CN107963205A - A kind of across medium aircraft promoted based on more rotors - Google Patents
A kind of across medium aircraft promoted based on more rotors Download PDFInfo
- Publication number
- CN107963205A CN107963205A CN201711110961.8A CN201711110961A CN107963205A CN 107963205 A CN107963205 A CN 107963205A CN 201711110961 A CN201711110961 A CN 201711110961A CN 107963205 A CN107963205 A CN 107963205A
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- aircraft
- cable tube
- propeller
- stent
- motor
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- 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
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
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Abstract
A kind of across medium aircraft promoted based on more rotors proposed by the present invention, is made of motor, flight controller, electron speed regulator, battery, cable tube, propeller and aircraft body；Battery, electron speed regulator and flight controller are fixed by the bracket in aircraft body interior.Cable tube is set in aircraft outer body in cross-shaped symmetrical, and cable tube one end is connected through cable tube base with the intrinsic stent of aircraft, and the cable tube other end is connected with pipe clamp；Motor cabinet is connected with pipe clamp, and four groups of motors are opposite two-by-two up and down to be installed on motor cabinet, and propeller is connected with motor output shaft, and the forward and reverse setting of propeller.Flight controller controls the rotating speed of propeller to realize force balance with manipulating with electron speed regulator by controlling steering and the rotating speed of motor；So as to fulfill the skyborne flight of aircraft and underwater navigation.It can also improve the utilization rate of aircraft by being optimized to aircraft body, make aircraft applicability stronger.
Description
Technical field
The present invention relates to a kind of aircraft, specifically, is related to a kind of across medium aircraft promoted based on more rotors.Belong to
In multi-rotor unmanned aerial vehicle applied technical field.
Background technology
In recent years, quadrotor is increasingly becoming forward position and the hot spot of aviation field research.Quadrotor is one
Kind is provided the multi-rotor aerocraft of lift by four propellers rotations, can be realized and revolved to four by the rotating speed of four rotors of adjusting
The control of rotor aircraft flight attitude.Compared to traditional Fixed Wing AirVehicle, quadrotor is compact-sized, has and takes off
It is required that low, it can hover, the characteristics of VTOL.So in navigational field, according to quadrotor technological innovation thinking, carry
Go out across the medium aircraft promoted based on more rotors, can not only realize vertical air landing and horizontal flight, but also can be vertical on the water
Landing is hovered and navigation.205819555 U of patent of invention CN are disclosed " a kind of quadrotor ", and aircraft body uses
Open frame structure design, four propellers are arranged symmetrically in decussation, when aircraft needs flight, pass through increase
The rotating speed of two groups of rotors of fuselage afterbody is arranged on, the lift that two groups of rotors next produce is more than the liter that above two groups of rotors produce
Power, so that quadrotor has the posture at inclination angle, being reached by the horizontal component of lift produced by four groups of rotors makes
The purpose of quadrotor flight；Although simple in structure and ensure that rotor wing unmanned aerial vehicle has good mobility, its structure is only
It is adapted to fly in the air, the body construction design of open frame does not possess the performance of waterproof, and the design of fuselage is also difficult to realize
Dive is into water, while the lift that the power arrangement design of four rotors provides is limited.
The content of the invention
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of across medium navigation promoted based on more rotors
Device；The aircraft uses for reference the mentality of designing of rotor craft and submarine navigation device, is promoted based on rotor and control realizes that power system puts down
Weighing apparatus and manipulation, can in the air fly but also navigate by water under water.
The technical solution adopted by the present invention to solve the technical problems is:Including upper shell, lower housing shell, housing connection member,
Cable tube, multiple propellers, multigroup motor, electron speed regulator, stent, flight controller, battery, antenna terminal, propeller connect
Head, motor cabinet, pipe clamp, cable tube base and aircraft body, the housing connection member are hollow cylindrical, housing connection member two
There is a connecting flange in end, on housing connection member wall among it is circumferential be evenly equipped with multiple equal diameter circular holes, cable tube base is fixed on shell
On body connector wall at circular hole, the upper shell and the lower housing shell are symmetrical semielliptical shape structure, upper shell and lower housing shell
There is connecting flange at edge respectively, and housing connection member is fastenedly connected composition boat with upper shell and lower housing shell by connecting flange, bolt
Row device body, during flight controller, electron speed regulator and battery are fixed by the bracket at the top of aircraft body interior, upper shell
Axis is equipped with antenna terminal, is connected for antenna with flight controller, and described cable tube one end passes through cable tube base and housing
Circular hole is connected with the intrinsic stent of aircraft on connector wall, and the other end is cantilever end, and the motor is relatively logical two-by-two up and down
Cross motor cabinet and be fixed on the cantilever end of cable tube with pipe clamp, propeller is connected by propeller joint and motor output shaft, and spiral shell
Rotation paddle is forward and reverse setting, and flight controller controls propeller with electron speed regulator by controlling steering and the rotating speed of motor
Rotating speed, realizes force balance with manipulating；
The stent is regular hexagon hollow prism body, and there are the lug of two ribbed plates, the outer rib of stent in open end edge
Cylinder middle part has four symmetrical circular holes to be used to coordinate installation with cable tube；Flight controller is fixed on above stent lug and leans on
At the top of nearly upper shell, multiple electron speed regulators are laid in the outer prismatic surface top of stent, and along prism circumferentially around battery is vertical
In stent；Aircraft is adjusted by mobile flight controller, the position of electron speed regulator, each component of battery on stent
The quality of body, makes centre of buoyancy be located above the vertical line of center of gravity, realizes that aircraft enters the stability of water and underwater navigation.
The cable tube is hollow cylindrical carbon fiber pipe.
The pipe clamp uses aluminum alloy materials.
The cable tube central axes are generally aligned in the same plane with aircraft body short axle.
Beneficial effect
It is proposed by the present invention it is a kind of based on more rotors promote across medium aircraft, the aircraft use for reference rotor craft with
The mentality of designing of submarine navigation device, is promoted based on rotor and control realizes aircraft force balance with manipulating, and aircraft can be
Airflight can navigate by water under water again.
The present invention is fixed on the intrinsic branch of aircraft across the battery, electron speed regulator and flight controller of medium aircraft
On frame.Cable tube one end is connected through cable tube base with navigating by water intrinsic stent, and the cable tube other end is fixed with pipe clamp to be connected
Connect；Motor cabinet is connected with pipe clamp, and four groups of motors are opposite two-by-two up and down to be installed on motor cabinet, and propeller is consolidated with motor output shaft
Connect, and forward and reverse setting above and below propeller.Cable tube is originally arranged in cross-shaped symmetrical in vitro in aircraft.Flight controller and electricity
Sub- governor controls the rotating speed of propeller to realize force balance with manipulating by controlling steering and the rotating speed of motor；So as to fulfill
The skyborne flight of aircraft or underwater navigation.The streamlined gas of low-resistance by adjusting Mass Distribution negative buoyancy force and aircraft
Dynamic configuration design, optimizes aircraft body, can improve the utilization rate of aircraft, make aircraft applicability stronger.
Across the medium aircraft of the present invention combines design, each component of aircraft body using integral sealing and single component sealing
Printed using photosensitive resin by 3D printer integration, under water with good water resistance；Ensure that aircraft is going out at the same time
Enter security when water and underwater navigation.
Brief description of the drawings
Make below in conjunction with the accompanying drawings with embodiment across the medium aircraft promoted based on more rotors a kind of to the present invention into one
Step describes in detail.
Fig. 1 is across the medium aircraft schematic diagram that the present invention is promoted based on more rotors.
Fig. 2 is across the medium aircraft sectional view of the present invention.
Fig. 3 is across the medium aircraft axonometric drawing of the present invention.
Fig. 4 is propeller and propeller joint assembling schematic diagram of the present invention across medium aircraft.
Fig. 5 is motor schematic diagram of the present invention across medium aircraft.
Fig. 6 is motor cabinet schematic diagram of the present invention across medium aircraft.
Fig. 7 is pipe clamp schematic diagram of the present invention across medium aircraft.
Fig. 8 is cable tube schematic diagram of the present invention across medium aircraft.
Fig. 9 is upper shell schematic diagram of the present invention across medium aircraft.
Figure 10 is cable tube base and housing connection member installation position schematic diagram of the present invention across medium aircraft.
Figure 11 is lower housing shell schematic diagram of the present invention across medium aircraft.
Figure 12 is antenna terminal schematic diagram of the present invention across medium aircraft.
Figure 13 is support schematic diagram of the present invention across medium aircraft.
Figure 14 is flight controller schematic diagram of the present invention across medium aircraft.
Figure 15 is electron speed regulator schematic diagram of the present invention across medium aircraft.
Figure 16 is battery schematic diagram of the present invention across medium aircraft.
In figure
1. 6. motor cabinet of antenna terminal 2. upper shell, 3. propeller, 4. motor, 5. propeller joint, 7. cable tube 8.
13. stent of pipe clamp 9. cable tube base, 10. housing connection member, 11. lower housing shell, 12. flight controller, 14. electron speed regulator
15. battery
Embodiment
The present embodiment is a kind of across medium aircraft promoted based on more rotors.
Refering to Fig. 1~Figure 16, across medium aircraft that the present embodiment is promoted based on more rotors, by upper shell 2, lower housing shell
11st, housing connection member 10, cable tube 7, propeller 3, motor 4, electron speed regulator 14, stent 13, flight controller 12, battery
15th, antenna terminal 1, propeller joint 5, motor cabinet 6, pipe clamp 8, cable tube base 9 and aircraft body composition；Wherein, housing
Connector 10 is hollow cylindrical, and middle part is circumferentially evenly equipped with multiple equal diameter circular holes on 10 wall of housing connection member, and housing connects
There is connecting flange at 10 both ends of fitting, and cable tube base 9 is fixed on 10 wall of housing connection member at circular hole；Upper shell 2 and lower casing
Body 11 is symmetrical semielliptical shape structure, and there is a connecting flange at upper shell 2 and 11 edge of lower housing shell, housing connection member 10 respectively with it is upper
Housing 2 and lower housing shell 11 are fastenedly connected composition aircraft body by connecting flange, bolt.Flight controller 12, electronic speed regulation
Device 14 and battery 15 are fixed on aircraft body interior by stent 13, and antenna terminal 1 is provided with 2 top axis of upper shell,
It is connected for antenna with flight controller, easy to the underwater control to aircraft.7 one end of cable tube passes through 9 He of cable tube base
Circular hole and the intrinsic stent 13 of aircraft are connected on 10 wall of housing connection member, and 7 other end of cable tube is cantilever end, cable tube 7
Central axes are generally aligned in the same plane with aircraft body short axle.Four groups of motors are opposite solid by motor cabinet 6 and pipe clamp 8 two-by-two about 4
It is scheduled on the cantilever end of cable tube 7.Propeller 3 is by propeller joint 5 and 4 output shaft fixed connection of motor, and propeller 3 is forward and reverse
Set；Flight controller 12 controls the rotating speed of propeller 3 with electron speed regulator 14 by controlling steering and the rotating speed of motor 4,
Realize force balance with manipulating.
In the present embodiment, stent 13 is the hollow prism body of regular hexagon, open end edge have two it is symmetrical with ribbing
The lug of plate, the outer prismatic surface middle part of stent 13 have four symmetrical circular holes to be used to coordinate installation with cable tube 7；Flight controller
12 are fixed on above stent lug close to the top of upper shell 2, and multiple electron speed regulators 14 are laid in the outer prismatic surface top of stent, and
Along prism circumferentially around battery 15 is vertically installed in stent 13；By mobile flight controller 12, electron speed regulator 14,
Position of the 15 each component of battery on stent 13 adjusts the quality of aircraft body, centre of buoyancy is located above the vertical line of center of gravity, real
Existing aircraft enters the stability of water and underwater navigation.
In the present embodiment, propeller 3 is set by propeller joint 5 and 4 output shaft fixed connection of motor, propeller to be forward and reverse
Put；Propeller joint 5 is made of dismountable two parts, and propeller 3 is first connected in 5 spiral shell of propeller joint by when installation with 3M glue
At line, 5 tapped part of propeller joint is tightened, the vibration back and forth during the work time of propeller 3 is prevented, improves aircraft
The stability of flight or underwater navigation in the air.4 drive end bearing bracket of motor uses import oil sealing, and rear end cap passes through bolt and motor cabinet 6
Connection, cable are drawn from 4 rear end cap of motor, improve the water resistance of motor.Motor cabinet 6 is rectangular slab, and four corners have respectively
Screw hole, has among motor cabinet 6 circular hole and looping pit to be used to mitigate quality, middle circular has four ellipses being arranged symmetrically to lead to
Hole is used to install motor 4, and motor cabinet 6 is fixedly connected with pipe clamp 8.From 4 rear end cap of motor draw cable through cable tube 7 with
Flight controller 12, electron speed regulator 14, the battery 15 of stent 13 connect, close close to 4 side fluid sealant of motor in cable tube 7
Envelope.In the present embodiment, cable tube is hollow cylindrical carbon fiber pipe；Pipe clamp shapes for aluminum alloy materials.The top of upper shell 2
Antenna terminal 1 to be connected with externally threaded watertight connector, antenna by antenna terminal 1 with flight controller 12.Electronics tune
Fast device 14 is fixed on 13 prismatic surface of stent by 3M glue, and battery 15 is vertically installed in stent 13, and flight controller 12 passes through
3M glue is fixed on stent 13, and stent 13 is fixedly connected with cable tube 7 by resin glue.
In the present embodiment, each component of aircraft body uses photosensitive resin by 3D printer integration printing shaping, in water
There is down good water resistance.Aircraft body uses the streamlined Design of Aerodynamic Configuration of low-resistance, be aircraft airflight or
Underwater navigation reduces resistance；Each group part battery, electron speed regulator, flight controller are arranged symmetrically in aircraft body, by excellent
Changing Mass Distribution makes the centre of buoyancy of aircraft be located at the vertical direction of center of gravity, aircraft is smoothly come in and gone out the water surface and after entering water
Underwater revolution.Aircraft uses four groups of motors as dynamical system, and eight motors are divided into is installed on the outstanding of four cable tubes up and down
Arm end position；Coplanar two propeller direction of rotation on same diagonal are clockwise, are produced clockwise
Moment of torsion；The propeller direction of rotation of left and right two is counterclockwise, produces anticlockwise moment of torsion；Four motors, which rotate, offsets phase
Reaction torque between mutually, realizes that aircraft is flown with different postures by controlling the rotating speed of eight motors.
Airflight pattern:The propeller of aircraft under program, when eight revolution speed of propeller are identical, increases at the same time
Or reduce the rotating speed of propeller, realize the movement of aircraft in vertical direction.For aircraft in flight course, increase is diagonal
The rotating speed of one group of motor on line, while reduce the rotating speed of another group of motor, realize the flight of pitching and the roll of aircraft；Navigation
Device awing increases the rotating speed of two groups of motors on a pair of of linea angulata, and simultaneous equal reduces turn of two groups of motors on another diagonal
Speed, realizes the yawed flight of aircraft.
Water Exit and underwater navigation motor pattern:Under programme-control effect, eight propellers turn the propeller of aircraft
When speed is identical, simultaneous equal reduces the rotating speed of eight propellers, and aircraft vertical downward movement, treats aircraft body contacts to water
During face, continue to reduce the rotating speed of eight motors, using aircraft gravity dive, until aircraft dive to underwater half meter complete into
Water process.Increase the rotating speed of two groups of propellers below, while above two groups of spiral rotating speeds, aircraft do the boat of pitching for reduction
OK；The speed discrepancy of propeller, spiral by eight when aircraft is rotated by 90 ° forward before and after increasing under the control action of program
The rotational speed regulation of paddle is consistent；Eight revolution speed of propeller are consistent either commutate at the same time realize aircraft advance under water or after
The navigation moved back.Aircraft increases the rotating speed of following two groups of propellers during navigation, while reduces two groups of propellers above
Rotating speed, aircraft fuselage back rotation while travelling forward；It is one to wait to be rotated by 90 ° by the rotational speed regulation of eight propellers
Cause, simultaneous equal increases the rotating speed of propeller, and aircraft upward vertical movement completes exiting water process.
Claims (4)
- A kind of 1. across medium aircraft promoted based on more rotors, it is characterised in that:Including upper shell, lower housing shell, housing connection Part, cable tube, multiple propellers, multigroup motor, electron speed regulator, stent, flight controller, battery, antenna terminal, propeller Connector, motor cabinet, pipe clamp, cable tube base and aircraft body, the housing connection member are hollow cylindrical, housing connection member There is a connecting flange at both ends, on housing connection member wall among it is circumferential be evenly equipped with multiple equal diameter circular holes, cable tube base is fixed on On housing connection member wall at circular hole, the upper shell and the lower housing shell are symmetrical semielliptical shape structure, upper shell and lower casing There is connecting flange at body edge respectively, and housing connection member is fastenedly connected composition with upper shell and lower housing shell by connecting flange, bolt Aircraft body, flight controller, electron speed regulator and battery are fixed by the bracket at the top of aircraft body interior, upper shell Axis is equipped with antenna terminal, is connected for antenna with flight controller, and described cable tube one end passes through cable tube base and shell Circular hole is connected with the intrinsic stent of aircraft on body connector wall, and the other end is cantilever end, and the motor is opposite two-by-two up and down The cantilever end of cable tube is fixed on by motor cabinet and pipe clamp, propeller is connected by propeller joint and motor output shaft, and Propeller is forward and reverse setting, and flight controller controls propeller with electron speed regulator by controlling steering and the rotating speed of motor Rotating speed, realize force balance with manipulate；The stent is regular hexagon hollow prism body, and there are the lug of two ribbed plates, the outer prismatic surface of stent in open end edge Middle part has four symmetrical circular holes to be used to coordinate installation with cable tube；Flight controller is fixed on above stent lug close to upper Case top, multiple electron speed regulators are laid in the outer prismatic surface top of stent, and along prism circumferentially around battery is vertically-mounted In stent；Aircraft body is adjusted by mobile flight controller, the position of electron speed regulator, each component of battery on stent Quality, centre of buoyancy is located above the vertical line of center of gravity, realize that aircraft enters the stability of water and underwater navigation.
- 2. across the medium aircraft according to claim 1 promoted based on more rotors, it is characterised in that:The cable tube is Hollow cylindrical carbon fiber pipe.
- 3. across the medium aircraft according to claim 1 promoted based on more rotors, it is characterised in that:The pipe clamp uses Aluminum alloy materials.
- 4. across the medium aircraft according to claim 1 promoted based on more rotors, it is characterised in that:In the cable tube Axis is generally aligned in the same plane with aircraft body short axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711110961.8A CN107963205A (en) | 2017-11-13 | 2017-11-13 | A kind of across medium aircraft promoted based on more rotors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711110961.8A CN107963205A (en) | 2017-11-13 | 2017-11-13 | A kind of across medium aircraft promoted based on more rotors |
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| CN107963205A true CN107963205A (en) | 2018-04-27 |
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| CN201711110961.8A Pending CN107963205A (en) | 2017-11-13 | 2017-11-13 | A kind of across medium aircraft promoted based on more rotors |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656885A (en) * | 2018-05-07 | 2018-10-16 | 中国科学院沈阳自动化研究所 | Tilting rotor air-sea amphibious robot |
| CN110282129A (en) * | 2019-06-13 | 2019-09-27 | 广东工业大学 | A kind of cross coaxial amphibious unmanned plane of tilting rotor |
| CN110654540A (en) * | 2019-10-18 | 2020-01-07 | 中国地质大学（北京） | Low-altitude multi-rotor unmanned aerial vehicle system and control method thereof |
| CN110861453A (en) * | 2019-11-15 | 2020-03-06 | 上海交通大学 | Cross-medium water-air dual-purpose propulsion device with variable output torque and variable screw pitch |
| CN110979666A (en) * | 2019-12-27 | 2020-04-10 | 浙江大学 | Water-air robot |
| CN113524998A (en) * | 2021-08-10 | 2021-10-22 | 中国人民解放军国防科技大学 | Sea-air integrated detection platform based on variable rotor and detection method thereof |
| CN113895189A (en) * | 2021-09-29 | 2022-01-07 | 中国人民解放军空军航空大学 | Brushless motor-ducted fan type water-air cross-medium flying underwater vehicle |
| CN114562385A (en) * | 2022-03-21 | 2022-05-31 | 西北工业大学 | Empty water integration spouts matter engine |
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| CN110861453B (en) * | 2019-11-15 | 2022-10-21 | 上海交通大学 | Cross-medium water-air dual-purpose propulsion device with variable output torque and variable screw pitch |
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| CN113524998A (en) * | 2021-08-10 | 2021-10-22 | 中国人民解放军国防科技大学 | Sea-air integrated detection platform based on variable rotor and detection method thereof |
| CN113895189A (en) * | 2021-09-29 | 2022-01-07 | 中国人民解放军空军航空大学 | Brushless motor-ducted fan type water-air cross-medium flying underwater vehicle |
| CN114562385A (en) * | 2022-03-21 | 2022-05-31 | 西北工业大学 | Empty water integration spouts matter engine |
| CN114562385B (en) * | 2022-03-21 | 2023-10-31 | 西北工业大学 | Air-water integrated spray engine |
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| PB01 | Publication | ||
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Application publication date: 20180427 |