CN110217378A - Rotor is adjustable unmanned plane - Google Patents
Rotor is adjustable unmanned plane Download PDFInfo
- Publication number
- CN110217378A CN110217378A CN201910443094.2A CN201910443094A CN110217378A CN 110217378 A CN110217378 A CN 110217378A CN 201910443094 A CN201910443094 A CN 201910443094A CN 110217378 A CN110217378 A CN 110217378A
- Authority
- CN
- China
- Prior art keywords
- rotor
- unmanned plane
- propeller
- rotor arm
- frame
- 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
Classifications
-
- 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
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of adjustable unmanned plane of rotor, the adjustable unmanned plane of rotor includes support frame, rotor, rotor arm, power supply, flight controller, image acquisition device, the mechanical, electrical tune device of electric rotating；The mechanical, electrical tune device of the power supply, flight controller, image acquisition device, electric rotating is separately mounted on support frame；Rotor arm one end is mounted in the rotary shaft of rotating electric machine, and rotor is installed in one end；The rotor includes propeller, propeller motor；The propeller motor adjusts device to connect with electricity；The normal and horizontal plane of the rotary shaft of the rotating electric machine.By test, illustrate that the present invention is advantageous by the smaller confined space to unmanned plane using the method for rotating electric machine control rotor arm.
Description
Technical field
The invention belongs to unmanned plane structure technologies, and in particular to a kind of adjustable unmanned plane of rotor can be used for civilian unmanned plane
It the field of information acquisition such as takes pictures.
Background technique
Unmanned plane not only flourishes in military field, is related to more, in summary, including taking photo by plane and taking the photograph in civil field
Shadow, detection patrol, traffic dispersion, ground mapping etc.；In civilian aspect, it can be used for anti-terrorism attack；Trip for very important person
Protection；The rescue of fire-fighting is commanded, and herdsman can monitor herds with it；Miners can be explored and be dug up mine with it, exploitation
Petroleum etc.；The efficiency of rescue work can be improved, save more stranded crowds, protect the material wealth of the people.2015 4
Just witnessed the use value of unmanned plane in Nepal's earthquake that month occurs, unmanned plane by video of taking photo by plane think rescue personnel and
The common people intuitively illustrate local disaster-stricken situation, help to find the survivor in ruins, analyze impaired infrastructure,
It not only contributes to the assessment of risk and the formulation of rescue plan, can also ensure the safety of rescue personnel.Agriculturally
There is remarkable effect, peasant can be helped to spray insecticide, not only safety but also high yield, were a rare good assistants.It is ground in science
Study carefully in aspect, unmanned plane can be used for polluting and the monitoring and analysis of ground condition, the big number of research, weather forecast of atmosphere etc.
According to acquisition, the experimental verification of novel device etc..Extensive with application, the demand of people is also more and more, considers very much
The complex environment that can not be susceptible in advance, it is just more harsh to the performance requirement of unmanned plane.Although international research rotor wing unmanned aerial vehicle
There are many achievements, and has begun and focused on research Intelligent flight this part, it is commercially available.But domestic grinds
Study carefully it is also considerably less, majority be in the starting stage.Present reported literature research unit has: BJ University of Aeronautics & Astronautics, national defence
University of Science and Technology, Peking University, space flight university, Shanghai Airlines etc..At home, everybody research for rotor wing unmanned aerial vehicle mainly flies
The research of row algorithm and the emulation of flight mathematical model can not studied in conjunction with practical flight preferably more.It is some to grind
Study carefully mechanism and make a prototype, good flying quality can not be obtained.
Summary of the invention
It is structurally reasonable the invention discloses a kind of adjustable unmanned plane of rotor, especially by the design of rotating electric machine, rotation
Motor is placed vertically, i.e., rotary shaft is vertical, so that rotor arm can change distance from each other to change unmanned plane entirety
Size, it is advantageous by small space for unmanned plane, with by the flexible rotor arm that changes compared at a distance from unmanned plane center,
Technical solution of the present invention is more stable for aircraft flight, and influence is smaller, and rotating electric machine is mounted directly table on the supporting plate
Face, it is simpler than being installed in support plate box.Positional relationship of the present invention, location expression are all based on physical location, such as
Propeller refers to that propeller is practical above rotor arm and is located in above rotor arm.
Invention adopts the following technical scheme that
A kind of adjustable unmanned plane of rotor, the adjustable unmanned plane of rotor include support frame, rotor, rotor arm, power supply, flight control
The mechanical, electrical tune device of device, image acquisition device, electric rotating；The mechanical, electrical tune device of the power supply, flight controller, image acquisition device, electric rotating
It is separately mounted on support frame；Rotor arm one end is mounted in the rotary shaft of rotating electric machine, and rotor is installed in one end；The rotation
The wing includes propeller, propeller motor；The propeller motor adjusts device to connect with electricity；The normal of the rotary shaft of the rotating electric machine
With horizontal plane.
In the present invention, the rotor arm is 4~8；The rotor quantity is consistent with rotor arm；The number of the rotating electric machine
It measures consistent with rotor arm, it is preferred that the rotor arm is symmetrical.Structural advantages of the invention be design from each other away from
It from changeable rotor arm, is realized by rotary motor configuration, symmetrical rotor arm can to need in flight course
The stabilization of aircraft is kept when rotor arm being wanted mutually to draw close, while each rotor arm operating parameter is consistent.The unmanned plane of rotor
Working principle be when unmanned plane no external force and its weight distribution it is uniform, when rotor flying, generated pulling force is big
When the gravity of unmanned plane itself, unmanned plane is in ascending motion.When pulling force is equal to gravity, the flying height of unmanned plane during flying is kept
Constant, the revolving speed of rotor is identical, it is known as hovering.When the front of rotor wing unmanned aerial vehicle is by downward external force, front spiral
Paddle motor offsets the influence of external force by revving up to keep the level of unmanned plane.Similarly, when other directions of unmanned plane
When by downward external force, it can also keep balancing by this method.When needing to control UAV flight forward, control
Propeller decelerating through motor, rear propeller motor accelerate in front of unmanned plane processed, and unmanned plane inclines body forward to realize.Work as needs
Unmanned plane can also be reached to when other direction flights with identical principle, and the speed by changing all directions propeller motor increases
Subtract the state of flight for reaching desired.When want control unmanned plane be rotated clockwise when, need to reduce unmanned plane former and later two
The rotation speed of propeller motor increases the rotation speed of unmanned plane or so both direction motor.Left-and-right spiral paddle motor speed
Identical, direction is identical all to rotate counterclockwise, and left and right directions can keep balancing, the speed of front and back propeller motor and direction
It is identical but rotate clockwise, thus front-rear direction can also keep balancing, therefore can keep unmanned plane balance flight.
Unmanned plane of the invention is simple civilian unmanned plane, including rotor, rotor arm, power supply, flight controller, image
Mechanical, electrical tune device of collector, locator, electric rotating etc. is all existing product, can routinely be bought；Preferably, the propeller week
It encloses and protects frame equipped with propeller；The propeller shield frame is mounted on rotor arm；The propeller is mounted on above rotor arm, spiral
Paddle motor is mounted below rotor arm；Propeller motor adjusts device to connect and is adjusted device to be controlled by electricity with electricity, is routine techniques.Propeller
It can guarantee the speed and stabilization when unmanned plane during flying；Propeller protecting frame is frame structure, to protect to propeller
It will not influence air force operation simultaneously, and propeller shield frame also has and prevents propeller from hurting sb.'s feelings；Propeller, propeller motor
It is separately mounted to rotor arm upper and lower, by the aperture on rotor arm, so that the shaft of propeller motor is installed across rotor arm
On the one hand propeller, is conducive to the installation of propeller protecting frame in this way, because not needing protection propeller motor has also vacated installation
Position, another aspect propeller motor counterweight to rotor arm lower section is stablized when being conducive to the rotation of rotor arm, because by propeller, propeller
It is ipsilateral stable not as good as upper and lower is separately mounted to that motor is mounted on rotor arm.
In the present invention, support frame as described above includes two arched frames, support plate, reinforcing rods；The support plate is installed on two
Arched frame apex；The reinforcing rod is installed between two arched frames；Arched frame and support plate are connected with each other in unmanned plane,
At I-shaped distribution, it is possible to reduce unmanned plane, to influence power caused by it, can accomplish damping in take-off and landing.It is preferred that
, the arched frame is nonmetallic materials；The reinforcing rod is nonmetallic materials；The support plate is solid plastic plate, is not had
Hollow structure；The support plate is equipped with through-hole；The present invention further defines support frame, and the material of particularly preferred support frame rises
To the effect for keeping bearing capacity of supporting frame while reducing unmanned plane quality；The design of rotating electric machine will increase unmanned plane quality with
And change existing unmanned plane balance parameters, if be still affected using existing support frame to the flight time, especially exchange
Balance influences big.
Two arched frame structure sizes that the present invention uses are the same, compared to other structures, arched frame reasonable stress, real abdomen
Section, which can provide endurance, arch springing, can also provide horizontal thrust, stronger for the receiving of downward pressure；Preferably, arched frame
Height between two endpoints of arched frame length 8~12%, after the height of arched frame refers to that arched frame is placed on the plane, arch
Shape frame highest point so limits so that arched frame is conducive to molding to the distance of the plane, it is excessive and generate stress to be unlikely to camber
Defect, and the radian mitigated is conducive to the installation of apex support plate；If using other structures, for example, it is triangle, trapezoidal, then
It is unfavorable for mold molding preparation, if using being integrally formed since the presence of dog-ear will increase mold opening cost about 40% while increase
Add-on type defect, if assembled again using sectional forming will increase assembling cost and use more installation parts, no matter which kind of side
Formula is all inferior to the structure of arched frame.Reinforcing rod is designed between two arched frames to increase stabilization, support plate, reinforcing rod encircle at two
Mounting means on shape frame may be implemented for routine techniques, and quantity and the position of reinforcing rod are not particularly limited, as long as both ends point
Not on two arched frames；Since in actual production process, all there is certain thickness, the specific thickness present invention in each component
It is not particularly limited, the installation for existing for each component of this thickness provides basis.Support plate is the peace of unmanned plane functional component
Body is loaded, each component group of unmanned plane is become by an entirety by support plate.
Preferably, rotor arm is equipped with spring thimble, the spring thimble of same specification is arranged on each rotor arm, in this way
The balance of aircraft is kept, specific setting method is not particularly limited；Such design can play position-limiting action, ordinary circumstance
Under, the parameter of rotating electric machine has determined and is controlled by flight controller, it is not easy to the excessive situation of appearance rotation, but spring
The design of thimble forms most effective guarantee, thoroughly solves the risk excessively rotated, it is evident that avoids may cause spiral
The risk of paddle collision, and spring thimble is compared to and resists needle stubbornly and also have the advantages that elastic buffer.
Preferably, the arched frame is different by 3- butene-1-ol, allyl sulfhydrate, allyl trimethyl silane, triallyl
Cyanate, acetylacetone cobalt, linear phenolic epoxy resin, gamma-aminopropyl-triethoxy-silane, alumina whisker, polyethyleneimine
Amine, azodicarbonamide, zinc stannate are prepared；The reinforcing rod is by 3- butene-1-ol, allyl sulfhydrate, allyl front three
Base silane, triallyl isocyanate, acetylacetone cobalt, linear phenolic epoxy resin, gamma-aminopropyl-triethoxy-silane, oxygen
Change al whisker, polyethyleneimine, azodicarbonamide, zinc stannate to be prepared.Preferably, 3- butene-1-ol, allyl sulfide
Alcohol, allyl trimethyl silane, triallyl isocyanate, acetylacetone cobalt, linear phenolic epoxy resin, γ-aminopropyl three
Ethoxysilane, alumina whisker, polyethyleneimine, azodicarbonamide, zinc stannate mass ratio be 8: 1: 6: 5: 0.01:
(100~110): 1: 3: 30: 1: 0.05.For the unmanned plane of new construction, invention also discloses new materials, pass through new material
Use, the excellent support frame of intensity, toughness can be obtained；Arched frame, reinforcing rod can be integrally formed or prepare respectively
Assembling obtains afterwards.
In the present invention, support plate, which is equipped with through-hole, can reduce quality, the quantity of through-hole and distribution without limitation, while through-hole
Design can be in favor of the arrangement, interspersed of various connecting lines.
The present invention is directed to the situation to become smaller by space, the adjustable unmanned plane of rotor is designed using new structure, by rotating
The contraction of motor control rotor arm and reduce unmanned plane overall dimensions so that it can pass through；Also disclose new branch
Support simultaneously provides new material, can effectively carry each component and extend the flight time.
Detailed description of the invention
Fig. 1 is the circuit connection diagram of unmanned plane；
Fig. 2 is the reinforcing rod and arched frame structural schematic diagram of unmanned plane；
Fig. 3 is the practical figure of one arched frame of embodiment of the present invention bending；
Fig. 4 is the practical figure of comparison five arched frame of plate bending；
Fig. 5 is two unmanned plane structural schematic diagram of embodiment；
Fig. 6 is in embodiment three, and rotor arm is equipped with spring thimble schematic diagram；
Fig. 7 is to protect frame schematic diagram equipped with propeller around example IV propeller；
Fig. 8 is existing controller pictorial diagram；
Fig. 9 is flight controller internal circuit photo；
Figure 10 is unmanned plane installation procedure with reference to figure；
Figure 11 is propeller motor schematic diagram；
Figure 12 is the electric current pull-up curve of propeller motor；
Figure 13 is image acquisition device pictorial diagram；
Figure 14 is that the rotor arm rest of unmanned plane holds together with reference to figure；
Wherein, support frame 1, arched frame 11, reinforcing rod 12, support plate 13, through-hole 14, rotor arm 2, power supply 3, flight controller 4,
Image acquisition device 5, locator 6, rotating electric machine 7, electricity adjust device 8, propeller 9, propeller motor 91, spring thimble 92, propeller
Protecting frame 93.
Specific embodiment
Embodiment one
In the present invention, structure design according to the present invention, each component is specifically installed, is connected as routine techniques, and (T inserts 3s to power supply
5200mah) to flight controller (Pixhawk), image acquisition device (optical depth camera in Austria's ratio), locator (power Sheng PIX light
Flow sensor), rotating electric machine (product are at motor), propeller motor (2212 910kv motor), electricity adjust device (cloud electricity tune of taking wing) provide
Energy；Circuit connection diagram is reception, the processing, output bit of information referring to attached drawing 1, flight controller, is conventional products, is flown
It (is conventional products, happy enlightening for the component for controlling unmanned plane during flying that line control unit, which receives image acquisition device, locator, controller,
AT9 remote controler) information and carry out conventional treatment, relevant information (speed, height, swing etc.) is exported to electric rotating later
Mechanical, electrical tune device, then adjust device to be delivered to each propeller motor by electricity, realize various effects.
Flight controller is that existing Pixhawk flies control (PIX2.4.8), can control electricity from tape program and transfers in and control spiral shell
Paddle motor is revolved, controls propeller (cloud of taking wing) finally to regulate and control unmanned plane during flying parameter, while integrated conventional rotating electric machine control electricity
Road can be run, rotating electric machine energization can be run according to the measurement result output order of the confined space to rotating electric machine
(it is routine techniques disclosed in producer that it, which is controlled).
The requirement of unmanned plane VTOL function of the invention to space is smaller, can be placed directly in the air somewhere,
Target is persistently tracked, when required, realizes building of the forced landing on roof, very flexibly；The space layout of structure
More rationally, more compact, control structure is also simpler, be conducive to transport and rapid deployment, the rational design of structure,
The reliability of unmanned plane is also improved from another point of view；It is small in size, it is easy to carry, it assembles and convenient for disassembly and assembly, is easily carried and transports
Defeated, although fuselage is small, the economic potential and market potential of multi-rotor unmanned aerial vehicle are all very worthy of expecting.
Embodiment one
The preparation method of arched frame, includes the following steps, by the 3- butene-1-ol, 1Kg allyl sulfhydrate, 6Kg allyl of 8Kg
Trimethyl silane mixes in reaction kettle with 5Kg triallyl isocyanate, 10g acetylacetone cobalt is then added, at 50 DEG C
Stirring 20 minutes；90 DEG C are then heated to, 100Kg linear phenolic epoxy resin and 1Kg gamma-aminopropyl-triethoxy silicon is added
Alkane stirs 70 minutes；Then 3Kg alumina whisker, 30Kg polyethyleneimine is added, then heats to 110 DEG C, stirs 20 points
Clock；Then the mixture of 1Kg azodicarbonamide and 50g zinc stannate is added, continues stirring 70 minutes；It is subsequently poured into 110 DEG C in advance
In the mold of heat, arched frame is obtained by solidification, Temperature fall；Curing process is+170 DEG C/1 hour 150 DEG C/30 minutes+200
DEG C/30 minutes.Mold is that conventional die sinking obtains, and different molds can obtain arched frame, reinforcing rod；The height of arched frame is arched frame
The 10% of length between two endpoints, is solid construction, and reinforcing rod is hollow cylindrical closed at both ends；Reinforcing rod is passed through normal
Rule mode and arched frame assemble, for example slot in arched frame side wall, reinforcing rod both ends are distinguished in insertion groove, two arched frame shapes
At the structure of pincer attack, the adjustable unmanned plane of rotor for embodiment two to example IV, Fig. 2 is its structural schematic diagram, wherein 11
It is reinforcing rod for arched frame, 12.
Several monomers are carried out pre-reaction first by the present invention, are subsequently used for modified linear novolac epoxy resin, then will be above-mentioned
Obtained expandability modified system heats in molding die, carries out crosslinking and pore, specially 150 DEG C progress precuring friendships
Connection, 170 DEG C carry out further solidification crosslinking, improve resin solidification degree, finally divide azodicarbonamide sufficiently in 200 DEG C
Solution, while cross-linking reaction is completed, and arched frame or reinforcing rod are obtained.Used raw material is all commercial products, such as linearly
Novolac epoxy resin purchased from can grand industry, softening point is at 90 DEG C, and epoxide equivalent is 220 or so；Triallyl isocyanate is (referred to as
" TAIC ") there is unique triazine ring structure, by forming chemical bond between line style strand, crosslinking fast with crosslinking rate
The advantages that density is high, stability is good, makes material internal be cross-linked with each other and forms reticular structure, thus improve material intensity and
Elasticity；According to test result, the small molecule-modified mechanical property for improving resin, judge 3- butene-1-ol, propene thiol,
It, may between small molecule under the promotion of acetylacetone cobalt after allyl trimethyl silane is mixed with triallyl isocyanate
Some reactions occur, for example mercaptan-ene reaction can occur for alkene double bond；3- butene-1-ol is a kind of with double bond and hydroxyl
Enols used, property is very active, may participate in a variety of organic synthesis；During cross-linking reaction, small molecule can join
With the solidification of novolac epoxy resin, practical function is played to the intrinsic toughening of resin, while some small molecules can be interted and three-dimensional friendship
Network network, to reduce brittleness it is advantageous, and using a small amount of polyethyleneimine as both can with epoxy formation condensate further through length
Chain prevent it is three-dimensional cross-linked excessively, but also by ethylene linkage and small molecule reaction, improve toughening effect, there is good mechanical property
Can, in avoidable foaming process the phenomenon that holes, so that bending can be formed when preparing arched frame without some damage；This hair
It is bright using new formula, small molecule can participate in the solidification of resin in cure stage or be interspersed in three-dimensional network, and small point
Subband has rigid radical advantageous to raising product strength, is imitated using the interface that alumina whisker and organic matter can be improved in silane
It answers, and the introducing of silane, to the fire-retardant advantageous of product is improved, alumina whisker is less as inorganic component addition, can be improved
The intensity of organic system avoids the problems such as powder or reunion of fiber bring, technique discomfort simultaneously；First by two formyl of azo
Amine and zinc stannate, which are pre-mixed to obtain mixture, adds reaction kettle, and under the collaboration of zinc stannate, azodicarbonamide decomposes slow
It slowly, may be due to Zn under high temperature2+And SnO3 2-It can capture free radical, have some inhibiting effect to the decomposition of azodicarbonamide,
The presence of the substances such as alcohol, mercaptan simultaneously may also be to the evenly dispersed advantageous of azodicarbonamide, and obtained product gap is uniform,
Porosity is lower, will not influence mechanical property, porous in order to reduce quality of materials, but as support frame, mechanical property is to close
Key and basis, only reduction weight is just significant on the basis of guaranteeing mechanical property, otherwise useless.
The present invention is according to above-mentioned preparation process, according to existing conventional criteria test request, is prepared for shock-testing plate, oxygen refers to
Number test board and crooked test plate, referred to as experimental plate, are tested, the present invention uses new material to be prepared for nobody for the first time respectively
Machine support frame has obtained the good product of mechanical property in the case where no prior art can refer to, and flyer miles compared with
Commercially available support frame is long；Several comparative examples are provided simultaneously, to illustrate that new material performance of the present invention is good, specifically:
On the basis of above-mentioned formula, allyl trimethyl silane is deleted, as remaining, obtains comparison plate one.
On the basis of above-mentioned formula, propene thiol, 3- butene-1-ol are deleted, as remaining, obtains comparison plate two.
On the basis of above-mentioned formula, alumina whisker is replaced with into silicon powder, as remaining, obtains comparison plate three.
On the basis of above-mentioned formula, zinc stannate is deleted, as remaining, obtains comparison plate four；It is observed after the impact of this plate disconnected
Face, discovery Air Bubble Size is different, differs fairly obvious；And experimental plate impact fracture surface is observed, bubble is more uniform, does not almost see big
Small difference；And the stomata for comparing plate four is generally greater than experimental plate.
On the basis of above-mentioned formula, polyethyleneimine is replaced with into diaminodiphenylmethane, as remaining, is compared
Plate five.
Table 1 is the performance parameter of each plate, it can be seen that the present invention proposes new material prescription and technique, is prepared suitable
Support frame for unmanned plane of the present invention.
The performance parameter of each plate of table 1
* oxygen index (OI) (OI) is smaller, and the concentration of oxygen needed for illustrating its continuous burning is lower, and material is more inflammable；Conversely, material is more not
Yi Ran.Routine thinks；It is inflammability plastics as OI < 22；It is self-extingushing plastic when OI is between 22 ~ 27；As OI > 27
When, it is fire retardant plastics；OI for not adding most of plastics of fire retardant is not achieved 27.From oxygen index (OI) it can also be seen that
The addition of zinc stannate is so that azodicarbonamide pore-forming performance improves, and in terms of test result, uniform lesser hole combines zinc stannate
Fire retardation to promoted oxygen index (OI) it is advantageous.
Fig. 3 is the practical figure of one arched frame of embodiment of the present invention bending, and Fig. 4 is the practical figure of comparison five arched frame of plate bending；It can
To find out, under external force, the arched frame of the embodiment of the present invention can be bent very wide-angle and not split, and compare the arch of plate five
Shape frame bending angle is small, and has already appeared crackle.
Embodiment two
Referring to Fig. 5:
A kind of adjustable unmanned plane of rotor, unmanned plane include support frame 1, rotor, rotor arm 2, power supply 3, flight controller 4, image
Collector 5, locator 6, rotating electric machine 7(tetra-, are symmetrically positioned in support plate, control four proprotor arms, mark respectively
At one), electricity adjust device 8(tetra-, be located at support plate quadrangle, respectively control four propeller motors, mark one at)；The power supply,
The mechanical, electrical tune device of flight controller, image acquisition device, electric rotating is separately mounted on support frame；Rotor arm one end is mounted on rotation
In the rotary shaft of motor, rotor is installed in one end；Rotor includes propeller 9, propeller motor 91；The method of the rotary shaft of rotating electric machine
Line and horizontal plane, it can be understood as the central axes of column shaped rotating axis are vertical direction, can be revolved with reference to finding out from figure
Shaft is upward.
Rotor of the invention is adjustable, and unmanned plane is simple civilian unmanned plane, and above-mentioned rotor arm, rotor, rotating electric machine are all 4
It is a and symmetrical；The adjustable rotor arm of designed distance (pass through rotating electric machine rotation drive), symmetrical rotor arm can be with
So that needed in flight course rotor arm change apart from when keep aircraft stabilization, while each rotor arm running parameter keep
Unanimously.The present invention keeps the overall movement of rotor arm and rotor when flexible, and the folding rotor arm that compares is more stable, is
Two different technical solutions.
In above-mentioned propeller, propeller is mounted on above rotor arm, and propeller motor is mounted below rotor arm.Propeller
It can guarantee the speed and stabilization when unmanned plane during flying；Propeller protecting frame is frame structure, to protect to propeller
It will not influence air force operation simultaneously, and propeller shield frame also has the effect of preventing propeller from hurting sb.'s feelings；Propeller, spiral
Paddle motor is separately mounted to rotor arm upper and lower, by the conventional installing pipe of aperture configuration on rotor arm, so that propeller motor
Shaft pass through rotor arm install propeller, so on the one hand be conducive to propeller protecting frame installation because do not need protect spiral shell
Rotation paddle motor has also vacated installation position, is conducive to below another aspect propeller motor counterweight to rotor arm steady when the rotation of rotor arm
It is fixed, because it is ipsilateral stable not as good as upper and lower is separately mounted to that propeller, propeller motor are mounted on rotor arm.
Support frame include two arched frames, support plate 13, reinforcing rod 12(referring to fig. 2), support plate is installed on two arches
Frame apex, reinforcing rod are installed between two arched frames；Support plate be with through-hole 14(mark one at) monolith solid slab；
Support plate and arched frame are installed by screw, are slotted, reinforcing rod both ends are distinguished in insertion groove, two arches in arched frame side wall
Frame forms the structure of pincer attack, and such support frame structure is formed, specially routine techniques.
Arched frame, reinforcing rod are prepared by embodiment one, and it is highly 5 lis that length, which is 0.5 meter, between two endpoints of arched frame
Rice, after the height of arched frame refers to that arched frame is placed on the plane, the distance of arched frame highest point to the plane, so limit so that
Arched frame is conducive to molding, is unlikely to that camber is excessive and generate stress defect, and the radian mitigated is conducive to apex support plate
Installation, support plate assembles according to conventional methods with arched frame, for example passes through screw；The material of the preferred support frame of the present invention, is played
The effect of bearing capacity of supporting frame is kept while reducing unmanned plane quality；The design of rotating electric machine will increase unmanned plane quality, such as
Fruit is still affected to the flight time using existing support frame；By contrast test, support frame of the invention can bear 15
Kilogram article and it is indeformable, existing commercially available support frame bears 11 kilograms of articles and has occurred and that deformation；Under same battery, together
The flight parameter (environment, speed are consistent) of sample uses the unmanned plane during flying time of support frame preparation of the present invention for existing commercially available branch
1.4 times of the unmanned plane during flying time of support preparation.Two arched frame structure sizes that the present invention uses are the same, compared to other
Structure, arched frame reasonable stress, real abdomen section, which can provide endurance, arch springing, can also provide horizontal thrust, for downward pressure
Receiving it is stronger.Reinforcing rod is designed between two arched frames to increase stabilization, the peace of support plate, reinforcing rod on two arched frames
Dress mode may be implemented for routine techniques.
Support plate is the installation carrier of unmanned plane functional component, by support plate that each component group of unmanned plane is whole as one
Body, rotating electric machine, power supply, flight controller, image acquisition device, locator, electricity adjust the commercially available components such as device to be installed on the board, mutually not
Interference.
Embodiment three
A kind of unmanned plane, on the basis of example 2, each rotor arm are equipped with spring thimble (Rong Teng brightness science and technology) 92, in this way
Design can play position-limiting action；Under normal circumstances, rotating electric machine is not easy occur rotating excessive situation, but spring top
The design of needle forms most effective guarantee, thoroughly solves the risk of excess shrinkage, it is evident that avoids excess shrinkage that from may leading
The risk for causing propeller collision provides a rotor arm referring to Fig. 6 as reference, the design method of remaining rotor arm is consistent with this.
Example IV
A kind of unmanned plane protects frame 93 equipped with propeller around propeller on the basis of example 2, and propeller shield frame is mounted on
It is conventional mount structure, with the same producer of propeller on rotor arm；Propeller protecting frame is frame structure, thus to spiral
Paddle will not influence air force operation while protection, and propeller shield frame also has the effect of preventing propeller from hurting sb.'s feelings, and joins
See Fig. 7, provides a rotor arm as reference, the design method of remaining rotor arm is consistent with this.
The dynamical system of unmanned plane mainly adjusts device, propeller part to constitute by battery, propeller motor and electricity, and battery is realized
The conversion of chemical energy to electrical energy, then adjust device control propeller motor that electric energy is converted into mechanical energy by electricity, pass through conventional control electricity
The changeability of output power is realized on road, meets the various flight demands of unmanned plane；The gesture stability of rotor wing unmanned aerial vehicle, by adjusting
The revolving speed of motor is realized, and by gesture stability, realizes speed and position control.
Control system is generally divided into two parts, earth station and airborne portion.Control instruction mainly may be implemented in earth station
Transmission and information feedback, display, analysis and storage, be routine techniques (component), do not influence the reality of the technology of the present invention effect
It is existing；Airborne portion is mainly responsible for the acquisition of body movement information, synthesis, is realized by various controller to body posture, movement
The control of speed, movement position.Radio Link be remote controler Radio Link, can by Digiplex (hold controller,
Happy enlightening AT9 remote controler, pictorial diagram are shown in Fig. 8) send the driving lever of remote controler and switching information to flight controller routinely carries
Wireless receiver module, and then control instruction is executed.Conventional machine can also be set on the basis of unmanned plane of the invention
Set sensor mainly includes gyroscope and accelerometer, magnetometer, barometer, optical-flow sensor, receiver, ultrasonic wave
Distance measuring sensor, conventional func required for realizing.Flight controller carries out motor by adjusting device to send normal signal to electricity
Speed regulation, after receiving conventional pulse width modulation signal, electricity adjusts the work ratio of the adjustable motor of device, adjusts the revolving speed of motor, root
Commutation is carried out to realize the even running of motor to motor according to position feedback, and is reached compared with high dynamic response.All it is above
Control the existing conventional techniques of unmanned plane during flying.
Flight controller is existing commercial products, and internal flight control circuit photo is shown in Fig. 9, contains conventional rotating electric machine
It is opened and closed circuit, as line handspike opening and closing circuit, two scheme same plates, as long as circuit is powered-down or is powered,
It is unrelated with object；The function that flight control circuit is mainly realized has: read sensor information, correct sensor information, compensation,
Filtering, obtains useful information, and the information of received XBee communication module calculates control amount and sends the motor tune of control
Speed.
Rotor wing unmanned aerial vehicle flight, need to complete the multi-task, including read sensor value, sensor digital filtering and it is complete
At the estimation of unmanned plane during flying information, control instruction is read, according to control instruction and unmanned plane during flying information, the meter of control amount
It calculates, completes motor control, processing and earth station's communication, the diagnosis of unmanned plane during flying and make action appropriate；Therefore, it is necessary to than
It preferably arranges the priority of work in every properly, and guarantees the completion of each task.The flying-controlled box of unmanned plane runs on existing
There is ATMEGA2560 hardware circuit, is developed based on ST standard peripherals library.It is main to realize following function: to read sensor information, connect
Receipts machine signal is collected, controls machine governor and cradle head controllor and ground station communications, is calculated according to feedback and given deviation
The control of flight parameter, parameter storage out.Firstly, after power-up, by system initialization, including for the initial of GPIO
Change, the initialization etc. of system clock；Then timer setting, machine disruptions 100Hz, in each interruption, in order to complete to sensing
The acquisition of device information obtains reception information, solves the tasks such as control, communication, data processing.It is all control unmanned plane during flying above
Existing conventional techniques.
Each component of unmanned plane of the present invention is installed as the prior art, provides Figure 10 and refers to, generally speaking, branch of the invention
The unmanned plane of support assembling is lighter by 15% or so than the unmanned plane that existing support frame (turmeric F450 rack) assembles；Practical flight operation
When, power supply is opened, controller is held and provides flight requirement, after flight controller reception flight requires, comprehensive locator
The letter of (PX4FLOW light stream sensor can reach 250Hz in outdoor renewal speed, and renewal frequency indoors has 120Hz)
Breath, then output order to electricity adjusts device, and electricity adjusts device to control propeller motor operation, and unmanned plane takes off；Image acquisition device shooting is shone
Existing conventional equipment is transmitted to by flight controller after piece.About 1.9 kilograms of unmanned plane weight of the present invention, use specification for 11.1V/
The battery of 7500mAh can be with non-stop flight 33 minutes or so (25 DEG C)；Propeller motor of the invention is constant force external rotor brushless
Direct current generator is shown in that Figure 11, Figure 12 are its electric current pull-up curve, it can be seen that during being applied in combination with paddle, maximum can
Supply the pulling force of about 1kg, it is therefore apparent that the pulling force of four motors supply is about equal to 4kg, this is entirely to weigh more than body itself
Amount.In addition when passing through the confined space, for example, between door, two trees, window, image acquisition device (optical depth in domestic ratio difficult to understand
Camera, there are three cameras, see Figure 13.Can identify front door, the confined spaces such as window apart from size, then this number
It is transferred to UAV Flight Control device according to according to available circuit, then judges whether to start straight line by flying the built-in existing program of control
Push rod) range data conventional method is transmitted to flight controller after, flight controller can be according to existing method than relatively limited sky
Between with unmanned plane size, specially flight controller conventional capability, thus judge whether enable rotating electric machine, if enable if fly
Line control unit output order is to rotating electric machine, so that rotary wing arm, reduces unmanned plane overall dimensions, after the confined space,
Restore the original state of rotor arm, keeps flight stability；Method control unmanned plane alternatively, it is also possible to be observed by controller leads to
Cross the confined space, for example, when controller's discovery need to reduce distance can just pass through the confined space between rotor arm when, hold control
Device processed provides requirement, and after flight controller receives requirement, output order to rotating electric machine is run, so that rotary wing arm, reduces
Unmanned plane overall dimensions, and will not excessively rotate, after the confined space, restore the original state of rotor arm, keeps flight
Stablize；Figure 14 is rotor arm rotary reference figure, for example when needing to reduce width, A rotor arm holds together with B rotor arm rest, C rotor arm and
D rotor arm rest holds together, and process does not influence unmanned plane during flying, this is creative place of the invention, passes through it compared with the prior art
His method passes through the confined space, and present invention control is easier, and mitigates flight controller calculating process, flight controller is used
Favorably.Using the unmanned plane of embodiment one, the confined space is formed using two waddys, width is being less than unmanned plane maximum width (just
Normal state), it is greater than unmanned plane minimum widith (the next width of adjacent rotor arm rest), just using controller conventional control unmanned plane
Often flight, it is intended to when space across two waddys, by manually controlling rotating electric machine starting (image acquisition device closing),
It drives rotor arm to be mutually close to and (be close to two-by-two, keep symmetrical), passes through, then by rotor arm state back to normal；Then it beats
Image acquisition device is opened, the data information for preparing, again by the space between two waddys, to acquire by image acquisition device is returned
The tightening for allowing unmanned plane voluntarily to control rotor arm passes through, then by rotor arm state back to normal.UAV is from ground
Face is taken off, and is hovered in the sky.(become at the hovering moment by starting the angle of one of corresponding rotor arm of rotating electric machine change
Change 5 °) it is interfered to apply, according to test, at 30 seconds or so, it is evident that after being interfered, the angle that pitch angle produces 6 ° is inclined
Difference also measures the deviation amplitude of roll angle without so big, and misalignment angle is 3 ° or so；After being interfered, unmanned plane is quick certainly
I adjusts, and has restored normal floating state by 1s or so and (has needed to restore by 3.5s or so using commercially available turmeric support frame
Normal floating state, it can be seen that existing support frame does not meet the unmanned plane that the present invention has rotating electric machine), unmanned plane is applied
Interference, also can not influence yaw angle.By test, illustrate the present invention using the side of rotating electric machine control rotor arm
Method is advantageous by the smaller confined space to unmanned plane.
Claims (10)
1. a kind of adjustable unmanned plane of rotor, which is characterized in that the adjustable unmanned plane of rotor include support frame, rotor, rotor arm,
The mechanical, electrical tune device of power supply, flight controller, image acquisition device, electric rotating；The power supply, flight controller, image acquisition device, rotation
Rotating motor, electricity adjust device to be separately mounted on support frame；Rotor arm one end is mounted in the rotary shaft of rotating electric machine, one end peace
Fill rotor；The rotor includes propeller, propeller motor；The propeller motor adjusts device to connect with electricity；The rotating electric machine
Rotary shaft normal and horizontal plane.
2. the adjustable unmanned plane of rotor according to claim 1, which is characterized in that the rotor arm is 4~8；The rotor
Quantity is consistent with rotor arm；The quantity of the rotating electric machine is consistent with rotor arm.
3. the adjustable unmanned plane of rotor according to claim 1, which is characterized in that the rotor arm is symmetrical.
4. the adjustable unmanned plane of rotor according to claim 1, which is characterized in that protected around the propeller equipped with propeller
Frame；The propeller shield frame is mounted on rotor arm.
5. the adjustable unmanned plane of rotor according to claim 1, which is characterized in that the propeller is mounted on above rotor arm,
Propeller motor is mounted below rotor arm.
6. the adjustable unmanned plane of rotor according to claim 1, which is characterized in that the rotor arm is equipped with spring thimble.
7. the adjustable unmanned plane of rotor according to claim 1, which is characterized in that support frame as described above includes two arched frames, branch
Fagging, reinforcing rod；The support plate is installed on two arched frame apexes；The reinforcing rod is installed between two arched frames.
8. the adjustable unmanned plane of rotor according to claim 7, which is characterized in that the arched frame is nonmetallic materials；It is described
Reinforcing rod is nonmetallic materials；The support plate is solid plastic plate；The support plate is equipped with through-hole.
9. the adjustable unmanned plane of rotor according to claim 8, which is characterized in that the arched frame is by 3- butene-1-ol, allyl
Base mercaptan, allyl trimethyl silane, triallyl isocyanate, acetylacetone cobalt, linear phenolic epoxy resin, γ-ammonia third
Ethyl triethoxy silicane alkane, alumina whisker, polyethyleneimine, azodicarbonamide, zinc stannate are prepared；The reinforcing rod by
3- butene-1-ol, allyl sulfhydrate, allyl trimethyl silane, triallyl isocyanate, acetylacetone cobalt, novolac
Epoxy resin, gamma-aminopropyl-triethoxy-silane, alumina whisker, polyethyleneimine, azodicarbonamide, zinc stannate preparation
It obtains.
10. the adjustable unmanned plane of rotor according to claim 9, which is characterized in that 3- butene-1-ol, allyl sulfhydrate, allyl
Base trimethyl silane, triallyl isocyanate, acetylacetone cobalt, linear phenolic epoxy resin, gamma-aminopropyl-triethoxy silicon
Alkane, alumina whisker, polyethyleneimine, azodicarbonamide, zinc stannate mass ratio be 8: 1: 6: 5: 0.01: (100~110)
∶1∶3∶30∶1∶0.05。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910443094.2A CN110217378A (en) | 2019-05-26 | 2019-05-26 | Rotor is adjustable unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910443094.2A CN110217378A (en) | 2019-05-26 | 2019-05-26 | Rotor is adjustable unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110217378A true CN110217378A (en) | 2019-09-10 |
Family
ID=67818324
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910443094.2A Pending CN110217378A (en) | 2019-05-26 | 2019-05-26 | Rotor is adjustable unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110217378A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205076031U (en) * | 2015-09-07 | 2016-03-09 | 天津市天舞科技有限公司 | Helicopter cage undercarriage that adaptive capacity to environment is stronger |
| CN207697996U (en) * | 2017-11-17 | 2018-08-07 | 广东瑞图万方科技股份有限公司 | Small-sized multi-rotor aerocraft |
| CN109484662A (en) * | 2018-12-29 | 2019-03-19 | 江苏航鹰智能科技有限公司 | It is a kind of to fold unmanned plane of taking photo by plane |
| CN109515681A (en) * | 2018-11-01 | 2019-03-26 | 上海歌尔泰克机器人有限公司 | A kind of unmanned plane horn foldable structure and a kind of unmanned plane |
| CN109535660A (en) * | 2018-12-18 | 2019-03-29 | 深圳航天科技创新研究院 | A kind of fire-retardant prepreg resin of the rapid curing that viscosity is controllable and preparation method thereof |
-
2019
- 2019-05-26 CN CN201910443094.2A patent/CN110217378A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205076031U (en) * | 2015-09-07 | 2016-03-09 | 天津市天舞科技有限公司 | Helicopter cage undercarriage that adaptive capacity to environment is stronger |
| CN207697996U (en) * | 2017-11-17 | 2018-08-07 | 广东瑞图万方科技股份有限公司 | Small-sized multi-rotor aerocraft |
| CN109515681A (en) * | 2018-11-01 | 2019-03-26 | 上海歌尔泰克机器人有限公司 | A kind of unmanned plane horn foldable structure and a kind of unmanned plane |
| CN109535660A (en) * | 2018-12-18 | 2019-03-29 | 深圳航天科技创新研究院 | A kind of fire-retardant prepreg resin of the rapid curing that viscosity is controllable and preparation method thereof |
| CN109484662A (en) * | 2018-12-29 | 2019-03-19 | 江苏航鹰智能科技有限公司 | It is a kind of to fold unmanned plane of taking photo by plane |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104155981B (en) | A kind of on-air radio pyroelectric monitor system of ground remote control based on many rotors robot | |
| Polo et al. | Design of a low-cost Wireless Sensor Network with UAV mobile node for agricultural applications | |
| CN106240809B (en) | Flow controlling multi-rotor aerocraft and control method based on fanjet | |
| CN106184746B (en) | A kind of bionical butterfly flapping wing aircraft of fructus forsythiae | |
| CN104787318A (en) | Multi-rotor unmanned aerial vehicle with function of loaded long-time flying | |
| Shaheed et al. | Flying by the sun only: The solarcopter prototype | |
| CN104386246A (en) | Four-rotor aircraft | |
| CN106090549A (en) | Three-axis stabilization The Cloud Terrace | |
| CN203567933U (en) | Spherical aircraft | |
| CN107608382A (en) | Path-based power generation control for aircraft | |
| CN104166054A (en) | Air radio monitoring system based on multi-rotor robot | |
| CN105711825A (en) | Hybrid power unmanned aerial vehicle | |
| CN110217379A (en) | Concertina type unmanned plane | |
| CN204916171U (en) | Many rotor unmanned aerial vehicle with flight of load long term | |
| CN110217378A (en) | Rotor is adjustable unmanned plane | |
| CN204008872U (en) | On-air radio pyroelectric monitor system based on many rotors robot | |
| Guan et al. | Intelligent control of quad-rotor aircrafts with a STM32 microcontroller using deep neural networks | |
| CN205293105U (en) | Unmanned aerial vehicle GPS module embeds structure | |
| CN110217385A (en) | The amphibious unmanned plane of rotor type | |
| CN204078068U (en) | A kind of four-axle aircraft of overlength flying power | |
| CN203982199U (en) | A kind of on-air radio pyroelectric monitor system of the ground remote control based on many rotors robot | |
| CN111964538A (en) | Guided missile attack system of autorotation rotor mechanism | |
| CN104843191B (en) | Contactless smart rain insensitive device for unmanned plane | |
| CN207809771U (en) | Disk like duct quadrotor | |
| CN109634110A (en) | A kind of tailstock formula unmanned plane changeover portion robust control method based on Nonlinear Disturbance Observer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20190910 |
|
| WD01 | Invention patent application deemed withdrawn after publication |