CN110239705A - A kind of self-balancing unmanned plane based on coupling fluid-structure - Google Patents
A kind of self-balancing unmanned plane based on coupling fluid-structure Download PDFInfo
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- CN110239705A CN110239705A CN201910557930.XA CN201910557930A CN110239705A CN 110239705 A CN110239705 A CN 110239705A CN 201910557930 A CN201910557930 A CN 201910557930A CN 110239705 A CN110239705 A CN 110239705A
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- China
- Prior art keywords
- unmanned plane
- self
- balancing
- coupling fluid
- blade
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Abstract
The present invention provides a kind of self-balancing unmanned plane based on coupling fluid-structure, is related to air vehicle technique field.The self-balancing unmanned plane based on coupling fluid-structure, including rack, the inside of the rack is fixedly connected with self-regulation device, blade is rotatably connected at the top of the outside of the self-regulation device, the bottom of the blade is fixedly connected with balancing device, the center of the machine frame inside is fixedly installed with disk, and the periphery of the disk offers annular groove, and the slid of the annular groove is connected with connecting rod.The self-balancing unmanned plane based on coupling fluid-structure, in the failure of unmanned plane single paddle, it can continue to the flight of held stationary, avoid the crash of unmanned plane, and in unmanned plane run-off the straight, the revolving speed of lower side blade can be improved, to improve the lift of lower side blade, the self-regulation for unmanned plane balance is realized, the difficulty wirelessly manipulated for unmanned plane is reduced.
Description
Technical field
The present invention relates to air vehicle technique field, specially a kind of self-balancing unmanned plane based on coupling fluid-structure.
Background technique
Unmanned plane is the abbreviation of UAV, is grasped using radio robot and the presetting apparatus provided for oneself
Vertical not manned vehicle, compared with manned aircraft, it have small in size, low cost, it is easy to use, to operating environment requirement
Low, the advantages that operation survival ability is stronger, therefore it is more suitable for those too slow-witted, dirty or dangerous tasks, it is widely used in
It takes photo by plane, agricultural, express transportation, disaster relief, electric inspection process, the disaster relief, the fields such as movies-making.
And unmanned plane is manipulated by then passing through wireless remotecontrol, therefore for unmanned plane balance operation difficulty compared with
Greatly, and the blade of unmanned plane is driven by independent motor, when deviation occurs in the revolving speed of blade, is easy for losing
The phenomenon that weighing apparatus and swing, and traditional rotor wing unmanned aerial vehicle will destroy the balance of unmanned plane in the case where single paddle fails,
The phenomenon that being easy to appear air crash.
To solve the above problems, inventor provides a kind of self-balancing unmanned plane based on coupling fluid-structure, in unmanned plane list
When a blade fails, it can continue to the flight of held stationary, avoid the crash of unmanned plane, and in unmanned plane run-off the straight,
It can be improved the revolving speed of lower side blade, to improve the lift of lower side blade, realize for unmanned plane balance
Self-regulation, reduces the difficulty wirelessly manipulated for unmanned plane.
Summary of the invention
In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of certainly flat based on coupling fluid-structure
Weigh unmanned plane, including rack, self-regulation device, blade, balancing device.
Wherein, the self-regulation device includes disk, annular groove, connecting rod, ball, fanning strip, iron core, coil, leads
Line, guide-track groove.
Wherein, the balancing device includes cylinder frame, motor, rotary shaft, lower rotary table, kickboard, mandrel, top rotary table, envelope
Plate, hydraulic oil.
Wherein:
The inside of the rack is fixedly connected with self-regulation device, the top rotation connection in the outside of the self-regulation device
There is blade, the bottom of the blade is fixedly connected with balancing device.
Preferably, the center of the machine frame inside is fixedly installed with disk, and the periphery of the disk offers annular groove, institute
The slid for stating annular groove is connected with connecting rod, and one end that the connecting rod is located inside annular groove is fixedly installed with ball,
The center of the connecting rod is fixedly installed with fanning strip, the inside of the fanning strip be fixedly connected it is cored, the iron core it is outer
It encloses and is wound with coil, the coil is controlled to a power supply by conducting wire, and the inside of the rack offers guide-track groove, the sector
Plate is slidably connected in guide-track groove, by connecting rod one end ball being slidably connected in annular groove and fanning strip in guide rail
Being slidably connected in slot, so that connecting rod is able to drive blade and is swung in the periphery of rack.
Preferably, the top of the connecting rod periphery is fixedly installed with cylinder frame, and the inside of the cylinder frame is fixedly connected
Motor, is sequentially connected with rotary shaft at the top of the motor, and the slid of the rotary shaft is connected with lower rotary table, and described lower turn
The bottom end of disk is fixedly installed with kickboard, and mandrel is rotatably connected at the top of the cylinder frame, and the bottom end of the mandrel is fixedly mounted
There is top rotary table, the internal slide of the cylinder frame is connected with sealing plate, and the inside of the cylinder frame is placed with hydraulic oil, when motor band
When dynamic lower rotary table rotation, using the principle of coupling fluid-structure, it can make top rotary table that blade be driven to be rotated.
Preferably, the motor of the symmetrical blade bottom is serially connected, and power supply passes through conducting wire elder generation and coil phase
Connection, then be connected to the motor and connect, the magnetic pole that the coil phase top collar generates is homonymous magnetic pole, so that producing between adjacent fanning strip
Raw mutual repulsion, so that fanning strip be made to be uniformly distributed in guide-track groove.
The present invention provides a kind of self-balancing unmanned plane based on coupling fluid-structure.Have it is following the utility model has the advantages that
1, should self-balancing unmanned plane based on coupling fluid-structure, by the design of self-regulation device, using the principle of electric magnetisation,
It is uniformly distributed the blade of unmanned plane in the periphery of rack, and when the failure of unmanned plane single paddle, symmetrical blade can be made
It fails simultaneously, and is uniformly distributed remaining four blades again, to realize six rotor wing unmanned aerial vehicles and quadrotor drone
Between switching so that unmanned plane single paddle fail when, can continue to the flight of held stationary, avoid the pendant of unmanned plane
It ruins.
2, it is somebody's turn to do the self-balancing unmanned plane based on coupling fluid-structure and the principle of coupling fluid-structure is utilized by the design of balancing device
It drives blade to be rotated, and in unmanned plane run-off the straight, can be improved the revolving speed of lower side blade, so that it is right to improve its
In the lift of unmanned plane, the self-regulation for unmanned plane balance is realized, the difficulty wirelessly manipulated for unmanned plane is reduced.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is structural schematic diagram when single paddle of the present invention fails；
Fig. 3 is the cross-sectional view of single paddle structure of the present invention；
Fig. 4 is the structural schematic diagram of balancing device of the present invention；
Fig. 5 is the top view of the present invention or more turntable structure.
In figure: 1 rack, 2 self-regulation devices, 21 disks, 22 annular grooves, 23 connecting rods, 24 balls, 25 fanning strips, 26 iron
Core, 27 coils, 28 conducting wires, 29 guide-track grooves, 3 blades, 4 balancing devices, 41 cylinder frames, 42 motors, 43 rotary shafts, 44 lower rotary tables,
45 kickboards, 46 mandrels, 47 top rotary tables, 48 sealing plates, 49 hydraulic oil.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the self-balancing unmanned plane based on coupling fluid-structure is as follows:
Please refer to Fig. 1-5, a kind of self-balancing unmanned plane based on coupling fluid-structure, including rack 1, self-regulation device 2, blade
3, balancing device 4.
Wherein, self-regulation device 2 includes disk 21, annular groove 22, connecting rod 23, ball 24, fanning strip 25, iron core
26, coil 27, conducting wire 28, guide-track groove 29.
Wherein, balancing device 4 include cylinder frame 41, motor 42, rotary shaft 43, lower rotary table 44, kickboard 45, mandrel 46,
Top rotary table 47, sealing plate 48, hydraulic oil 49.
Wherein:
The inside of rack 1 is fixedly connected with self-regulation device 2, and the center inside rack 1 is fixedly installed with disk 21, disk
21 periphery offers annular groove 22, and the slid of annular groove 22 is connected with connecting rod 23, and connecting rod 23 is located at annular groove 22
Internal one end is fixedly installed with ball 24, and the center of connecting rod 23 is fixedly installed with fanning strip 25, and the inside of fanning strip 25 is solid
Surely cored 26 are connected, the periphery of iron core 26 is wound with coil 27, and coil 27 is controlled to a power supply by conducting wire 28, rack 1
Inside offers guide-track groove 29, and fanning strip 25 is slidably connected in guide-track groove 29, by 23 one end ball 24 of connecting rod in annulus
Being slidably connected in slot 22 and fanning strip 25 being slidably connected in guide-track groove 29, so that connecting rod 23 is able to drive blade 3
It is swung in the periphery of rack 1, the blade 3 of unmanned plane is made using the principle of electric magnetisation by the design of self-regulation device 2
It is uniformly distributed in the periphery of rack 1, and when unmanned plane single paddle 3 fails, symmetrical blade 3 can be made while being failed, and
It is uniformly distributed remaining four blades 3 again, so that the switching between six rotor wing unmanned aerial vehicles and quadrotor drone is realized,
So that unmanned plane can continue to the flight of held stationary, avoid the crash of unmanned plane when single paddle 3 fails.
Blade 3,42 phase of motor of symmetrical 3 bottom of blade are rotatably connected at the top of the outside of self-regulation device 2
Mutually series connection, and power supply is first connected with coil 27 by conducting wire 28, then is connected with motor 42, the magnetic that 27 phase top collar of coil generates
Extremely homonymous magnetic pole, so that mutual repulsion is generated between adjacent fanning strip 25, to make fanning strip 25 in guide-track groove 29
It being uniformly distributed, the bottom of blade 3 is fixedly connected with balancing device 4, and the top of 23 periphery of connecting rod is fixedly installed with cylinder frame 41,
The inside of cylinder frame 41 is fixedly connected with motor 42, and the top of motor 42 is sequentially connected with rotary shaft 43, and the periphery of rotary shaft 43 is sliding
Dynamic to be connected with lower rotary table 44, the bottom end of lower rotary table 44 is fixedly installed with kickboard 45, and the top of cylinder frame 41 is rotatably connected to mandrel
46, the bottom end of mandrel 46 is fixedly installed with top rotary table 47, and the internal slide of cylinder frame 41 is connected with sealing plate 48, cylinder frame 41
Inside is placed with hydraulic oil 49, when motor 42 drives lower rotary table 44 to rotate, using the principle of coupling fluid-structure, can make top rotary table
47 drive blades 3 are rotated, and by the design of balancing device 4, drive blade 3 to be rotated using the principle of coupling fluid-structure,
And in unmanned plane run-off the straight, the revolving speed of lower side blade 3 can be improved, thus improve it for the lift of unmanned plane,
The self-regulation for unmanned plane balance is realized, the difficulty wirelessly manipulated for unmanned plane is reduced.
When in use, during power supply is powered motor 42 by conducting wire 28, electric current is just had in coil 27
Pass through, and utilizes the principle of electric magnetisation, when the magnetic pole that 25 adjacent surface of fanning strip generates is homonymous magnetic pole, two adjacent sectors
The effect to repel each other will be generated between plate 25, thus make connecting rod 23 that blade 3 be driven to be uniformly distributed in the periphery of rack 1, so that
Unmanned plane can smooth flight, and when single paddle 3 fail when, by being serially connected for symmetrical blade 3, so that symmetrical
One group of blade 3 fails simultaneously, wherein there will not be electric current in 26 peripheral coil 27 of iron core and passes through, so that adjacent fanning strip 25
It is mutually close with the fanning strip of failure 25 under the action of 25 magnetic force of fanning strip in side, so as to make remaining four blades 3
Uniform distribution is kept again, and unmanned plane is made to can continue to smooth flight, and when motor 42 is run, rotary shaft 43 can be made
It drives lower rotary table 44 to be rotated, and utilizes the coupling fluid-structure inside cylinder frame 41, will drive top rotary table 47 is rotated, from
And blade 3 is driven to be rotated, and when unmanned plane run-off the straight, lower side cylinder frame 41 will tilt outward, thus
It enters hydraulic oil 49 more in cylinder frame 41, improves the buoyancy inside cylinder frame 41, so that sealing plate 48 moves up, simultaneously
Kickboard 45 also will drive lower rotary table 44 and move up, to reduce the distance between top rotary table 47 and lower rotary table 44, improves and turns
The transmission ratio of disk 47 and lower rotary table 44 improves lift, realizes for nothing to accelerate the revolving speed for reducing side blade 3
The self-regulation of man-machine balance.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (4)
1. a kind of self-balancing unmanned plane based on coupling fluid-structure, including rack (1), it is characterised in that: the inside of the rack (1)
It is fixedly connected with self-regulation device (2), is rotatably connected to blade (3), the paddle at the top of the outside of the self-regulation device (2)
The bottom of leaf (3) is fixedly connected with balancing device (4).
2. a kind of self-balancing unmanned plane based on coupling fluid-structure according to claim 1, it is characterised in that: the self-regulation
Device (2) includes disk (21), annular groove (22), connecting rod (23), ball (24), fanning strip (25), iron core (26), coil
(27), conducting wire (28), guide-track groove (29), the internal center of the rack (1) are fixedly installed with disk (21), the disk (21)
Periphery offer annular groove (22), the slid of the annular groove (22) is connected with connecting rod (23), the connecting rod
(23) it is located at annular groove (22) internal one end to be fixedly installed with ball (24), the center of the connecting rod (23) is fixedly installed with
The inside of fanning strip (25), the fanning strip (25) is fixedly connected cored (26), and the periphery winding of the iron core (26) is wired
It encloses (27), the coil (27) is controlled to a power supply by conducting wire (28), and the inside of the rack (1) offers guide-track groove
(29), the fanning strip (25) is slidably connected in guide-track groove (29).
3. a kind of self-balancing unmanned plane based on coupling fluid-structure according to claim 1 or 2, it is characterised in that: described flat
Weighing apparatus device (4) include cylinder frame (41), motor (42), rotary shaft (43), lower rotary table (44), kickboard (45), mandrel (46), on
The top of turntable (47), sealing plate (48), hydraulic oil (49), connecting rod (23) periphery is fixedly installed with cylinder frame (41), institute
The inside for stating cylinder frame (41) is fixedly connected motor (42), is sequentially connected with rotary shaft (43), institute at the top of the motor (42)
The slid for stating rotary shaft (43) is connected with lower rotary table (44), and the bottom end of the lower rotary table (44) is fixedly installed with kickboard
(45), it is rotatably connected to mandrel (46) at the top of the cylinder frame (41), the bottom end of the mandrel (46), which is fixedly installed with, to be turned
The internal slide of disk (47), the cylinder frame (41) is connected with sealing plate (48), and the inside of the cylinder frame (41) is placed with hydraulic
Oily (49).
4. a kind of self-balancing unmanned plane based on coupling fluid-structure according to claim 1, it is characterised in that: described mutually right
The motor (42) of blade (3) bottom of title is serially connected, and power supply by conducting wire (28) first be connected with coil (27), then with electricity
Machine (42) is connected, and the magnetic pole that coil (27) the phase top collar generates is homonymous magnetic pole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910557930.XA CN110239705A (en) | 2019-06-22 | 2019-06-22 | A kind of self-balancing unmanned plane based on coupling fluid-structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910557930.XA CN110239705A (en) | 2019-06-22 | 2019-06-22 | A kind of self-balancing unmanned plane based on coupling fluid-structure |
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| Publication Number | Publication Date |
|---|---|
| CN110239705A true CN110239705A (en) | 2019-09-17 |
Family
ID=67889504
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910557930.XA Withdrawn CN110239705A (en) | 2019-06-22 | 2019-06-22 | A kind of self-balancing unmanned plane based on coupling fluid-structure |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111498076A (en) * | 2020-04-29 | 2020-08-07 | 朱健斌 | Marine propeller speed reduction device based on fluid coupling |
| CN111634989A (en) * | 2020-06-09 | 2020-09-08 | 伍冬秋 | Agitating unit for sewage treatment based on fluid coupling |
| CN112173094A (en) * | 2020-09-24 | 2021-01-05 | 浙江吉利控股集团有限公司 | Safety control system and method for multi-rotor electric aircraft |
| CN112224416A (en) * | 2020-10-21 | 2021-01-15 | 郑法林 | Medicine unmanned aerial vehicle is spouted to counter weight balanced type agricultural |
-
2019
- 2019-06-22 CN CN201910557930.XA patent/CN110239705A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111498076A (en) * | 2020-04-29 | 2020-08-07 | 朱健斌 | Marine propeller speed reduction device based on fluid coupling |
| CN111634989A (en) * | 2020-06-09 | 2020-09-08 | 伍冬秋 | Agitating unit for sewage treatment based on fluid coupling |
| CN112173094A (en) * | 2020-09-24 | 2021-01-05 | 浙江吉利控股集团有限公司 | Safety control system and method for multi-rotor electric aircraft |
| CN112173094B (en) * | 2020-09-24 | 2023-12-26 | 成都沃飞天驭科技有限公司 | Safety control system and method for multi-rotor electric aircraft |
| CN112224416A (en) * | 2020-10-21 | 2021-01-15 | 郑法林 | Medicine unmanned aerial vehicle is spouted to counter weight balanced type agricultural |
| CN112224416B (en) * | 2020-10-21 | 2022-05-31 | 北京麦麦趣耕科技有限公司 | Medicine unmanned aerial vehicle is spouted to counter weight balanced type agricultural |
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Application publication date: 20190917 |
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