CN110294112A - Folding storage formula ring claps four-axle aircraft, control method and a fire extinguishing group of planes - Google Patents
Folding storage formula ring claps four-axle aircraft, control method and a fire extinguishing group of planes Download PDFInfo
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- CN110294112A CN110294112A CN201910464298.4A CN201910464298A CN110294112A CN 110294112 A CN110294112 A CN 110294112A CN 201910464298 A CN201910464298 A CN 201910464298A CN 110294112 A CN110294112 A CN 110294112A
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- 238000000034 method Methods 0.000 title claims description 19
- 230000004308 accommodation Effects 0.000 claims abstract description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 66
- PRPINYUDVPFIRX-UHFFFAOYSA-N 1-naphthaleneacetic acid Chemical compound C1=CC=C2C(CC(=O)O)=CC=CC2=C1 PRPINYUDVPFIRX-UHFFFAOYSA-N 0.000 claims description 32
- 239000000843 powder Substances 0.000 claims description 17
- 230000015572 biosynthetic process Effects 0.000 claims description 15
- 239000007921 spray Substances 0.000 claims description 11
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 241000272517 Anseriformes Species 0.000 claims description 7
- 230000008676 import Effects 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims description 3
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- 238000004804 winding Methods 0.000 claims description 3
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- 238000009434 installation Methods 0.000 claims description 2
- 235000017899 Spathodea campanulata Nutrition 0.000 claims 1
- 238000009510 drug design Methods 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 19
- 230000007423 decrease Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 239000000243 solution Substances 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000006872 improvement Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
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- 229920001821 foam rubber Polymers 0.000 description 2
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- 230000001771 impaired effect Effects 0.000 description 2
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- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
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- 239000007924 injection Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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- 239000000463 material Substances 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/0235—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft by means of containers, e.g. buckets
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/0242—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft by spraying extinguishants from the aircraft
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/025—Fire extinguishing bombs; Projectiles and launchers therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/068—Fuselage sections
-
- 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
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/56—Folding or collapsing to reduce overall dimensions of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Life Sciences & Earth Sciences (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to folding storage formula rings to clap four-axle aircraft and a fire extinguishing group of planes comprising unmanned vehicle and the drop of stopping for stopping unmanned vehicle store module；Unmanned vehicle includes fuselage module, the foot prop being arranged in below fuselage module, the folded wing for being distributed in fuselage module surrounding, the rotor being arranged on folded wing, the accommodation space for being arranged in fuselage module and being used to accommodate folded folded wing, the set frame being arranged in fuselage module, is arranged in fuselage module and for clamping three face clamping manipulators of object, the top propeller being arranged in fuselage module；The present invention has rational design, compact-sized and easy to use.
Description
Technical field
The present invention relates to folding storage formula rings to clap four-axle aircraft and a fire extinguishing group of planes.
Background technique
Currently, aircraft is easiest to that fault and the use link of accident occurs to be landing, according to investigations, aircraft failure occurs
Rate is substantially: 85% generation in landing phases, and 12% occurs in ramp-up period, and 3% occurred in the flat winged stage.When VTOL type
Unmanned vehicle easily turns over machine when being near the ground, more demanding to the remote control level of operator, and general when landing
Need the flat landing face of larger area.Therefore landing phases are the key that four-axle aircraft one rings of flight.Four common axis fly
Row device landing modes are that hand connects formula and remote control type, but both mode reliabilitys are not high.Meanwhile the propeller of aircraft is most
It is easy impaired one of accessory, therefore makes four-axle aircraft safe falling and carry out deformation storage in time to be to extend the aircraft longevity
The key link of life.
Summary of the invention
The technical problems to be solved by the invention are generally speaking to provide a kind of folding storage formula ring bat four-axle aircraft
An and fire extinguishing group of planes；The technical issues of solving in detail and acquirement beneficial effect in aftermentioned content and combine in specific embodiment
Content specifically describes.The mechanism of the landing mechanism and collecting apparatus of four-axle aircraft a urgently intelligent multi-function is set
Meter can combine the four-axle aircraft mechanism of existing maturation and automated machine equipment, and the present invention designs one kind dedicated for four
The intelligent mechanism of axis aircraft landing；In conjunction with the folding mode of folded wing unmanned plane, designing a can carry out mechanical folding
It is folded, and can be very good protection flying unit and be not easy to squeeze bad mechanical structure.
To solve the above problems, the technical solution used in the present invention is:
A kind of folding storage formula ring claps four-axle aircraft, including unmanned vehicle and for stopping unmanned vehicle
Stop drop storage module；
Unmanned vehicle includes fuselage module, the foot prop being arranged in below fuselage module, is distributed in fuselage module surrounding
Folded wing, the rotor being arranged on folded wing are arranged in fuselage module and for accommodating folded folded wing
Accommodation space, the set frame being arranged in fuselage module, the three face clamping machines for being arranged in fuselage module and being used to clamp object
Hand, the top propeller being arranged in fuselage module, the central gear being arranged in accommodation space, the centrally disposed gear in two sides
Two sides and engaged simultaneously with central gear and move round about simultaneously two-way rack gear, leading for two-way rack gear end is set
Leader, end and folded wing root connection and middle part be hinged in fuselage module wing swing arm, be sleeved on setting folding
On wing and the guide sleeve of sliding, the transmission arm that is hinged between guide sleeve and drawing head and be arranged in accommodation space and
For being clamped the locating groove of folded folded wing.
As a further improvement of the above technical scheme:
It is separately provided for shooting and be sent to the picture transmitter of geoceiver in fuselage module, for providing
The battery of electric energy, GPS module used for positioning and flight controller.
Stop drop storage module to include fixedly connected part, stopping dropping plate, being vertically arranged in and stop dropping in fixedly connected part is arranged in
Lead screw telescopic rod on plate, the pedestal that lead screw telescopic rod lower end is set, with lead screw telescopic rod center circumferential array distribution and edge
The technique guide groove that is arranged radially, the sliding rail for being arranged radially in technique guide groove side, setting sliding block on the slide rail, setting
On sliding block and for pulling the column for covering frame, the feed screw nut being arranged on lead screw telescopic rod and by technique guide groove
And one end is mounted on sliding block and the other end is mounted on the connecting rod on feed screw nut；
Stop drop storage module on be provided with dock with flight controller stop drop processor.
An a kind of fire extinguishing group of planes claps four-axle aircraft based on folding storage formula ring；It includes
It is aerial to carry water aircraft, in fuselage module upper end equipped with aerial water tank；
Water aircraft is sent, in fuselage module lower end equipped with water tank is sent with automatically controlled penstock, is used for by sending
Water tank supplements fire-fighting liquid to aerial aerial water tank；
Fire-fighting aircraft is tiltedly installed with guide groove in fuselage module, fire extinguishing ball is stored in guide groove, is being oriented to
Slot one end is provided with the lower outlet for exporting fire extinguishing ball, and the release for exporting fire extinguishing ball is provided with above lower outlet and is pushed away
Bar,
Hydrojet aircraft is provided with dry powder cabinet in fuselage module, is provided in dry powder cabinet for exporting dry powder
Push screw feeder, be provided with exit cone threeway in fuselage module, exit cone threeway upper end import accesses dry powder cabinet
Dry powder outlet, another import of exit cone threeway are connected with water pump, and water pump is connected with flow pipe, and flow pipe is connected with for immersing
The water aspirator of aerial water tank, is provided with outlet pipe at exit cone threeway conical outlet, is provided with and is used in fuselage module
Coil the winding drum of flow pipe.
As a further improvement of the above technical scheme:
Folding storage formula ring claps four-axle aircraft and arranges formation in the flying formation of geese in flight；The aerial water aircraft that carries is located at formation
Middle and back；Fire-fighting aircraft and hydrojet aircraft installation flying formation of geese arrangement formation are distributed in other positions.
The fuselage module lower end of fire-fighting aircraft is provided with water suction spray head and water pump, water pump passes through pipeline for aerial water tank
In water by water suction spray head spray.
A kind of folding storage formula ring claps the control method of four-axle aircraft, claps the flight of four axis based on folding storage formula ring
Device；It includes the following steps；
Step 1 starts to sail, firstly, identifying and recording departure location；Then, it parses and records and fly to specified region
Time t；Secondly, flying to designated place；
Step 2, task completion are maked a return voyage the stage, are opened folding storage formula ring and are clapped the receiving system of four-axle aircraft simultaneously
With ground controller and stop drop storage module communication,
When receiving system be not received by stop drop storage module stop drop signal, then continue to fly；
When receiving system receive stop drop storage module stop drop signal, execute step 3；
Step 3, firstly, ground controller parses GPS data, GPS coordinate conversion parses flight coordinate position；So
Afterwards, which is sent to and stops dropping processor；
Whether step 4 stops drop processor and judges flight coordinate position and stop at a distance from drop storage module in preset threshold model
Within enclosing；
If do not adjusted if flight coordinate position and repeat step 3；
If positioning terminates.
As a further improvement of the above technical scheme:
After positioning, shut down at the top of propeller step；
Step 5, firstly, aircraft adjustment direction and under fall on and adjust position；Then, central gear passes through bi-directional teeth
Item driving folded wing closes up and is clamped with locating groove；
Step 6, firstly, set frame is sleeved on corresponding column；Then, lead screw telescopic rod is pulled by feed screw nut and is connected
Bar, so that sliding block is drawn close to center；
Step 7 shuts down top propeller after the velocity sensor induction vertical speed of flight controller is zero.
Folding storage Shi Huanpai four-axle aircraft mechanism can realize that four axis fold, special angle is shot, portable storage
Etc. functions, can be applied to it is many need to carry out the industry of operation at specific environment and visual angle, can be widely used in military attack, public affairs
Peace chases, disaster search and rescue, agriculture and forestry investigation, power transmission line inspection, extinguishment fire suppression, advertising are taken photo by plane, ship model toy.Four axis flies
Row device has and can be vertically moved up or down, and the feature that any angle flexibly moves can also take according to different purposes on its fuselage
Carry different equipment and materials, such as camera, mechanical arm, pesticide spray head etc..The folding of four-axle aircraft of the present invention.In aircraft
The connection deck that a likeness in form shift fork is respectively set in the two limit positions of four axis rotation carries out detent, so that four of aircraft
Axis can reduce its damaged probability after completing aerial mission with rotary folding.Multi-angled shooting.It is set to aircraft upper back
Three face clamping devices include three Pneumatic clamping jaws, can clamp camera respectively, carry out different angle shooting.Devise four axis
" crawl " mechanism when aircraft flight realizes multi rack four-axle aircraft while the stable landing that slows down, also avoids the direct of people
Contact.Realize that aircraft stops drop storage.Location information is obtained using GPS technology, under finding suitably by location determination mechanism
Demotion sets landing, finally stops drop and stops dropping on accommodating mechanism in dedicated, and can stop to drop multi rack four-axle aircraft simultaneously, realizes flight
Device stabilization, safe and efficient storage.
Beneficial effects of the present invention description without being limited thereto, in order to preferably be easy to understand, specific embodiment part into
More detailed description is gone.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram at another visual angle of the present invention.
Fig. 3 is the structural schematic diagram of fold mechanism of the present invention.
Fig. 4 is the structural schematic diagram of a group of planes of the present invention.
Fig. 5 is the structural schematic diagram at another visual angle of a group of planes of the present invention.
Wherein: 1, unmanned vehicle；2, stop drop storage module；3, fuselage module；4, foot prop；5, folded wing；6, it accommodates
Space；7, picture transmitter；8, rotor；9, battery；10, GPS module；11, flight controller；12, frame is covered；13, three faces clamp
Manipulator；14, top propeller；15, central gear；16, two-way rack gear；17, drawing head；18, transmission arm；19, guide sleeve；
20, wing swing arm；21, locating groove；22, stop to drop plate；23, lead screw telescopic rod；24, pedestal；25, fixedly connected part；26, technique
Guide groove；27, sliding rail；28, sliding block；29, column；30, connecting rod；31, feed screw nut；32, water aircraft is sent；33, water tank is sent；
34, penstock；35, water aircraft is carried in the air；36, aerial water tank；37, fire-fighting aircraft；38, absorb water spray head；39, guide groove；
40, fire extinguishing ball；41, release push rod；42, hydrojet aircraft；43, dry powder cabinet；44, screw feeder is pushed；45, exit cone threeway；
46, water aspirator；47, flow pipe；48, outlet pipe.
Specific embodiment
As shown in Figs. 1-5, the present embodiment folding storage formula ring clap four-axle aircraft, including unmanned vehicle 1 and
Drop of stopping for stopping unmanned vehicle 1 stores module 2；
Unmanned vehicle 1 includes fuselage module 3, the foot prop 4 being arranged in below fuselage module 3, is distributed in fuselage module 3 four
The folded wing 5 in week, the rotor 8 being arranged on folded wing 5 are arranged in fuselage module 3 and for accommodating folded folding
The accommodation space 6 of folded wing 5, is arranged in fuselage module 3 and for clamping object the set frame 12 being arranged in fuselage module 3
Three face clamping manipulators 13, the top propeller 14 being arranged in fuselage module 3, the centre tooth that is arranged in accommodation space 6
It takes turns 15, centrally disposed 15 two sides of gear in two sides and engages and move round about simultaneously two-way with central gear 15 simultaneously
Rack gear 16, the drawing head 17 that two-way 16 end of rack gear is arranged in, end and 5 root of folded wing connect and middle part is hinged on fuselage
Wing swing arm 20 in module 3, be sleeved on the guide sleeve 19 for being arranged on folded wing 5 and sliding, be hinged on guide sleeve 19 with
Transmission arm 18 between drawing head 17 and positioning in accommodation space 6 and for being clamped folded folded wing 5 is set
Card slot 21.
It is separately provided for shooting and be sent to the picture transmitter 7 of geoceiver in fuselage module 3, for mentioning
For the battery 9 of electric energy, GPS module used for positioning 10 and flight controller 11.
Stop drop storage module 2 to include fixedly connected part 25, stopping dropping plate 22, being vertically arranged in fixedly connected part 25 is arranged in
In the pedestal 24 for stopping dropping the lead screw telescopic rod 23 on plate 22,23 lower end of lead screw telescopic rod being arranged in, with 23 center of lead screw telescopic rod
Circumference array be distributed and be disposed radially technique guide groove 26, be arranged radially in 26 side of technique guide groove sliding rail 27,
The sliding block 28 that is arranged on sliding rail 27 is arranged on sliding block 28 and the column 29 for pull set frame 12, setting stretch in lead screw
Feed screw nut 31 on bar 23 and by technique guide groove 26 and one end is mounted on sliding block 28 and the other end is mounted on lead screw
Connecting rod 30 on nut 31；
Stop drop storage module 2 on be provided with dock with flight controller 11 stop drop processor.
The fire extinguishing group of planes of the present embodiment claps four-axle aircraft based on folding storage formula ring；It includes
It is aerial to carry water aircraft 35, in 3 upper end of fuselage module equipped with aerial water tank 36；
Water aircraft 32 is sent, in 3 lower end of fuselage module equipped with water tank 33 is sent with automatically controlled penstock 34, is used for
By sending water tank 33 to supplement fire-fighting liquid to aerial aerial water tank 36；
Fire-fighting aircraft 37 is tiltedly installed with guide groove 39 in fuselage module 3, is stored with fire extinguishing ball in guide groove 39
40,39 one end of guide groove is provided with the lower outlet for exporting fire extinguishing ball 40, is provided with above lower outlet for that will put out a fire
The release push rod 41 that ball 40 exports,
Hydrojet aircraft 42 is provided with dry powder cabinet 43 in fuselage module 3, is provided in dry powder cabinet 43 for defeated
The push screw feeder 44 of dry powder out, is provided with exit cone threeway 45 in fuselage module 3, and 45 upper end import of exit cone threeway connects
Enter the dry powder outlet of dry powder cabinet 43, another import of exit cone threeway 45 is connected with water pump, and water pump is connected with flow pipe 47, send
Water pipe 47 is connected with the water aspirator 46 for immersing aerial water tank 36, is provided with water outlet at 45 conical outlet of exit cone threeway
Pipe 48 is provided with the winding drum for coiling flow pipe 47 in fuselage module 3.
Folding storage formula ring claps four-axle aircraft and arranges formation in the flying formation of geese in flight；The aerial water aircraft 35 that carries is located at team
The middle and back of shape；Fire-fighting aircraft 37 and hydrojet aircraft 42 install flying formation of geese arrangement formation and are distributed in other positions.
3 lower end of fuselage module of fire-fighting aircraft 37 is provided with water suction spray head 38 and water pump, water pump will be empty by pipeline
Water in middle water tank 36 is sprayed by water suction spray head 38.
The folding storage formula ring of the present embodiment claps the control method of four-axle aircraft, claps four axis based on folding storage formula ring
Aircraft；It includes the following steps；
Step 1 starts to sail, firstly, identifying and recording departure location；Then, it parses and records and fly to specified region
Time t；Secondly, flying to designated place；
Step 2, task completion are maked a return voyage the stage, are opened folding storage formula ring and are clapped the receiving system of four-axle aircraft simultaneously
With ground controller and stop drop storage module 2 communicate,
When receiving system be not received by stop drop storage module 2 stop drop signal, then continue to fly；
When receiving system receive stop drop storage module 2 stop drop signal, execute step 3；
Step 3, firstly, ground controller parses GPS data, GPS coordinate conversion parses flight coordinate position；So
Afterwards, which is sent to and stops dropping processor；
Whether step 4 stops drop processor and judges flight coordinate position and stop at a distance from drop storage module 2 in preset threshold
Within the scope of；
If do not adjusted if flight coordinate position and repeat step 3；
If positioning terminates.
After positioning, shut down at the top of 14 step of propeller；
Step 5, firstly, aircraft adjustment direction and under fall on and adjust position；Then, central gear 15 passes through two-way
Rack gear 16 drives folded wing 5 to close up and be clamped with locating groove 21；
Step 6, firstly, set frame 12 is sleeved on corresponding column 29；Then, lead screw telescopic rod 23 passes through feed screw nut
31 drawing connecting rods 30, so that sliding block 28 is drawn close to center；
Step 7 shuts down top propeller after the velocity sensor induction vertical speed of flight controller 11 is zero.
By central gear 15, two-way rack gear 16 realizes the folding to wing,, can be with using flying formation of geese effect as a group of planes
The aerial workload for carrying water aircraft 35 is reduced, is shared to surrounding aircraft, so that aerial water tank 36 is more preferable more longlasting
Stop in the sky, endlessly send water by sending water aircraft 32, fire-fighting aircraft 37 can be with flight to specified fire
Overhead realizes high-altitude fire extinguishing, while utilizing gravity, realizes gravitational thrusts fire extinguishing to flare, and water suction spray head 38 realizes that liquid sprays,
Fire extinguishing ball 40 in guide groove 39 is sent out by release push rod 41, is hit by freely falling body and flare, in hydrojet aircraft 42
In, dry powder cabinet 43 is pushed out by push screw feeder 44, and mixes with liquid, existing by the taper cause for gossip of exit cone threeway 45
Jet stream injection, water aspirator 46 sink to water tank bottom using self weight, and flow pipe 47 realizes length adjustment by reel, are particularly suitable for
In the place of the inconvenient manual extinguishing such as forest, mountain area.
Flight controller.Keep aircraft stabilized flight；Signal is received and transmits, to realize motor speed change.Battery.
Energy is provided for four-axle aircraft.GPS module.Obtain four-axle aircraft location information.Picture transmitter.Camera was photographed
Image transmitting returns ground display screen, realizes human-computer interaction.Top propeller.Four-axle aircraft slows down its decrease speed when landing.
Three face clamping devices.For clamping miniature webcam and carrying out special angle shooting.Cover frame.Column progress is entangled when for landing
Stop drop storage.Stop dropping accommodating mechanism.The structure of imitated umbrella drives four connecting rods to realize that the synchronous of four direction is received by lead screw
Contracting and relieving movement, are converted into the rotary motion of motor lead screw the linear motion of sliding block, and can guarantee the synchronization of four direction.
The specific structure for stopping dropping accommodating mechanism is the planform for copying umbrella, using inverted umbrella structure feature as thinking, into
Inverted umbrella of having gone stops dropping accommodating mechanism design, mainly organizes as column, sliding block, sliding rail, connecting rod, stops dropping plate, fixing piece, lead screw
Nut, motor lead screw telescopic rod and pedestal etc..Concrete structure design scheme are as follows: motor lead screw telescopic rod is as in rotating mechanism
The heart is fastened on pedestal with plum blossom knob, and motor is housed in pedestal.Motor lead screw telescopic rod is able to achieve similar umbrella center-stick position
Stretch mode Telescopic, in addition, the top half of bar is lead screw, the motor driving telescopic rod rotation in pedestal can be driven
Fixing piece on feed screw nut moves along a straight line up and down.The outer Lian Sigen connecting rod of fixing piece, connecting rod is two-by-two at a distance of 90 °, connecting rod and sliding block
Hingedly, sliding rail is screwed and stops dropping on plate being covered with sponge, and the linear motion up and down of fixing piece is by connecting rod with movable slider
It moves back and forth on the slide rail.Column is directly and four-axle aircraft stops the part that drop contacts, and four-axle aircraft decline process will stretch
Cover frame out, set frame, which entangles, to be executed a series of other after column and stop drop movement, and column is fixed on sliding block top.Fixing piece is in telescopic rod
Four columns are fully deployed when screw part the top, operable；Fixing piece is in telescopic rod screw part bottom four
Root post is shunk completely, covers column with protection cap at this time, and shrinks motor lead screw length of telescopic bar, and unclamping plum blossom knob will
It takes out from pedestal, and the storage for stopping dropping accommodating mechanism can be completed.
Rotor, which folds, requires quadrotor after special angle detent is completed to fold in module, area occupied is than work exhibition
Reduce 1/5 or more when opening.In the design, two rotation extreme positions of rotor differ 155 °, every side rotor keeping parallelism after folding.
Now it is calculated, judges whether the design reaches requirement.
Area when four-axle aircraft is unfolded are as follows: S1=499 × 437=218063mm2
Area when four-axle aircraft folds are as follows: S2=330 × 504=166320mm2
Then its percentage reduction of area is
By theoretical calculation it is found that its percentage reduction of area of folded four-axle aircraft is 23.7%, expected mesh is had reached
Mark, final conclusion are as follows: the position that two connection decks limit in the design makes rotor two rotate 155 ° of extreme position difference, the angle
Lower four-axle aircraft substantially meets the area contraction amount of requirement after folding,
Workflow:
Beginning → clamping miniature webcam → four axis propeller of starting → is taken off → is flown to specified region → opening camera
Shooting → wireless image transmission → shooting terminates →, which is maked a return voyage → navigated to, stops descending mechanism nearby, and → opening top propeller → is shut down
Four axis propellers → tetra- axis fold → mark the decline → snap ring of connection deck → slowly and entangle column → (stop drop after the completion of) and shut down
Top propeller → manually remove or be placed directly within be covered with foam-rubber cushion stop drop plate on → storage complete.
Specifically, the present invention is placed in level land by user, miniature webcam is sandwiched on three face clamping devices, then
Fly it to specified region by remotely controlling, then opens camera and carry out special angle shooting, picture transmitter is shooting
Information is transmitted back to ground, makes a return voyage after completion task.Make a return voyage to sail record the time 2/3 when, opening signal receive system, in conjunction with
GPS module data are navigated to by precise positioning judgment mechanism when stopping near descending mechanism, open top propeller, and then four
Propeller on wing is shut down, and rotates four wings to connection deck extreme position to complete wing-folding, after marking set frame
Set frame entangles column, and aircraft slowly declines according to the speed of setting, when judging that aircraft stops drop completion by stopping mechanism,
Shut down top propeller, manually remove or be placed directly at this time be covered with foam-rubber cushion stop drop plate on storage can be completed.
The present invention slowly declines the treatment mechanism of link
For four-axle aircraft in low latitude closely lifting flight, suffered lift approximation turns to f=kw2, w is motor in formula
Revolving speed；K is lift coefficient, is determined by the shape, size and mounting means of propeller.
The equation of motion of Z-direction isM is the quality of aircraft in formula, and g is acceleration of gravity,
K ' is the resistance coefficient in the direction z, vzFor the speed in the direction z.
It follows that the motor speed according to the specific external parameter of aircraft flight and when landing is manually set can
To obtain required decrease speed, thus realize slowly decline, in order to avoid by greater impact when four-axle aircraft declines.
The present invention solves existing difficulty during from decline is navigated to are as follows: improves the precision of landing；
Largely avoid it impaired；Extend the energy content of battery service life in position fixing process, reduces energy consumption.
The present invention has rational design, it is low in cost, durable, safe and reliable, easy to operate, time saving and energy saving, save fund,
It is compact-sized and easy to use.
It is to disclose in order to more clear, and the prior art is just no longer enumerated that the present invention, which fully describes,.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify to technical solution documented by previous embodiment or equivalent replacement of some of the technical features；Make
It is obvious for being combined for those skilled in the art to multiple technical solutions of the invention.And these are modified or replace
It changes, the spirit and scope for technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (8)
1. a kind of folding storage formula ring claps four-axle aircraft, it is characterised in that: including unmanned vehicle (1) and for stopping
Stop drop storage module (2) by unmanned vehicle (1)；
Unmanned vehicle (1) includes fuselage module (3), the foot prop (4) being arranged below fuselage module (3), is distributed in fuselage mould
The folded wing (5) of block (3) surrounding, setting on fuselage module (3) and are used in the rotor (8) on folded wing (5), setting
The accommodation space (6) for accommodating folded folded wing (5), is arranged in fuselage the set frame (12) being arranged on fuselage module (3)
The top propeller of three face clamping manipulators (13), setting on fuselage module (3) in module (3) and for clamping object
(14), central gear (15) in accommodation space (6), two sides centrally disposed gear (15) two sides and simultaneously and center are set
Gear (15) engage and move round about simultaneously two-way rack gear (16), setting two-way rack gear (16) end drawing head
(17), end and folded wing (5) root connection and middle part be hinged on fuselage module (3) wing swing arm (20), be sleeved on
It is arranged on folded wing (5) and the guide sleeve (19) slided, the linkage being hinged between guide sleeve (19) and drawing head (17)
Arm (18) and the locating groove (21) for being arranged in accommodation space (6) and be used to be clamped folded folded wing (5).
2. folding storage formula ring according to claim 1 claps four-axle aircraft, it is characterised in that: in fuselage module (3)
On be separately provided for shooting and be sent to the picture transmitter (7) of geoceiver, the battery (9) for providing electric energy,
GPS module (10) used for positioning and flight controller (11).
3. folding storage formula ring according to claim 2 claps four-axle aircraft, it is characterised in that: stop drop storage module
It (2) include fixedly connected part (25), setting stopping dropping plate (22), being vertically arranged in and stop dropping plate (22) on fixedly connected part (25)
On lead screw telescopic rod (23), be arranged in the pedestal (24) of lead screw telescopic rod (23) lower end, with lead screw telescopic rod (23) center circle
All array distributions and the technique guide groove (26) being disposed radially, the sliding rail for being arranged radially in technique guide groove (26) side
(27), be arranged on sliding rail (27) sliding block (28), be arranged on sliding block (28) and for pull cover frame (12) column (29),
The feed screw nut (31) that is arranged on lead screw telescopic rod (23) and by technique guide groove (26) and one end is mounted on sliding block
(28) on and the other end is mounted on the connecting rod (30) on feed screw nut (31)；
Stop drop storage module (2) on be provided with docked with flight controller (11) stop drop processor.
4. an a kind of fire extinguishing group of planes, it is characterised in that: the folding storage formula ring based on claim 1 claps four-axle aircraft；It includes
It is aerial to carry water aircraft (35), in fuselage module (3) upper end equipped with aerial water tank (36)；
Water aircraft (32) are sent, in fuselage module (3) lower end equipped with sending water tank (33) with automatically controlled penstock (34),
For by sending water tank (33) to supplement fire-fighting liquid to aerial aerial water tank (36)；
Fire-fighting aircraft (37) is tiltedly installed with guide groove (39) on fuselage module (3), is stored with and goes out in guide groove (39)
Fireball (40) is provided with the lower outlet for exporting fire extinguishing ball (40) in guide groove (39) one end, is provided with above lower outlet
Release push rod (41) for exporting fire extinguishing ball (40),
Hydrojet aircraft (42) is provided with dry powder cabinet (43) on fuselage module (3), and setting is useful in dry powder cabinet (43)
In the push screw feeder (44) of output dry powder, exit cone threeway (45), exit cone threeway are provided on fuselage module (3)
(45) the dry powder outlet of upper end import access dry powder cabinet (43), exit cone threeway (45) another import are connected with water pump, water
Pump is connected with flow pipe (47), and flow pipe (47) is connected with the water aspirator (46) for immersing aerial water tank (36), in outlet cone
Outlet pipe (48) are provided at shape threeway (45) conical outlet, are provided on fuselage module (3) for coiling flow pipe (47)
Winding drum.
5. a fire extinguishing group of planes according to claim 4, it is characterised in that: folding storage formula ring claps four-axle aircraft in flight
Formation is arranged in the flying formation of geese；The aerial middle and back for carrying water aircraft (35) and being located at formation；Fire-fighting aircraft (37) and hydrojet aircraft
(42) installation flying formation of geese arrangement formation is distributed in other positions.
6. folding storage formula ring according to claim 5 claps four-axle aircraft and a fire extinguishing group of planes, it is characterised in that: going out
Fuselage module (3) lower end of fiery aircraft (37) is provided with water suction spray head (38) and water pump, and water pump passes through pipeline for aerial water tank
(36) water in is sprayed by water suction spray head (38).
7. the control method that a kind of folding storage formula ring claps four-axle aircraft, it is characterised in that: the folding based on claim 1
Intake type ring claps four-axle aircraft；It includes the following steps；
Step 1 starts to sail, firstly, identifying and recording departure location；Then, it parses and records the time flown to specified region
t；Secondly, flying to designated place；
Step 2, task completion make a return voyage the stage, open folding storage formula ring clap four-axle aircraft receiving system and with ground
Face controller and stop drop storage module (2) communication,
When receiving system be not received by stop drop storage module (2) stop drop signal, then continue to fly；
When receiving system receive stop drop storage module (2) stop drop signal, execute step 3；
Step 3, firstly, ground controller parses GPS data, GPS coordinate conversion parses flight coordinate position；Then,
The flight position is sent to and stops dropping processor；
Whether step 4 stops drop processor and judges flight coordinate position and stop at a distance from drop storage module (2) in preset threshold model
Within enclosing；
If do not adjusted if flight coordinate position and repeat step 3；
If positioning terminates.
8. the control method that folding storage formula ring according to claim 7 claps four-axle aircraft, it is characterised in that: fixed
Position after, shut down at the top of propeller (14) step；
Step 5, firstly, aircraft adjustment direction and under fall on and adjust position；Then, central gear (15) passes through bi-directional teeth
Item (16) driving folded wing (5) is closed up and is clamped with locating groove (21)；
Step 6, firstly, set frame (12) is sleeved on corresponding column (29)；Then, lead screw telescopic rod (23) passes through lead screw spiral shell
Female (31) drawing connecting rod (30), so that sliding block (28) Xiang Zhongxin is drawn close；
Step 7 shuts down top propeller after the velocity sensor induction vertical speed of flight controller (11) is zero.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910464298.4A CN110294112B (en) | 2019-05-30 | 2019-05-30 | Foldable storage type ring-shooting four-axis aircraft, control method and fire extinguisher cluster |
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| CN201910464298.4A CN110294112B (en) | 2019-05-30 | 2019-05-30 | Foldable storage type ring-shooting four-axis aircraft, control method and fire extinguisher cluster |
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