frequency of PWM signals of the steering engine motor is 50Hz, the period is 20ms, and the high-level time is respectively different:
The steering engine 3 and the steering engine 5 share PWM signals, and the high-level time P 1 is between 0.5ms and 2.5 ms;
the steering engine 4 and the steering engine 6 share PWM signals, and the high-level time P 2 is P2=3-P1;
The steering engine 7 and the steering engine 8 share PWM signals, and the high-level time P 3 is between 0.5ms and 2.5 ms;
The two motor paddles rotate in opposite directions, positive and negative paddles are respectively arranged, the electric power supply PWM signal connected with the motor 1 is in high level time of P 4, the electric power supply PWM signal connected with the motor 2 is in high level time of P 5,P4 and P 5, and the size interval of the high level time is 1ms-2 ms. The gyroscope provides signals of a pitch angle alpha, a roll angle beta and a yaw angle gamma, and the acceleration on the three axes is a x,ay,az. The motor speed is w 0 during balancing, and the motor speed is w.
Suspending: the steering engine P 1＝1.5ms,P2＝1.5ms c,P3 =1.5 ms, α=0, β=0, γ=0, and the accelerations on the three axes are all 0, P 4＝P5＝P0, and the motor rotation speed W 0 at the time of balancing is obtained.
Horizontal self-rotation: steering engine P 1＝1.5ms,P2＝1.5ms c,P3 = 1.5ms, α = 0, β = 0, γ turns to the target angle, P 4＝P0+k,P5＝P0 -k, where the larger the value of parameter k, the faster the angular speed of unmanned aerial vehicle rotation, when k is positive, unmanned aerial vehicle rotation direction is the same as motor 2 turning, and when k is negative, unmanned aerial vehicle rotation direction is the same as motor 1 turning.
Advancing: steering engine P 1＝2.5ms,P2＝0.5ms c,P3 = 1.5ms for t seconds, make steering engine c and steering engine e work forward, steering engine d and steering engine f reverse, steering engine a and steering engine b are stationary. The outer track ring is made to be stationary, the inner track ring rotates forwards, the power direction leans forwards, beta=0, gamma=0, the absolute value of alpha is larger, the advancing speed is larger, the motor rotation speed w accords with w 2*cosα＝w0, and therefore the values of P 4 and P 5 are calculated.
And (3) retreating: steering engine P 1＝0.5ms,P2＝2.5ms c,P3 = 1.5ms, last t seconds, make steering engine c and steering engine e work reversal, steering engine d and steering engine f corotation, steering engine a and steering engine b are static. The outer track ring is made to be stationary, the inner track ring is rotated backwards, the power direction is inclined backwards, beta=0, gamma=0, the larger the absolute value of alpha is, the larger the backward speed is, the motor rotation speed w accords with w 2*cosα＝w0, and therefore the values of P 4 and P 5 are calculated.
Right translation: steering engine P 1＝1.5ms,P2＝1.5ms c,P3 = 2.5ms for t seconds, making steering engine a and steering engine b work forward, steering engine d, steering engine f, steering engine c and steering engine e stationary. The positioner drives the inner track ring to rotate rightwards, the power direction tilts rightwards, the larger the absolute value of alpha=0, gamma=0, and the larger the translation speed is, the motor rotation speed w accords with w 2*cosβ＝w0, and therefore the values of P 4 and P 5 are calculated.
Left translation: steering engine P 1＝1.5ms,P2＝1.5ms c,P3 = 0.5ms for t seconds, making steering engine a and steering engine b work reverse, steering engine d, steering engine f, steering engine c and steering engine e stationary. The positioner drives the inner track ring to rotate leftwards, the power direction is inclined leftwards, the absolute value of alpha=0, gamma=0, the larger the absolute value of beta is, the larger the translation speed is, the motor rotation speed w accords with w 2*cosβ＝w0, and therefore the values of P 4 and P 5 are calculated.
Claims (1)
1. The single-shaft double-track aircraft consists of an inner track, an outer track, an upper positioner, a lower positioner, an expansion arm, a steering engine, a motor, a gyroscope, a movable track shaft, a transmission gear, a battery, an electric regulator and a signal processor; the device is characterized in that the inner rail and the outer rail are two annular rails with racks; the motor for providing power is arranged at the inner side of the inner rail, and the expansion arm and the rack form an outer rail together; steering engines are arranged on the upper positioner and the lower positioner, and simultaneously operate on the inner rail and the outer rail to bridge the inner rail and the outer rail; one end of the upper locator is provided with a rail mouth which is fixedly connected with the upper locator pulley block and the upper locator gear together to form an inner rail, and the other end of the upper locator is provided with a rail mouth which is fixedly connected with the upper locator pulley block together to form an outer rail; one end of the lower locator is provided with a rail mouth which is fixedly connected with the lower locator pulley block and the lower locator gear together to form an inner rail, and the other end of the lower locator is provided with an outer rail which is fixedly connected with the lower locator pulley block together to form the rail mouth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710714808.XA CN107336832B (en) | 2017-08-19 | 2017-08-19 | Single-shaft double-rail aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710714808.XA CN107336832B (en) | 2017-08-19 | 2017-08-19 | Single-shaft double-rail aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107336832A CN107336832A (en) | 2017-11-10 |
| CN107336832B true CN107336832B (en) | 2024-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710714808.XA Active CN107336832B (en) | 2017-08-19 | 2017-08-19 | Single-shaft double-rail aircraft |
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| Country | Link |
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| CN (1) | CN107336832B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113060280B (en) * | 2021-05-13 | 2021-11-02 | 哈尔滨学院 | Multi freedom remote sensing unmanned aerial vehicle |
| CN115126977B (en) * | 2022-06-28 | 2023-02-17 | 禄可科技集团有限公司 | Mobile intelligent shooting platform |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6053451A (en) * | 1998-07-07 | 2000-04-25 | Yu; Shia-Giow | Remote-control flight vehicle structure |
| EP2517767A2 (en) * | 2011-04-28 | 2012-10-31 | James Dees | Self-righting frame and aeronautical vehicle |
| CN102963526A (en) * | 2012-09-03 | 2013-03-13 | 张明明 | Cycloidal propeller aerial vehicle |
| CN105164015A (en) * | 2013-06-11 | 2015-12-16 | 洛桑联邦理工学院(Epfl) | Vertical take-off and landing aerial vehicle |
| WO2017129930A1 (en) * | 2016-01-25 | 2017-08-03 | Macdonald Andrew Norman | Aerial vehicle with fender cage rotatable about two perpendicular axes |
| CN207417144U (en) * | 2017-08-19 | 2018-05-29 | 黄橙 | Uniaxial double track aircraft |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6597040B2 (en) * | 2015-08-17 | 2019-10-30 | 富士通株式会社 | Flying machine frame structure, flying machine, how to use flying machine |
-
2017
- 2017-08-19 CN CN201710714808.XA patent/CN107336832B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6053451A (en) * | 1998-07-07 | 2000-04-25 | Yu; Shia-Giow | Remote-control flight vehicle structure |
| EP2517767A2 (en) * | 2011-04-28 | 2012-10-31 | James Dees | Self-righting frame and aeronautical vehicle |
| CN102963526A (en) * | 2012-09-03 | 2013-03-13 | 张明明 | Cycloidal propeller aerial vehicle |
| CN105164015A (en) * | 2013-06-11 | 2015-12-16 | 洛桑联邦理工学院(Epfl) | Vertical take-off and landing aerial vehicle |
| WO2017129930A1 (en) * | 2016-01-25 | 2017-08-03 | Macdonald Andrew Norman | Aerial vehicle with fender cage rotatable about two perpendicular axes |
| CN207417144U (en) * | 2017-08-19 | 2018-05-29 | 黄橙 | Uniaxial double track aircraft |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107336832A (en) | 2017-11-10 |
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