CN110371285A - Blade can turn the four wheeled dynamic wing unmanned plane of horizontal lift - Google Patents
Blade can turn the four wheeled dynamic wing unmanned plane of horizontal lift Download PDFInfo
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- CN110371285A CN110371285A CN201910655272.8A CN201910655272A CN110371285A CN 110371285 A CN110371285 A CN 110371285A CN 201910655272 A CN201910655272 A CN 201910655272A CN 110371285 A CN110371285 A CN 110371285A
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- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 230000002787 reinforcement Effects 0.000 claims description 35
- 238000005096 rolling process Methods 0.000 claims description 12
- 229920006351 engineering plastic Polymers 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 6
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 230000003014 reinforcing effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000010276 construction Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
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- 238000005520 cutting process Methods 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
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- 238000011160 research Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
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- 238000004088 simulation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—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
- B64C27/32—Rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- 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
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Abstract
The invention discloses a kind of blades can turn the four wheeled dynamic wing unmanned plane of horizontal lift, it is characterized by comprising the wheeled dynamic wings, transmission mechanism, cam, rotary shaft, retarder, motor and fuselage ring, fuselage ring surrounding is symmetrically mounted with four cams, fuselage ring surrounding symmetrically arranges that there are four horizontal rotary shafts, four motor being arranged on fuselage ring pass through respectively after four retarders being arranged on fuselage ring slow down drives four rotary shaft continuous rotations respectively, four wheeled dynamic wings are respectively fixedly connected in four rotary shafts, four sets of transmission mechanism are separately connected four wheeled dynamic wings and four cams.The wheeled dynamic wing includes rotating frame, and the rotatable blade being mounted in rotating frame, and cam and transmission mechanism are for controlling the rotation and reset of blade.The present invention has the characteristics that pneumatic efficiency height, VTOL, hovering, is switched fast direction, can be widely applied in all kinds of small aircrafts and unmanned plane of low reynolds number flight.
Description
Technical field
The present invention relates to movable rotor aircraft and flying robot field, especially a kind of blade can turn horizontal lift four-wheel
Formula moves wing unmanned plane.
Background technique
Aircraft flight mode has three kinds of fixed-wing, rotor and flapping wing type of flight, and rotor and flapping wing belong to movable wing.
Flapping flight is the flying method that nature flying creature uses, and mainly flutters while generating using the upper and lower of dipteron
Lift and thrust are mainly characterized by lifting, hover and propulsion functions are based on one, while having very strong mobility and spirit
Activity, more suitable for executing the flight of cut-through object etc..For the aircraft of small size and low-speed condition, belong to low thunder
It flies under promise number, the unsteady lift that flapping wing generates is more much bigger than the steady lift of fixed-wing；In terms of thrust, flapping wing is pushed away
It is higher than propeller propulsive efficiency into efficiency.At present flapping wing aircraft research be concentrated mainly on simulation the Nature in flying creature fly
Row posture designs various flapping wing mechanisms.But the common issue of these flapping wing mechanisms is that overall pneumatic efficiency is relatively low, even lower than together
The fixed-wing minute vehicle of scale.It is simple mostly that the main reason for flapping wing aircraft overall efficiency is low, which is in current research,
Imitation birds or insect wing shape and flutter movement, be but difficult to realize utilization during flying creature flapping wing is fluttered up and down
The change of wing itself posture and structure reduces air drag and generates unsteady aerodynamic force, and resulting pneumatic efficiency is lower
Problem seriously constrains the popularization and application of flapping-wing type aircraft.
Rotor flying is to provide the lift of aircraft, the advance pulling force of aircraft with the pulling force of rotor (including propeller)
Horizontal component caused by small angle deflection derived from rotor vector.The posture of the more rotor small aircrafts quickly grown at present
Control and horizontal movement are that the differential pull of more rotors is leaned on to realize.The characteristics of rotor craft is with VTOL and sky
Middle hovering function, and there is the ability flown in smaller region.But since the rotor of rotor craft is relative to its rotation
Wing central axis is motionless, therefore advance resistance is larger, so energy consumption is big, pneumatic efficiency is relatively low, and large power long endurance flies
Row is more difficult.
Summary of the invention
The object of the present invention is to provide a kind of reduction flapping wing type of highly significant and rotor type aircraft flight resistances greatly, mentions
Pneumatic efficiency is risen, is facilitated and is realized VTOL, heading, flight flexibility and the extraordinary blade of mobility can be switched fast
It can turn the four wheeled dynamic wing unmanned plane of horizontal lift, to solve the above-mentioned problems in the prior art.
Realizing the technical solution of the object of the invention is: provide a kind of blade can turn the four wheeled dynamic wing of horizontal lift nobody
Machine, including the wheeled dynamic wing, transmission mechanism, cam, rotary shaft, retarder, motor and fuselage ring, the fuselage ring surrounding
Four cams are symmetrically mounted with, the fuselage ring surrounding symmetrically arranges that there are four the horizontal rotations
Axis, four motor being arranged on the fuselage ring pass through respectively described in four be arranged on the fuselage ring
Retarder drives four rotary shaft continuous rotations after slowing down respectively, and four wheeled dynamic wings are respectively fixedly connected at four
In the rotary shaft, four sets of transmission mechanisms are separately connected four wheeled dynamic wings and four cams；It is described wheeled
The dynamic wing includes rotating frame, and the rotatable blade being mounted in the rotating frame, the cam and the driver
Structure is used to control the rotation and reset of the blade.
Further, centre bore and straight beam are provided on the rotating frame, the direction of the straight beam and the center
The axis in hole is parallel, and blade mounting hole, the axis of the blade mounting hole and the axis of the centre bore are provided on the straight beam
It is orthogonal；The blade includes that the blade windward side being oppositely arranged, blade leeward and the blade being arranged on the blade turn
Axis, the blade windward side are parallel with the blade leeward and all parallel with the axis of the blade rotor；The blade turns
Axis is inserted into the blade mounting hole and can be rotated；Four rotary shafts are separately connected four centre bores and four institutes
Retarder is stated, the output shaft of four motor is separately mounted in four retarder input holes.
Further, the transmission mechanism includes pull ring, push rod and idler wheel；Push rod is provided on the rotating frame
Hole, the axis of the push-rod hole are parallel with the axis of the centre bore；Blade rotor hole and slotted hole are provided on pull ring；Push rod
On be provided with push rod cylinder, tenon cylinder and idler wheel mounting hole, the axis of the axis of the tenon cylinder and the idler wheel mounting hole
Axis vertical take-off of the line all with the push rod cylinder, the blade rotor inserting are fixed in blade rotor hole；It is provided on idler wheel
Coaxial idler wheel cylinder and rolling wheel installing shaft；It is provided with cam cylindrical surface on cam, four cam cylindrical surfaces are respectively with four
A concentric rotation axis is provided with the cam curve around the cam cylindrical surface connection in one week on the cam cylindrical surface
Slot；The idler wheel cylinder is inserted into the cam curve slot and slidably, and the push rod cylinder is inserted into the push-rod hole
And meet and be slidably matched, in the oblong hole and slidably, the rolling wheel installing shaft inserting is fixed for tenon cylinder inserting
In the idler wheel mounting hole.
Further, the cam curve slot is by work operating condition straight trough, standby operating conditions straight trough, the first helicla flute and second
One end of helicla flute composition, one end of the work operating condition straight trough and the standby operating conditions straight trough is connected by first helicla flute
Logical, the other end of the work operating condition straight trough is connected to the other end of the standby operating conditions straight trough by second helicla flute.
Further, the two sides of the work operating condition straight trough are plane and all hang down with the axis on the cam cylindrical surface
Directly, the distance between two sides of the work operating condition straight trough are equal with the diameter of the idler wheel cylinder, and the standby operating conditions are straight
The two sides of slot are plane and all vertical with the axis on the cam cylindrical surface, between the two sides of the standby operating conditions straight trough
Distance is equal with the diameter of the idler wheel cylinder, and the two sides of the two sides of first helicla flute and second helicla flute are equal
For spiral camber.
Further, the cam is one symmetrical three-dimensional, the plane of symmetry of the cam is working standard face, described
The axis on cam cylindrical surface is in the working standard face, and the work operating condition straight trough is symmetrical about the working standard face, institute
It is horizontal plane that working standard face, which is stated, in the unmanned plane stationary state.
Further, further including at least one of outer reinforcement curved beam and interior reinforcement curved beam on the rotating frame, use
In the intensity for reinforcing the rotating frame.
Further, the straight beam, the outer reinforcement curved beam and the interior reinforcement curved beam are hollow structure；
And/or
The straight beam, the outer reinforcement curved beam and the interior reinforcement curved beam are engineering plastics material；
And/or
The straight beam, the outer reinforcement curved beam and the interior reinforcement curved beam are carbon fiber material.
Further, the straight beam and the push-rod hole are all circumferentially uniformly distributed in the centre bore, the straight beam
Quantity is greater than 1, and the quantity of the push-rod hole is identical as the quantity of the straight beam；The blade mounting hole is straight on the straight beam
Line is uniformly distributed, and the quantity of the blade mounting hole on each straight beam is greater than 1.
A kind of blade can turn the four wheeled dynamic wing unmanned plane of horizontal lift, it is characterised in that including rotating frame, blade, drawing
Ring, push rod, idler wheel, cam, rotary shaft, retarder, motor, fuselage ring and fixed-wing have centre bore, straight on rotating frame
Beam and push-rod hole, the direction of straight beam and the axis of centre bore are parallel, blade mounting hole are provided on straight beam, push-rod hole is in centre bore week
To being uniformly distributed, the axis of blade mounting hole and the axis vertical take-off of centre bore, the axis of push-rod hole and the axis of centre bore are parallel,
There are blade windward side, blade rotor and blade leeward on blade, has blade rotor hole and slotted hole on pull ring, pushed away on push rod
Bar cylinder, tenon cylinder and idler wheel mounting hole, the axis of tenon cylinder and the axis vertical take-off of push rod cylinder, the axis of idler wheel mounting hole
The axis vertical take-off of line and push rod cylinder has coaxial idler wheel cylinder and rolling wheel installing shaft on idler wheel, has cam cylindrical surface on cam,
Be provided with the cam curve slot around the connection in one week of cam cylindrical surface on cam cylindrical surface, cam curve slot by work operating condition straight trough,
Standby operating conditions straight trough, the first spiral groove and the second spiral groove composition, work operating condition straight trough two sides be plane and all with cam
The axis on cylindrical surface is vertical, and the two sides of standby operating conditions straight trough are plane and all vertical with the axis on cam cylindrical surface, work work
One end of condition straight trough is connected to one end of standby operating conditions straight trough by the first helicla flute, work operating condition straight trough the other end with it is standby
The other end of operating condition straight trough is connected to by the second helicla flute, and fuselage ring surrounding is symmetrically arranged with four horizontal rotary shafts,
Fuselage ring surrounding is symmetrically mounted with four cams, four cam cylindrical surfaces respectively with four concentric rotation axis, four
Rotary shaft is separately mounted on the output shaft of four retarders, and it is defeated that the output shaft of four motor is separately mounted to four retarders
Enter in hole, retarder and motor are all fixed on fuselage ring, and four rotating frames are set in by centre bore
In four rotary shafts, idler wheel cylinder is inserted into cam curve slot and can slide in cam curve slot, rolling wheel installing shaft inserting
It is fixed in idler wheel mounting hole, tenon cylinder is inserted into slotted hole and slidably, and push rod cylinder is inserted into push-rod hole and full
Foot is slidably matched, and blade rotor inserting is fixed in blade rotor hole, and blade rotor is inserted into blade mounting hole and can be rotated,
The distance between the two sides of work operating condition straight trough are equal with the diameter of idler wheel cylinder, between the two sides of standby operating conditions straight trough
Distance is equal with the diameter of idler wheel cylinder, and the two sides of the two sides of the first helicla flute and the second helicla flute are spiral camber,
Cam is one symmetrical three-dimensional, and the plane of symmetry of cam is working standard face F, and the axis on cam cylindrical surface is in working standard face F
Interior, work operating condition straight trough is symmetrical about working standard face F, and working standard face F is horizontal plane, has outer reinforcement curved beam on rotating frame
With interior reinforcement curved beam, straight beam, outer reinforcement curved beam and interior reinforcement curved beam all use hollow structure and use engineering plastics, carbon fibre
Equal light materials.
The working principle of the invention is: after motor start-up, rotary shaft, rotating frame are driven after retarder slows down
Frame, blade, pull ring, push rod and idler wheel continuous rotation, when idler wheel slides in standby operating conditions straight trough, push rod is in rotating shaft axis
Direction cannot move, and the blade windward side on blade is parallel with direction of rotation, i.e., parallel with relative wind direction, on blade by
Air resistance it is minimum, be at this time standby operating conditions, when idler wheel turns in the second helicla flute, push rod is revolved synchronous with rotary shaft
Start positive movement relative to rotating shaft axis direction while turning, the axial movement of tenon cylinder is so that positive turn occurs for pull ring
Dynamic, so that blade rotor be driven to rotate forward, when idler wheel turns in work operating condition straight trough, push rod is relative to rotating shaft axis
Direction no longer moves, and blade rotor just rotates forward 90 degree, and blade windward side is vertical with airflow direction, due to the operating condition that works
The working standard face original state of straight trough is horizontal plane, therefore air-flow acts directly on blade windward side that obtain blade maximum
Lift, and do not generate thrust substantially, be at this time work operating condition；When idler wheel turns in the first helicla flute, push rod with rotation
Start to move backward relative to rotating shaft axis direction while shaft synchronous rotary, tenon cylinder makes pull ring that reversed turn occur
Dynamic, so that blade rotor be driven to rotate backward, when idler wheel turns in standby operating conditions straight trough, blade rotor rotates backward 90
Degree, blade windward side are returned to parallel with airflow direction, return to standby mode.When four motors speed are identical, four wheels
The lift that formula moves wing generation is equal in magnitude, and VTOL function can be realized, if lift and complete machine that four wheeled dynamic wings generate
When weight and equal resistance, then hovering can be achieved；When four motors speed are not identical, then four wheeled dynamic wings generate
Lift it is of different sizes, have compared with lift wheeled dynamic wing side will rise, the work base of the work operating condition straight trough of cam
Quasi- face is no longer horizontal plane, and when blade working operating condition not only generates lift, and can generate thrust, therefore before can driving unmanned plane
Into or retreat, by adjusting the revolving speed of four motor, then can adjust lift and thrust size that each wheeled dynamic wing generates,
Four groups of lift and thrust can make unmanned plane generate the resultant force and couple of arbitrary direction in space, therefore unmanned plane can be made to be quickly switched into
Any direction flight.
Compared with prior art, the present invention its remarkable advantage is:
1. blade of the present invention can turn the four wheeled dynamic wing unmanned plane of horizontal lift, by the way that blade in the wheeled dynamic wing is set
The advantages of being set to continuous rotation, maintaining rotor continuous rotation overcomes the weakness that flapping wing needs to move back and forth.
2. blade of the present invention can turn the four wheeled dynamic wing unmanned plane of horizontal lift, continuous rotation is controlled by cam
Blade is also rotatable relative to rotary shaft, and so that blade is moved acquisition windward with maximum area in working condition, maximum airflow is counter pushes away
Power, and it is parallel with airflow direction to which resistance substantially reduces in standby mode, achieve the purpose that improve pneumatic efficiency, it is pneumatic
Efficiency is much higher than existing flapping wing and rotor craft, and biggish thrust can be provided for aircraft.
3. blade of the present invention can turn the four wheeled dynamic wing unmanned plane of horizontal lift, can rotating vane piece working condition with to
Switching between machine state is automatically performed under cam control, and complicated machinery formula mechanism and electronic control system are not needed,
The simple and reliable property of structure is preferable.
4. blade of the present invention can turn the four wheeled dynamic wing unmanned plane of horizontal lift, pass through four Motor Control four
The difference of wheeled dynamic wing lift size, thus control cam work datum level inclination angle, achieve the purpose that generation and adjust thrust, energy
It realizes VTOL, hovering, be quickly switched into any direction flight, therefore the flexibility and mobility of the type unmanned plane
It is very good.
5. blade of the present invention can turn the four wheeled dynamic wing unmanned plane of horizontal lift, structure is simple, and processing technology is good,
Production cost is low.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is that the blade of the embodiment of the present invention 1 can turn the overall structure diagram of the four wheeled dynamic wing unmanned plane of horizontal lift.
Fig. 2 be the embodiment of the present invention 1 blade can turn the four wheeled dynamic wing unmanned plane of horizontal lift only install it is single wheeled dynamic
Detailed construction schematic diagram when the wing.
Fig. 3 is that the blade of the embodiment of the present invention 1 can turn the wheeled dynamic standby shape of the wing of the four wheeled dynamic wing unmanned plane of horizontal lift
State detailed construction schematic diagram.
Fig. 4 is that the blade of the embodiment of the present invention 1 can turn the wheeled dynamic standby shape of the wing of the four wheeled dynamic wing unmanned plane of horizontal lift
Detailed construction schematic diagram of the state into working condition handoff procedure.
Fig. 5 is that the blade of the embodiment of the present invention 1 can turn the wheeled dynamic wing work shape of the four wheeled dynamic wing unmanned plane of horizontal lift
State detailed construction schematic diagram.
Fig. 6 is the structure that the blade of the embodiment of the present invention 1 can turn the rotating frame of the four wheeled dynamic wing unmanned plane of horizontal lift
Schematic diagram.
Fig. 7 is the structural representation that the blade of the embodiment of the present invention 1 can turn the blade of the four wheeled dynamic wing unmanned plane of horizontal lift
Figure.
Fig. 8 is that the blade of the embodiment of the present invention 1 can turn the structure of the pull ring wheel of the four wheeled dynamic wing unmanned plane of horizontal lift and show
It is intended to
Fig. 9 is the structural representation that the blade of the embodiment of the present invention 1 can turn the push rod of the four wheeled dynamic wing unmanned plane of horizontal lift
Figure.
Figure 10 is the structural schematic diagram for the idler wheel that blade of the invention can turn the four wheeled dynamic wing unmanned plane of horizontal lift.
Figure 11 is the structural schematic diagram for the cam that blade of the invention can turn the four wheeled dynamic wing unmanned plane of horizontal lift.
Figure 12 is that blade of the invention can turn the structural representation after the cam cutting of the four wheeled dynamic wing unmanned plane of horizontal lift
Figure.
Figure 13 is that blade of the invention can turn the end on projection after the cam cutting of the four wheeled dynamic wing unmanned plane of horizontal lift
Figure.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
The invention will be further described below in conjunction with the accompanying drawings, but do not limit the invention in any way.
Embodiment 1:
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12 and Figure 13, using blade
It can turn the patrol unmanned machine of high-tension bus-bar of the four wheeled dynamic wing unmanned plane of horizontal lift.Including rotating frame 1, blade 2, pull ring 3, push away
Bar 4, idler wheel 5, cam 6, rotary shaft 7, retarder 8, motor 9 and fuselage ring 10 have centre bore 101, straight on rotating frame 1
The direction of beam 102 and push-rod hole 104, straight beam 102 is parallel with the axis of centre bore 101, and centre bore 101 is circumferential equally distributed straight
102 quantity of beam is 3, is provided with blade mounting hole 103 on straight beam 102, equally distributed blade mounting hole 103 on straight beam 102
Quantity is 4, and push-rod hole 104 is circumferentially uniformly distributed in centre bore 101, the quantity and the quantity phase of straight beam 102 of push-rod hole 104
Together, the axis vertical take-off of the axis of blade mounting hole 103 and centre bore 101, the axis of push-rod hole 104 and the axis of centre bore 101
In parallel, there are blade windward side 201, blade rotor 202 and blade leeward 203 on blade 2, have blade rotor hole 301 on pull ring 3
With slotted hole 302, there are push rod cylinder 401, tenon cylinder 402 and idler wheel mounting hole 403, the axis of tenon cylinder 402 on push rod 4
With the axis vertical take-off of push rod cylinder 401, the axis vertical take-off of the axis of idler wheel mounting hole 403 and push rod cylinder 401 has on idler wheel 5
Coaxial idler wheel cylinder 501 and rolling wheel installing shaft 502 has cam cylindrical surface 601 on cam 6, be provided on cam cylindrical surface 601 around
The cam curve slot 602 of cam cylindrical surface connection in 601 1 weeks, cam curve slot 602 is by work operating condition straight trough 603, standby work
Condition straight trough 604, the first helicla flute 605 and the second helicla flute 606 composition, the two sides of work operating condition straight trough 603 are plane and all
It is vertical with the axis on cam cylindrical surface 601, the two sides of standby operating conditions straight trough 604 be plane and all with cam cylindrical surface 601
Axis is vertical, and the one end for the operating condition straight trough 603 that works is connected to one end of standby operating conditions straight trough 604 by the first helicla flute 605, work
The other end for making operating condition straight trough 603 is connected to the other end of standby operating conditions straight trough 604 by the second helicla flute 606, fuselage ring
10 surroundings are symmetrically arranged with four horizontal rotary shafts 7, and 10 surrounding of fuselage ring is symmetrically mounted with four cams 6,
Four cam cylindrical surfaces 601 and four rotary shafts 7 are coaxial, and four rotary shafts 7 are separately mounted to the output shaft of four retarders 8
On, the output shaft of four motor 9 is separately mounted in four 8 input holes of retarder, retarder 8, motor 9 and fixed-wing 11
It is all fixed on fuselage ring 10, four rotating frames 1 are set in four rotary shafts 7 by centre bore 101, are rolled
Wheel cylinder 501 is inserted into cam curve slot 602 and can slide in cam curve slot 602, and the inserting of rolling wheel installing shaft 502 is fixed
In idler wheel mounting hole 403, tenon cylinder 402 is inserted into slotted hole 302 and slidably, and push rod cylinder 401 is inserted into push rod
In hole 104 and satisfaction is slidably matched, and the inserting of blade rotor 202 is fixed in blade rotor hole 301, and blade rotor 202 is inserted into
It in blade mounting hole 103 and can be rotated, diameter of the distance between the two sides for the operating condition straight trough 603 that works with idler wheel cylinder 501
Equal, the distance between two sides of standby operating conditions straight trough 604 are equal with the diameter of idler wheel cylinder 501, the first helicla flute 605
Two sides and the two sides of the second helicla flute 606 are spiral camber, and cam 6 is one symmetrical three-dimensional, the plane of symmetry of cam 6
For working standard face F, the axis on cam cylindrical surface 601 is in the F of working standard face, and the operating condition straight trough 603 that works is about working standard
Face F is symmetrical, and working standard face F is horizontal plane, has outer reinforcement curved beam 105 and interior reinforcement curved beam 106, straight beam on rotating frame 1
102, outer reinforcement curved beam 105 and interior reinforcement curved beam 106 all using hollow structure and use carbon fiber material.High-tension bus-bar inspection
After unmanned plane can turn the four wheeled dynamic wing unmanned plane of horizontal lift using blade of the present invention, since wheeled dynamic wing drag is small, pneumatic effect
Rate is high, and flexibility mobility is good, thus quickly avoidance can complete the biggish detection of every difficulty and work of taking pictures, relative to
Rotor wing unmanned aerial vehicle, in identical service load, the flight time increases by 20%, realizes longer endurance work.
Embodiment 2:
The present embodiment 2 provides a kind of high-rise For Use Only in Case of Fire unmanned plane, structure with embodiment 1, unlike: centre bore
101 circumferential equally distributed 102 quantity of straight beam are 2, and the quantity of equally distributed blade mounting hole 103 is 5 on straight beam 102
A, straight beam 102, outer reinforcement curved beam 105 and interior reinforcement curved beam 106 all use engineering plastics.Horizontal lift four can be turned using blade
High-rise For Use Only in Case of Fire the unmanned plane of wheeled dynamic wing unmanned plane, including rotating frame 1, blade 2, pull ring 3, push rod 4, idler wheel 5, cam
6, rotary shaft 7, retarder 8, motor 9 and fuselage ring 10 have centre bore 101, straight beam 102 and push-rod hole on rotating frame 1
104, the direction of straight beam 102 is parallel with the axis of centre bore 101, and circumferential equally distributed 102 quantity of straight beam of centre bore 101 is 2
It is a, blade mounting hole 103 is provided on straight beam 102, the quantity of equally distributed blade mounting hole 103 is 5 on straight beam 102, is pushed away
Rod aperture 104 is circumferentially uniformly distributed in centre bore 101, and the quantity of push-rod hole 104 is identical as the quantity of straight beam 102, blade mounting hole
103 axis and the axis vertical take-off of centre bore 101, the axis of push-rod hole 104 is parallel with the axis of centre bore 101, has on blade 2
Blade windward side 201, blade rotor 202 and blade leeward 203 have blade rotor hole 301 and slotted hole 302 on pull ring 3, push away
There are push rod cylinder 401, tenon cylinder 402 and idler wheel mounting hole 403, the axis and push rod cylinder 401 of tenon cylinder 402 on bar 4
Axis vertical take-off, the axis vertical take-off of the axis of idler wheel mounting hole 403 and push rod cylinder 401 has coaxial idler wheel cylinder on idler wheel 5
501 and rolling wheel installing shaft 502, there is cam cylindrical surface 601 on cam 6, is provided on cam cylindrical surface 601 around cam cylindrical surface 601
In the cam curve slot 602 of connection in one week, cam curve slot 602 is by work operating condition straight trough 603, standby operating conditions straight trough 604,
One helicla flute 605 and the second helicla flute 606 composition, work operating condition straight trough 603 two sides be plane and all with cam cylindrical surface
601 axis is vertical, and the two sides of standby operating conditions straight trough 604 are plane and all vertical with the axis on cam cylindrical surface 601, work
One end of operating condition straight trough 603 is connected to one end of standby operating conditions straight trough 604 by the first helicla flute 605, and work operating condition straight trough 603
The other end and the other end of standby operating conditions straight trough 604 be connected to by the second helicla flute 606,10 surrounding of fuselage ring is symmetrically set
It sets there are four horizontal rotary shaft 7,10 surrounding of fuselage ring is symmetrically mounted with four cams 6, four cam cylindrical surfaces
601 is coaxial with four rotary shafts 7 respectively, and four rotary shafts 7 are separately mounted on the output shaft of four retarders 8, and four electronic
The output shaft of machine 9 is separately mounted in four 8 input holes of retarder, and retarder 8, motor 9 and fixed-wing 11 all install fixation
On fuselage ring 10, four rotating frames 1 are set in four rotary shafts 7 by centre bore 101, idler wheel cylinder 501
It is inserted into cam curve slot 602 and can be slided in cam curve slot 602, the inserting of rolling wheel installing shaft 502 is fixed on idler wheel installation
In hole 403, tenon cylinder 402 is inserted into slotted hole 302 and slidably, and push rod cylinder 401 is inserted into push-rod hole 104 and full
Foot is slidably matched, and the inserting of blade rotor 202 is fixed in blade rotor hole 301, and blade rotor 202 is inserted into blade mounting hole
It in 103 and can be rotated, the distance between two sides for the operating condition straight trough 603 that works, standby work equal with the diameter of idler wheel cylinder 501
The distance between two sides of condition straight trough 604 are equal with the diameter of idler wheel cylinder 501, the two sides of the first helicla flute 605 and
The two sides of two helicla flutes 606 are spiral camber, and cam 6 is one symmetrical three-dimensional, and the plane of symmetry of cam 6 is working standard
Face F, the axis on cam cylindrical surface 601 is in the F of working standard face, and work operating condition straight trough 603 is symmetrical about working standard face F, work
Making datum level F is horizontal plane, there is outer reinforcement curved beam 105 and interior reinforcement curved beam 106 on rotating frame 1, and straight beam 102, outer reinforcement are bent
Beam 105 and interior reinforcement curved beam 106 all using hollow structure and use engineering plastics.High-rise For Use Only in Case of Fire unmanned plane is using the present invention
After blade can turn the four wheeled dynamic wing unmanned plane of horizontal lift, since wheeled dynamic wing impulse stroke thrust is big, resistance is small, pneumatic efficiency
Height, and flexibility mobility is very good, the emergency of energy quick response high level, rapid flight is caught fire to high-rise and small space
Point, and have the function of hovering, point of origin can be hovered over and carry out accurately lasting fire extinguishing.
Embodiment 3:
The present embodiment 3 provides a kind of agricultural plant protection unmanned plane, structure with embodiment 1, unlike: centre bore 101 weeks
It is 4 to equally distributed 102 quantity of straight beam, the quantity of equally distributed blade mounting hole 103 is 6 on straight beam 102, straight beam
102, outer reinforcement curved beam 105 and interior reinforcement curved beam 106 all use engineering plastics.The four wheeled dynamic wing of horizontal lift can be turned using blade
High-rise For Use Only in Case of Fire the unmanned plane of unmanned plane, including rotating frame 1, blade 2, pull ring 3, push rod 4, idler wheel 5, cam 6, rotary shaft
7, retarder 8, motor 9 and fuselage ring 10 have centre bore 101, straight beam 102 and push-rod hole 104, straight beam on rotating frame 1
102 direction is parallel with the axis of centre bore 101, and circumferential equally distributed 102 quantity of straight beam of centre bore 101 is 4, straight beam
Blade mounting hole 103 is provided on 102, the quantity of equally distributed blade mounting hole 103 is 6 on straight beam 102, push-rod hole 104
It is circumferentially uniformly distributed in centre bore 101, the quantity of push-rod hole 104 is identical as the quantity of straight beam 102, the axis of blade mounting hole 103
The axis of the axis vertical take-off of line and centre bore 101, push-rod hole 104 is parallel with the axis of centre bore 101, has blade to meet on blade 2
Wind face 201, blade rotor 202 and blade leeward 203, there is blade rotor hole 301 and slotted hole 302 on pull ring 3, on push rod 4
There are push rod cylinder 401, tenon cylinder 402 and idler wheel mounting hole 403, the axis of tenon cylinder 402 and the axis of push rod cylinder 401
Orthogonal, the axis vertical take-off of the axis of idler wheel mounting hole 403 and push rod cylinder 401 has coaxial 501 He of idler wheel cylinder on idler wheel 5
Rolling wheel installing shaft 502 has cam cylindrical surface 601 on cam 6, is provided on cam cylindrical surface 601 around cam cylindrical surface 601 1 weeks
In the cam curve slot 602 of connection, cam curve slot 602 is by work operating condition straight trough 603, standby operating conditions straight trough 604, the first spiral
Slot 605 and the second helicla flute 606 composition, the two sides of work operating condition straight trough 603 are plane and the axis all with cam cylindrical surface 601
Line is vertical, and the two sides of standby operating conditions straight trough 604 are plane and all vertical with the axis on cam cylindrical surface 601, and work operating condition is straight
One end of slot 603 is connected to one end of standby operating conditions straight trough 604 by the first helicla flute 605, and work the another of operating condition straight trough 603
End is connected to the other end of standby operating conditions straight trough 604 by the second helicla flute 606, and 10 surrounding of fuselage ring is symmetrically arranged with four
The rotary shaft 7 of a level, 10 surrounding of fuselage ring are symmetrically mounted with four cams 6, and four cam cylindrical surfaces 601 are distinguished
Coaxial with four rotary shafts 7, four rotary shafts 7 are separately mounted on the output shaft of four retarders 8, four motor 9 it is defeated
Shaft is separately mounted in four 8 input holes of retarder, and retarder 8, motor 9 and fixed-wing 11 are all fixed on fuselage frame
On frame 10, four rotating frames 1 are set in four rotary shafts 7 by centre bore 101, and idler wheel cylinder 501 is inserted into convex
It takes turns curved groove 602 and can be slided in cam curve slot 602, the inserting of rolling wheel installing shaft 502 is fixed in idler wheel mounting hole 403,
Tenon cylinder 402 is inserted into slotted hole 302 and slidably, and push rod cylinder 401, which is inserted into push-rod hole 104 and meets sliding, matches
It closes, the inserting of blade rotor 202 is fixed in blade rotor hole 301, and blade rotor 202 is inserted into blade mounting hole 103 and can
Rotation, the distance between two sides for the operating condition straight trough 603 that works, standby operating conditions straight trough 604 equal with the diameter of idler wheel cylinder 501
The distance between two sides, the two sides of first helicla flute 605 and second helicla flute equal with the diameter of idler wheel cylinder 501
606 two sides are spiral camber, and cam 6 is one symmetrical three-dimensional, and the plane of symmetry of cam 6 is working standard face F, cam
The axis on cylindrical surface 601 is in the F of working standard face, and work operating condition straight trough 603 is symmetrical about working standard face F, working standard face F
For horizontal plane, there are outer reinforcement curved beam 105 and interior reinforcement curved beam 106 on rotating frame 1, straight beam 102, outer reinforcement curved beam 105 and interior
Reinforce curved beam 106 all using hollow structure and using engineering plastics.Agricultural plant protection unmanned plane can turn horizontal using blade of the present invention
After the four wheeled dynamic wing unmanned plane of lift, since wheeled dynamic wing impulse stroke thrust is big, resistance is small, pneumatic efficiency is high, and flexibility
Mobility is very good, and relative to rotor wing unmanned aerial vehicle, in identical service load, the flight time increases by 20%, realizes
Longer endurance work.
Although being described in conjunction with the accompanying the embodiment of the present invention, those skilled in the art can not depart from the present invention
Spirit and scope in the case where various modifications and variations can be made, such modifications and variations are each fallen within by appended claims institute
Within the scope of restriction.
Claims (9)
1. blade can turn the four wheeled dynamic wing unmanned plane of horizontal lift, it is characterised in that: including the wheeled dynamic wing, transmission mechanism, cam
(6), rotary shaft (7), retarder (8), motor (9) and fuselage ring (10), fuselage ring (10) surrounding are symmetrically pacified
Dress is fixed there are four the cam (6), and fuselage ring (10) surrounding symmetrically arranges that there are four the horizontal rotary shafts
(7), four motor (9) being arranged on the fuselage ring (10) are respectively by being arranged in the fuselage ring (10)
On four retarders (8) slow down after drive four rotary shaft (7) continuous rotations, four wheeled dynamic wings respectively
Be respectively fixedly connected on four rotary shafts (7), four sets of transmission mechanisms be separately connected four wheeled dynamic wings and
Four cams (6)；The wheeled dynamic wing includes rotating frame (1), and is mounted in the rotating frame (1) and turns
Dynamic blade (2), the cam (6) and the transmission mechanism are used to control the rotation and reset of the blade (2).
2. blade according to claim 1 can turn the four wheeled dynamic wing unmanned plane of horizontal lift, it is characterised in that: the rotation
Centre bore (101) and straight beam (102), direction and the centre bore (101) of the straight beam (102) are provided on frame (1)
Axis is parallel, is provided with blade mounting hole (103) on the straight beam (102), the axis of the blade mounting hole (103) and it is described in
The axis vertical take-off in heart hole (101)；The blade (2) includes the blade windward side (201) being oppositely arranged, blade leeward (203)
And the blade rotor (202) being arranged on the blade (2), the blade windward side (201) and the blade leeward
(203) parallel and all parallel with the axis of the blade rotor (202)；The blade rotor (202) is inserted into the blade peace
It fills in hole (103) and can be rotated；Four rotary shafts (7), which are separately connected described in four centre bores (101) and four, to be subtracted
Fast device (8), the output shaft of four motor (9) are separately mounted in four retarder (8) input holes.
3. blade according to claim 1 or 2 can turn the four wheeled dynamic wing unmanned plane of horizontal lift, it is characterised in that: described
Transmission mechanism includes pull ring (3), push rod (4) and idler wheel (5)；It is provided with push-rod hole (104) on the rotating frame (1), it is described
The axis of push-rod hole (104) is parallel with the axis of the centre bore (101)；Be provided on pull ring (3) blade rotor hole (301) and
Slotted hole (302)；Push rod cylinder (401), tenon cylinder (402) and idler wheel mounting hole (403) are provided on push rod (4), it is described
The axis of the axis of tenon cylinder (402) and the idler wheel mounting hole (403) all with the axis of the push rod cylinder (401) just
It hands over, blade rotor (202) inserting is fixed in blade rotor hole (301)；Coaxial idler wheel cylinder is provided on idler wheel (5)
(501) and rolling wheel installing shaft (502)；It is provided on cam (6) cam cylindrical surface (601), four cam cylindrical surfaces (601)
Respectively coaxially with four rotary shafts (7), it is provided on the cam cylindrical surface (601) around the cam cylindrical surface (601)
The cam curve slot (602) of connection in one week；The idler wheel cylinder (501) is inserted into the cam curve slot (602) and can
Sliding, the push rod cylinder (401) are inserted into the push-rod hole (104) and meet and be slidably matched, the tenon cylinder (402)
It is inserted into the slotted hole (302) and slidably, rolling wheel installing shaft (502) inserting is fixed on the idler wheel mounting hole
(403) in.
4. blade according to claim 3 can turn the four wheeled dynamic wing unmanned plane of horizontal lift, it is characterised in that: the cam
Curved groove (602) is by work operating condition straight trough (603), standby operating conditions straight trough (604), the first helicla flute (605) and the second helicla flute
(606) it forms, one end of one end of the work operating condition straight trough (603) and the standby operating conditions straight trough (604) passes through described the
One helicla flute (605) connection, the other end of the work operating condition straight trough (603) are another with the standby operating conditions straight trough (604)
End is connected to by second helicla flute (606).
5. blade according to claim 4 can turn the four wheeled dynamic wing unmanned plane of horizontal lift, it is characterised in that: the work
The two sides of operating condition straight trough (603) are plane and all vertical with the axis of the cam cylindrical surface (601), and the work operating condition is straight
The distance between two sides of slot (603) are equal with the diameter of the idler wheel cylinder (501), the standby operating conditions straight trough (604)
Two sides be plane and all vertical with the axis of the cam cylindrical surface (601), the two sides of the standby operating conditions straight trough (604)
The distance between face is equal with the diameter of the idler wheel cylinder (501), the two sides of first helicla flute (605) and described
The two sides of two helicla flutes (606) are spiral camber.
6. blade according to claim 5 can turn the four wheeled dynamic wing unmanned plane of horizontal lift, it is characterised in that: the cam
It (6) is one symmetrical three-dimensional, the plane of symmetry of the cam (6) is working standard face (F), the cam cylindrical surface (601)
Axis in the working standard face (F), the work operating condition straight trough (603) about the working standard face (F) symmetrically, it is described
Working standard face (F) is horizontal plane in the unmanned plane stationary state.
7. blade according to claim 6 can turn the four wheeled dynamic wing unmanned plane of horizontal lift, it is characterised in that: the rotation
It further include at least one of outer reinforcement curved beam (105) and interior reinforcement curved beam (106) on frame (1), for reinforcing the rotation
The intensity of frame (1).
8. blade according to claim 7 can turn the four wheeled dynamic wing unmanned plane of horizontal lift, it is characterised in that: the straight beam
(102), the outer reinforcement curved beam (105) and the interior reinforcement curved beam (106) are hollow structure；
And/or
The straight beam (102), the outer reinforcement curved beam (105) and the interior reinforcement curved beam (106) are engineering plastics material；
And/or
The straight beam (102), the outer reinforcement curved beam (105) and the interior reinforcement curved beam (106) are carbon fiber material.
9. blade according to claim 8 can turn the four wheeled dynamic wing unmanned plane of horizontal lift, it is characterised in that: the straight beam
(102) it is all circumferentially uniformly distributed in the centre bore (101) with the push-rod hole (104), the quantity of the straight beam (102) is greater than
1, the quantity of the push-rod hole (104) is identical as the quantity of the straight beam (102)；The blade mounting hole (103) is described
Straight uniform is distributed on straight beam (102), and the quantity of the blade mounting hole (103) on each straight beam (102) is greater than 1
It is a.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910655272.8A CN110371285B (en) | 2019-07-19 | 2019-07-19 | Blade-rotatable horizontal lift four-wheel type rotor unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910655272.8A CN110371285B (en) | 2019-07-19 | 2019-07-19 | Blade-rotatable horizontal lift four-wheel type rotor unmanned aerial vehicle |
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| CN110371285B CN110371285B (en) | 2020-12-08 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113911352A (en) * | 2021-11-17 | 2022-01-11 | 苏州高博软件技术职业学院 | Four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle |
| CN113911353A (en) * | 2021-11-17 | 2022-01-11 | 苏州高博软件技术职业学院 | Four-synchronous parallelogram transmission roller shutter rotary wing unmanned aerial vehicle |
| CN113998093A (en) * | 2021-12-02 | 2022-02-01 | 南京理工大学 | Self-balancing double-ring wheel controlled four-rotation foldable wing aircraft |
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| FR2324513A1 (en) * | 1975-09-17 | 1977-04-15 | Jourdan Joannes | Flapping wing flying machine - has cam acting on bicycle wheel mounted in slots of supports with motion transmitted by rod to wing inner ends |
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| CN113998093A (en) * | 2021-12-02 | 2022-02-01 | 南京理工大学 | Self-balancing double-ring wheel controlled four-rotation foldable wing aircraft |
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|---|---|
| CN110371285B (en) | 2020-12-08 |
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