CN110844069B - Miniature foldable wheel-shaped aircraft - Google Patents
Miniature foldable wheel-shaped aircraft Download PDFInfo
- Publication number
- CN110844069B CN110844069B CN201911141737.4A CN201911141737A CN110844069B CN 110844069 B CN110844069 B CN 110844069B CN 201911141737 A CN201911141737 A CN 201911141737A CN 110844069 B CN110844069 B CN 110844069B
- Authority
- CN
- China
- Prior art keywords
- aircraft
- vector
- wheel
- rotor wing
- support frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- B64C39/028—Micro-sized aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
-
- 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
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Abstract
The invention discloses a miniature foldable wheel-shaped aircraft, which belongs to the technical field of aviation systems and mainly comprises an aircraft body, a rotor wing support frame, a vector power set, a folding locking mechanism and the like. The wheel-shaped aircraft mainly comprises two state modes, namely a folding mode and a flying mode, and can realize the functions of ground rolling forward, air flying and the like, wherein the folding mode is that the aircraft is folded into a wheel shape and is used for rolling forward or being carried by a user, and meanwhile, the combination of a plurality of aircrafts can be realized under the folding mode, so that the cooperative combat task can be conveniently executed; flight mode the aircraft unfolds into a vector two-rotor mode under the drive of a folding locking mechanism for performing flight tasks. The aircraft provided by the invention has the advantages of novel structure, portability, foldability, diversified functions and convenience for single-soldier combat.
Description
The technical field is as follows:
the invention belongs to the technical field of aviation systems, and particularly relates to a miniature foldable wheel-shaped aircraft.
Background art:
the gulf war, the scientific research war, the 21 st century afghantian war and the like in the 90 s of the 20 th century all use a large number of unmanned aerial vehicle systems of various types to complete various battle missions such as battlefield reconnaissance, monitoring, temptation, harassment, target search and positioning, firepower and battle fire evaluation, anti-radiation, attack and the like, and obtain striking war fruits. Unmanned aerial vehicles are increasingly paid more and more attention from countries in the world, and research enthusiasm is raised. These unmanned aerial vehicles mainly fix a position at the army of master-scheduling combat, mainly constitute by unmanned vehicles, ground control station, transmitter, accomplish the combat task under the control of ground control station. Although these drones are simpler than manned combat aircraft in terms of volume, weight, complexity of the combat system, etc., these drone systems cannot be deployed by combat troops and individual soldiers in class-one combat. Military operations in the 21 st century show a diversified trend, and under an unconventional operation environment, the probability that an operation task is executed by a team-class squad or even an individual soldier is increased, so that operation requirements are provided for a micro unmanned aerial vehicle system which can be used by the team and the individual soldier.
The microminiature unmanned aerial vehicle has the characteristics of small and exquisite structure, portability, small flight noise, simplicity in operation and control and difficulty in being perceived, can be widely applied to the field of operations such as individual scouting and accurate striking, and meanwhile, the individual unmanned aerial vehicle has higher requirements on the portability of the aircraft. In order to meet the background requirements, the invention designs a miniature foldable wheel-shaped aircraft, which is in a wheel shape in a folded state, is convenient for a user to carry and can execute a ground rolling advancing task; in flight, the aircraft is deployed in a vectored two-rotor mode for performing flight tasks.
The invention content is as follows:
the invention aims to solve the technical problem that a miniature foldable wheel-shaped aircraft is designed by adopting a design scheme of portability, folding property and multiple functions and combining the advantages of stable hovering and convenient control of a vector two-rotor unmanned aerial vehicle and the like aiming at the problems that the individual unmanned aerial vehicle related in the technical background has higher requirement on the portability of the unmanned aerial vehicle, and the unmanned aerial vehicle needs to meet the requirements of different operational environments and diversified functions. The aircraft mainly comprises a fuselage, a rotor wing support frame, a vector power set, a power supply module, a flight control module, a miniature image transmission mechanism, a folding locking mechanism and the like. The folding aircraft is divided into two working modes of folding and flying, wherein the folding aircraft is in a wheel shape, is convenient for an individual soldier to carry, and can execute a ground rolling advancing task; the flight mode aircraft is unfolded from a folding mode to a vector two-rotor mode, and can perform tasks such as flight reconnaissance and accurate attack.
The technical scheme adopted by the invention is as follows: a miniature foldable wheel-shaped aircraft is characterized by having two states: a folded state, a flying state; wherein the folding state aircraft is folded into a cylinder shape and takes the shape of a wheel; in the flight state, the aircraft stretches out the rotor support frame by fuselage both sides, and the rotor support frame of both sides expandes to be 90 degrees vertical states with the fuselage, and the flight state can fly, can roll on ground.
A microminiature foldable wheel-shaped aircraft is characterized by comprising an aircraft body, a rotor wing support frame, a vector power set (5) and a folding locking mechanism (9); the machine body is cylindrical; the folding locking mechanism is used for the aircraft to complete the conversion from a folding state to a flying state; in a flying state, the aircraft extends out of the rotor wing support frames from two sides of the aircraft body, and the rotor wing support frames on the two sides are perpendicular to the aircraft body at 90 degrees; when the rotor wing supporting frame is folded, the rotor wing supporting frame is retracted to two sides of the machine body and is in a wheel shape; the vector power set provides a power source for ground rolling and air flight of the aircraft.
Further, the fuselage is used for installing flight control module, power supply unit.
Further, the vector power set comprises a direct current brushless motor, a propeller and a vector control mechanism; the direct-current brushless motor, the propeller and the vector control mechanism are arranged on the rotor wing support frame; the rotor wing support frame is in a ring shape, and the outer diameter of the rotor wing support frame is consistent with that of the adjacent part of the aircraft body; the middle propeller, the DC brushless motor and the rotor wing support frame form a duct structure; the vector control mechanism is used for controlling the forward and backward movement of the aircraft in the ground rolling process and the pitching attitude control of the aircraft in the flight process.
Furthermore, the brushless direct current motor is a power device of the aircraft and is used for driving the propeller to rotate at a high speed so as to provide lift force and rolling advancing power for the aircraft.
Further, the vector control mechanism comprises a steering engine and a parallelogram connecting rod structure; the parallelogram connecting rod structure consists of a steering engine rocker arm (20), a tension line (21) and a vector motor mounting seat (22); the steering engine rocker arm (20) is arranged on a steering engine rotating shaft, the vector motor mounting seat (22) is used for mounting a motor and is arranged in the rotor wing supporting frame, the steering engine rocker arm (20) and the vector motor mounting seat (22) are connected through a tension line (21) to form a parallelogram structure, the steering engine acts on a parallelogram connecting rod mechanism to drive the steering engine rocker arm to rotate for a certain angle, the vector motor mounting seat (22) drives the motor rotating shaft to move and drives the propeller to generate vector tension, and the steering engine is arranged on the inner side of the rotor wing supporting frame.
Furthermore, the folding locking mechanism comprises a locking clamping groove, a locking pin and a turnover mechanism; the turnover mechanism comprises a torsion spring, the steering engine rocker arm rotates under the driving of the steering engine rocker arm, and the locking clamping groove is separated from the locking pin under the driving of the parallelogram connecting rod structure; simultaneously the rotor support frame upwards overturns under the drive of torsional spring, and the wheel-like aircraft is changed into flight state by fold condition.
Furthermore, the flight control module is installed inside the aircraft body, so that the attitude of the aircraft can be controlled in real time.
Furthermore, the flight control device also comprises a flight control module (7) which is used for realizing the real-time control of the attitude of the aircraft; the system comprises a three-axis accelerometer, a GPS, a motor driving module and a remote controller receiver; the remote controller receiver is used for receiving a control signal of the remote controller, analyzing the signal and controlling the aircraft to roll, fly and lock and unlock the state; the three-axis accelerometer and the GPS are used for acquiring speed, position and attitude information.
Further, the folding state of the wheel-shaped aircraft with the diameter not more than 10cm is in a vector two-rotor mode.
The invention has the following beneficial effects:
1. the miniature foldable wheel type aircraft has the dual functions of ground rolling forward and flying, can solve the problem that the traditional miniature unmanned aerial vehicle passes through a narrow space, has small integral noise in the rolling forward process, and is suitable for silent sudden defense and hidden reconnaissance;
2. the unique vector power set design ensures that the aircraft adopts the same power device in the ground rolling and flying processes without adding an additional power device, thereby fully reducing the total weight and the structural complexity of the unmanned aerial vehicle;
3. the folding locking structure adopts an integrated microminiature design mode, the vector power is fully utilized to control the rocker arm to rotate, and the locking and unlocking of the folding locking structure are realized by controlling the contact and the separation of a clamping groove on the rocker arm and a locking pin, so that the folding and the unfolding of the aircraft are controlled;
4. a unique vector two-rotor flight mode is adopted, so that the power parts of the aircraft are reduced, the total weight of the aircraft is reduced, and the endurance time of the aircraft is prolonged;
description of the drawings:
FIG. 1 is two operating states of the present invention;
FIG. 2 is a schematic illustration of the fuselage structure of the present invention;
figure 3 is a schematic view of a rotor support frame configuration of the present invention;
FIG. 4 is a schematic view of the vector power module configuration of the present invention;
fig. 5 is a schematic view of the fold lock mechanism of the present invention.
In the figure:
the aircraft comprises a 1-wheel-shaped aircraft folding state, a 2-wheel-shaped aircraft unfolding state, a 3-aircraft body, a 4-miniature image transmission device, a 5-vector power set, a 6-rotor wing support frame, a 7-propeller, an 8-power switch, a 9-direct current brushless motor, a 10-miniature image transmission mounting hole, a 11-power supply mounting groove, a 12-flight control module mounting groove, a 13-locking pin mounting hole, a 14-power switch mounting hole, a 15-rotor wing support frame mounting hole, a 16-vector power set mounting hole, a 17-aircraft body matching hole, an 18-vector power module, a 19- (vector control) steering engine, a 20-steering engine rocker arm, a 21-tension line, a 22-vector motor mounting seat, a locking clamping groove 24, a locking pin 25 and a turnover mechanism 23.
The specific implementation mode is as follows:
the invention will be further described with reference to the accompanying drawings.
A miniature foldable wheel-shaped aircraft is a wheel-shaped aircraft with a folded state diameter not more than 10cm, the folded state of the aircraft is cylindrical, the aircraft is convenient to roll on the ground and carry by a user, and the flying state is in a vector two-rotor mode and is used for executing flying tasks. The method is characterized in that: the aircraft comprises three parts, namely a cylindrical airframe, a vector power set and a folding locking mechanism, and is divided into a folding mode and a flying mode, so that ground rolling and aerial flying can be realized.
The cylindrical fuselage is a main structural component of the wheel-shaped aircraft, is used for installing loads such as a flight control module, a power supply and miniature image transmission equipment, has the function of bearing the impact force with the ground in the flight or landing process, and is convenient for realizing the ground rolling function of the aircraft.
The vector power sets are power sources and control actuating mechanisms of the wheel-shaped aircraft, and the vector power sets in the aircraft are arranged in two groups to provide power sources for ground rolling and aerial flight of the aircraft. The vector power set mainly comprises a direct current brushless motor, a propeller, a vector control mechanism and a rotor wing support frame. The propeller, the direct current brushless motor and the rotor wing support frame form a duct structure, so that the lift loss of the propeller tip of the propeller in the flying process can be reduced, a low-pressure area is formed, and additional lift is provided for the duct; the vector control mechanism mainly comprises a steering engine and a parallelogram connecting rod structure and is used for controlling the forward and backward movement of the aircraft in the ground rolling process and the pitching attitude control of the aircraft in the flight process.
The folding locking mechanism is a main component for completing the conversion from a folding state to a flying state of the aircraft, mainly comprises a locking pin and a locking chuck, and when the folding locking mechanism is in a locking state, the aircraft is in the folding state; in the process of converting the locking state of the mechanism into the unlocking state, the aircraft is converted from the folding state into the flight state; when the mechanism is in the unlocked state, the aircraft is in a flight state.
The flight control module is a main control unit of the aircraft, and the control module is mainly integrated with modules such as a three-axis accelerometer, a barometer, a GPS (global positioning system), a motor driving module, a remote controller receiver and the like and is used for realizing real-time control and self-stabilizing control of the attitude of the aircraft; the remote controller receiver is used for receiving a control signal of the remote controller, analyzing the signal and controlling the aircraft to perform functions of rolling, flying, state locking and unlocking and the like.
The micro image transmission is a main module for realizing the real-time transmission of the scout image of the aircraft. The system mainly comprises a miniature camera and a wireless image transceiver, wherein the miniature camera is used for collecting scout images, and the wireless image transceiver is used for returning the collected scout images to a ground control terminal and receiving an image collection control instruction of the ground control terminal.
The power module is a power supply module of the aircraft and is used for supplying power to the flight control module and the miniature image transmission equipment, and the power module preferably adopts a lithium battery and can also select other high-energy-density batteries.
The direct current brushless motor is a power device of the aircraft and is used for driving the propeller to rotate at a high speed and providing lift force and rolling advancing power for the aircraft.
The propeller is the main element of the aircraft that generates lift, preferably a trilobal propeller with a diameter of no more than 75 mm.
The steering engine is a main power component of the vector control mechanism, acts on the parallelogram connecting rod mechanism, and drives the propeller to generate vector tension.
As shown in fig. 1, the present invention provides a micro foldable wheel-shaped aircraft, which mainly comprises: the aircraft comprises an aircraft body 3, a rotor wing support frame 6, a vector power group 5, a power supply module, a flight control module, a miniature image transmission device 4, a folding locking mechanism and the like. The rotor wing support frame is matched with a rotor wing support frame mounting hole on the fuselage through a rotating shaft and is mounted on the fuselage, similarly, the power supply module, the flight control module, the miniature image transmission module and the like are mounted in the fuselage through corresponding clamping grooves, and the vector power unit is mounted on the rotor wing support frame through the rotor wing support frame mounting hole; the wheel-shaped aircraft mainly comprises two state modes, namely a folding mode 1 and a flight mode 2, and can realize the functions of ground rolling advance, air flight and the like, wherein the folding mode is that the aircraft is folded into a wheel shape and is used for rolling advance or carrying by a user, and meanwhile, the combination of a plurality of aircrafts can be realized under the mode, so that the cooperative combat task can be conveniently executed; flight mode the aircraft unfolds into a vector two-rotor mode under the drive of a folding locking mechanism for performing flight tasks.
The wheel-shaped aircraft adopts a foldable appearance structure design, the aircraft is cylindrical in a folded state, is integrally wheel-shaped, is convenient to store and carry, and has a certain impact-resistant function; in a flying state, the aircraft is unfolded into a vector two-rotor state, and the vector power unit is used for controlling the aircraft to realize ground rolling and air flying.
As shown in fig. 2, the fuselage is cylindrical and in the shape of a wheel, and is internally provided with a power supply installation groove 11, a flight control module installation groove 12, a locking pin installation hole 13, a miniature image transmission installation hole 10, a power switch installation hole 14 and a rotor wing support frame installation hole 15; each mounting groove and mounting hole in the fuselage are used for mounting components such as a power supply, a flight control module, a locking pin, a miniature image transmission device and a power switch, and the cylindrical fuselage can well buffer the impact force between the aircraft and the ground in the flight or landing process.
As shown in fig. 3, the rotor support frame is a main support component of the wheel type aircraft propeller, and is annular as a whole, and mainly comprises a vector power group mounting hole 16 and a fuselage mating hole 17, and the component is mainly used for mounting the vector power group and mounting the fuselage and the vector power group in a matching manner, the vector power group is mounted at the rotor support frame through the vector power group mounting hole, and the rotor support frame is mounted at the rotor support frame mounting hole of the fuselage through a rotating shaft and a torsion spring in a matching manner.
As shown in fig. 4, the vector power module 18 is a main power component of the wheel-shaped aircraft for completing ground rolling advance and flight control, and mainly includes: steering wheel 19, steering wheel rocking arm 20, the pull wire 21, vector motor mount pad 22 is constituteed, steering wheel 19 is installed inside the steering wheel mounting groove of rotor support frame, steering wheel rocking arm 20 is installed in steering wheel pivot department, vector motor mount pad 22 is used for installing the motor, it installs inside the vector power group mounting hole that the rotor support frame corresponds itself, steering wheel rocking arm 20 and vector motor mount pad 22 pass through pull wire 21 and connect, constitute parallelogram link mechanism, accomplish the vector control of screw pulling force under steering wheel 19's drive, unique parallelogram connecting rod structural design, make steering wheel rocking arm 20 and vector motor mount pad 22 connect through pull wire 21, need not to carry out rigid connection, reduce the whole weight of structure, improve system's actuating mechanism stability.
As shown in fig. 5, the folding locking mechanism is a key component of the wheel-shaped aircraft for completing the transition from the folded state to the flying state, and mainly comprises a locking slot 24, a locking pin 25 and a turnover mechanism 23, and the main working principle is as follows: under the drive of the rocker arm steering engine 20, the steering engine rocker arm rotates according to the direction in the figure, the locking clamping groove 24 is separated from the locking pin 25 under the drive of the parallelogram link mechanism, meanwhile, the turnover mechanism 23 is turned upwards under the drive of the torsion spring according to the arrow direction in the figure, and the wheel-shaped aircraft is converted into a flight state from a folding state. Similarly, in the process of converting the flying state into the folding state of the wheel-shaped aircraft, the action process of each component is opposite to the unfolding process.
The specific process of the microminiature wheel-shaped aircraft to execute the task is as follows:
the invention relates to a miniature wheel-shaped aircraft which is in a folding state by default, and a user carries the miniature wheel-shaped aircraft to a task area and then unlocks a folding locking mechanism at first, wherein the operation is as follows: under the drive of rocking arm steering wheel 20, the steering wheel rocking arm is rotatory according to the direction in fig. 5, and under parallelogram link mechanism's drive, locking draw-in groove 24 and stop pin 25 separate, simultaneously, tilting mechanism 23 makes vector power module and rotor support frame upwards overturn according to the arrow direction in fig. 5 under the drive of torsional spring, and the wheel aircraft is the flight condition by fold condition conversion. The aircraft can realize ground rolling and air flight in a flight mode, as shown in fig. 1, in the ground rolling process, the rotor wing support frame is unfolded to be vertical to the aircraft body, so that the aircraft is prevented from rolling over in the rolling process, and the rolling specific process is as follows: the vector power module tilts forwards, and meanwhile, the propeller rotates at a high speed to form a forward rolling moment, so that the aircraft rolls forwards on the ground; the backward rolling vector power module moves in a mode opposite to the backward rolling vector power module; the turning of the wheel-shaped aircraft in the rolling process controls the turning in the left and right directions of the wheel-shaped aircraft in the ground rolling process through the differential speed of the rotating speeds of the rotors of the two vector power groups; in the flight process, the vector power unit adjusts the rotary plane of the rotor wing to enable the rotary plane to be parallel to the upper surface of the rotor wing support frame, the rotor wing rotates at a high speed to generate an upward lifting force, the aircraft takes off, the pitching attitude of the aircraft is controlled through the vector power module in the air attitude, and the rolling attitude of the aircraft is controlled through the difference of the rotating speeds of two motors in the power unit.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A microminiature foldable wheel-shaped aircraft is characterized by comprising an aircraft body, a rotor wing support frame, a vector power set (5) and a folding locking mechanism (9);
the machine body is cylindrical;
the folding locking mechanism is used for the aircraft to complete the conversion from a folding state to a flying state; in a flying state, the aircraft extends out of the rotor wing support frames from two sides of the aircraft body, and the rotor wing support frames on the two sides are perpendicular to the aircraft body at 90 degrees; when the rotor wing supporting frame is folded, the rotor wing supporting frame is retracted to two sides of the machine body and is in a wheel shape; the vector power set provides a power source for ground rolling and air flight of the aircraft;
the vector power set comprises a direct current brushless motor, a propeller and a vector control mechanism; the direct-current brushless motor, the propeller and the vector control mechanism are arranged on the rotor wing support frame; the rotor wing support frame is in a ring shape, and the outer diameter of the rotor wing support frame is consistent with that of the adjacent part of the aircraft body; the middle propeller, the DC brushless motor and the rotor wing support frame form a duct structure;
the vector control mechanism is used for controlling the forward and backward movement of the aircraft in the ground rolling process and the pitching attitude control of the aircraft in the flight process;
the vector control mechanism comprises a steering engine and a parallelogram connecting rod structure; the parallelogram connecting rod structure consists of a steering engine rocker arm (20), a tension line (21) and a vector motor mounting seat (22);
the steering engine rocker arm (20) is arranged on a steering engine rotating shaft, the vector motor mounting seat (22) is used for mounting a motor and is arranged in the rotor wing supporting frame, and the steering engine rocker arm (20) and the vector motor mounting seat (22) are connected through a tension line (21) to form a parallelogram structure;
the steering engine acts on the parallelogram link mechanism to drive a rocker arm of the steering engine to rotate by a certain angle, and the vector motor mounting seat (22) drives a motor rotating shaft to move to drive the propeller to generate vector tension; the steering wheel is installed in rotor support frame inboard.
2. The miniature foldable wheel-shaped aircraft as claimed in claim 1, wherein the aircraft body is used for installing flight control modules and power supply equipment.
3. The miniature foldable wheel-shaped aircraft according to claim 1, wherein the brushless dc motor is a power device of the aircraft, and is configured to drive a propeller to rotate at a high speed, so as to provide lift force and rolling forward power for the aircraft.
4. The miniature foldable wheel-shaped aircraft as claimed in claim 1,
the folding locking mechanism comprises a locking clamping groove, a locking pin and a turnover mechanism; the turnover mechanism comprises a torsion spring, a locking clamping groove is positioned on the vector motor mounting seat (22), the steering engine rocker arm rotates under the driving of the steering engine rocker arm, the vector motor mounting seat (22) rotates under the driving of the parallelogram connecting rod structure, and the locking clamping groove is separated from the locking pin; simultaneously the rotor support frame upwards overturns under the drive of torsional spring, and the wheel-like aircraft is changed into flight state by fold condition.
5. The miniature foldable wheel-shaped aircraft as claimed in claim 1, wherein the flight control module is installed inside the aircraft body to realize real-time control of the attitude of the aircraft.
6. The microminiature foldable wheel-shaped aircraft according to claim 5, further comprising a flight control module (7) for realizing real-time control of the attitude of the aircraft; the system comprises a three-axis accelerometer, a GPS, a motor driving module and a remote controller receiver; the remote controller receiver is used for receiving a control signal of the remote controller, analyzing the signal and controlling the aircraft to roll, fly and lock and unlock the state; the three-axis accelerometer and the GPS are used for acquiring speed, position and attitude information.
7. The miniature foldable wheel-shaped aircraft according to claim 1, wherein the folded wheel-shaped aircraft with a diameter of not more than 10cm is in a vector two-rotor mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911141737.4A CN110844069B (en) | 2019-11-20 | 2019-11-20 | Miniature foldable wheel-shaped aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911141737.4A CN110844069B (en) | 2019-11-20 | 2019-11-20 | Miniature foldable wheel-shaped aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110844069A CN110844069A (en) | 2020-02-28 |
| CN110844069B true CN110844069B (en) | 2022-01-14 |
Family
ID=69602891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911141737.4A Active CN110844069B (en) | 2019-11-20 | 2019-11-20 | Miniature foldable wheel-shaped aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110844069B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114475114A (en) * | 2021-12-10 | 2022-05-13 | 江苏集萃智能制造技术研究所有限公司 | Light-duty heavy load triphibian unmanned aerial vehicle |
| CN114476051A (en) * | 2021-12-29 | 2022-05-13 | 北京特种机械研究所 | Vector power rotating mechanism of aircraft |
| CN114194389A (en) * | 2021-12-30 | 2022-03-18 | 奥飞娱乐股份有限公司 | Deformable rolling aircraft |
| CN114313210A (en) * | 2021-12-30 | 2022-04-12 | 奥飞娱乐股份有限公司 | Control method of deformable rolling aircraft |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105035313A (en) * | 2015-06-30 | 2015-11-11 | 北京航空航天大学 | Rotated quadrotor |
| CN106394898A (en) * | 2016-11-11 | 2017-02-15 | 吉林大学 | Automatic locking and unlocking mechanism used for foldable flapping wing micro air vehicle |
| WO2017049183A1 (en) * | 2015-09-18 | 2017-03-23 | Nixie Labs, Inc. | Stowable unmanned aerial vehicles and associated systems and methods |
| CN106542086A (en) * | 2015-09-18 | 2017-03-29 | 卡西欧计算机株式会社 | Information collection apparatus and formation gathering method |
| KR20170111589A (en) * | 2016-03-29 | 2017-10-12 | 성균관대학교산학협력단 | Transformable drone |
| CN107416177A (en) * | 2017-06-22 | 2017-12-01 | 南京航空航天大学 | A kind of bionical spherical structure unmanned plane |
| CN107856856A (en) * | 2017-11-24 | 2018-03-30 | 南京航空航天大学 | A kind of Flyable spherical robot |
| CN207450247U (en) * | 2017-10-13 | 2018-06-05 | 南京航空航天大学 | A kind of foldable rotatable spherical unmanned plane |
| CN108819631A (en) * | 2018-06-15 | 2018-11-16 | 南京理工大学 | Two rotor balance car land, water and air Duo Qi robots of one kind and its control method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9587630B2 (en) * | 2014-03-31 | 2017-03-07 | Leonid Goldstein | Rotor kite wind energy system and more |
| CN104943488B (en) * | 2015-06-24 | 2017-12-08 | 段宇航 | A kind of air-ground amphibious double-loop deformed robot |
| CN106081084B (en) * | 2016-07-11 | 2018-02-06 | 南京航空航天大学 | A kind of spherical unmanned plane of portable and collapsible |
-
2019
- 2019-11-20 CN CN201911141737.4A patent/CN110844069B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105035313A (en) * | 2015-06-30 | 2015-11-11 | 北京航空航天大学 | Rotated quadrotor |
| WO2017049183A1 (en) * | 2015-09-18 | 2017-03-23 | Nixie Labs, Inc. | Stowable unmanned aerial vehicles and associated systems and methods |
| CN106542086A (en) * | 2015-09-18 | 2017-03-29 | 卡西欧计算机株式会社 | Information collection apparatus and formation gathering method |
| KR20170111589A (en) * | 2016-03-29 | 2017-10-12 | 성균관대학교산학협력단 | Transformable drone |
| CN106394898A (en) * | 2016-11-11 | 2017-02-15 | 吉林大学 | Automatic locking and unlocking mechanism used for foldable flapping wing micro air vehicle |
| CN107416177A (en) * | 2017-06-22 | 2017-12-01 | 南京航空航天大学 | A kind of bionical spherical structure unmanned plane |
| CN207450247U (en) * | 2017-10-13 | 2018-06-05 | 南京航空航天大学 | A kind of foldable rotatable spherical unmanned plane |
| CN107856856A (en) * | 2017-11-24 | 2018-03-30 | 南京航空航天大学 | A kind of Flyable spherical robot |
| CN108819631A (en) * | 2018-06-15 | 2018-11-16 | 南京理工大学 | Two rotor balance car land, water and air Duo Qi robots of one kind and its control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110844069A (en) | 2020-02-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110844069B (en) | Miniature foldable wheel-shaped aircraft | |
| US11420737B2 (en) | High speed multi-rotor vertical takeoff and landing aircraft | |
| US11772440B2 (en) | Multi-purpose wheels for use in multi-purpose vehicles | |
| US9139299B2 (en) | Vertical takeoff and landing roadable vehicle | |
| US7959104B2 (en) | Flying device with improved movement on the ground | |
| CN108750081A (en) | Tilting four-rotor-wing deformable aircraft | |
| WO2004065208A2 (en) | Quiet vertical takeoff and landing aircraft using ducted, magnetic induction air-impeller rotors | |
| US20170088291A1 (en) | Gyroscopic Orbiter with Vertical Takeoff and Vertical Landing Capabilities | |
| CN111591438A (en) | Air-ground dual-purpose unmanned vehicle | |
| CN102910285B (en) | A kind of rotor craft | |
| CN109896002B (en) | Deformable four-rotor aircraft | |
| CN113173248B (en) | Miniature fixed wing unmanned aerial vehicle with flank adsorbing wall surface | |
| CN208264559U (en) | Tilting four-rotor-wing deformable aircraft | |
| CN210526849U (en) | Fixed wing unmanned aerial vehicle of tilting-rotating force | |
| KR20220001549A (en) | Drone | |
| EP3736213B1 (en) | Hybrid unmanned aerial vehicle | |
| CN108639337A (en) | The single-degree-of-freedom flapping wing mechanism of space motion path can be achieved | |
| CN210706761U (en) | Air-ground dual-purpose bionic multi-legged robot | |
| US20230202643A1 (en) | Aircraft thrust control system | |
| CN109878713B (en) | Micro coaxial double-rotor unmanned aerial vehicle | |
| CN213322542U (en) | Air-ground dual-purpose aircraft | |
| CN114148517B (en) | Vertical take-off and landing high-speed unmanned aerial vehicle and control method thereof | |
| CN216994839U (en) | Modular unmanned aerial vehicle's connecting device | |
| EP4105125B1 (en) | Series of convertible aircrafts capable of hovering and method for configuring a convertible aircraft capable of hovering | |
| KR20220028849A (en) | Hybrid tilt drone |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |