CN110871890B - Four rotor unmanned aerial vehicle - Google Patents
Four rotor unmanned aerial vehicle Download PDFInfo
- Publication number
- CN110871890B CN110871890B CN202010065649.7A CN202010065649A CN110871890B CN 110871890 B CN110871890 B CN 110871890B CN 202010065649 A CN202010065649 A CN 202010065649A CN 110871890 B CN110871890 B CN 110871890B
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- China
- Prior art keywords
- rotor
- aerial vehicle
- unmanned aerial
- side walls
- side wall
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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
- B64C27/52—Tilting of rotor bodily relative to fuselage
Abstract
The invention belongs to the technical field of unmanned aerial vehicle structures, and particularly relates to a quad-rotor unmanned aerial vehicle which comprises a square rack formed by mounting four detachable side walls with the same structure; the bottoms of the four side walls are provided with fixing devices, and the fixing devices comprise connecting pieces capable of being hinged with the side walls; an arc-shaped groove is arranged in the side wall, two ends of the rotor tray are respectively connected with the inner sides of the arc-shaped grooves through positioning shafts, and the outer side of one positioning shaft is connected with the output end of the stepping motor; a rotor wing fixing frame fixedly connected with the side wall of the rotor wing tray is arranged in the center of the rotor wing tray; and fixing grooves for mounting motors are reserved at four included angles of the control box respectively, and the output ends of the four motors are fixedly connected with one end of the second hinge shaft respectively. This unmanned aerial vehicle accessible adjustment rotor's angle realizes that unmanned aerial vehicle moves ahead, the slope aloft, action such as hover, is different from the tradition and realizes the aerial action of unmanned aerial vehicle through the rotor rotational speed, has and controls portably, advantage that the flexibility is strong.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle structures, and particularly relates to a quad-rotor unmanned aerial vehicle.
Background
An Unmanned Aerial Vehicle (UAV) is an unmanned aerial vehicle operated by a radio remote control device and a self-contained program control device; when the traditional rotor unmanned aerial vehicle realizes actions such as hovering, pitching, rolling, yawing and the like in the air, the actions are usually realized by generating required lifting force and moment by adjusting the rotating speed of a rotor; and the action transform of unmanned aerial vehicle in the air is realized only through the rotational speed of rotor, and not only the operation degree of difficulty is big, and is comparatively harsh to the requirement of flight environment, and the flexibility ratio is on the low side, consequently needs design a neotype rotor unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide a quad-rotor unmanned aerial vehicle to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a quad-rotor unmanned aerial vehicle is characterized by comprising a square frame formed by mounting four detachable side walls with the same structure; the bottom parts of the four side walls are provided with fixing devices, each fixing device comprises a connecting piece capable of being hinged with the corresponding side wall, each connecting piece comprises a top block, a connecting plate and an L-shaped connecting block, the two L-shaped connecting blocks are fixedly connected together through the connecting plates, a first connecting hole and a second connecting hole are respectively arranged at two ends of each L-shaped connecting block, the first connecting hole is located on the short side of each L-shaped connecting block, the second connecting hole is located on the long side of each L-shaped connecting block, and the length of the long side of each L-shaped connecting block is larger than that of; the L-shaped connecting block is hinged with a connecting lug arranged on the inner side of the side wall through a first hinge shaft, the L-shaped connecting block is hinged to the lower part of the control box, a controller and a battery are arranged in the control box, fixing grooves for mounting motors are reserved at four included angles of the control box respectively, the four motors are mounted in the fixing grooves respectively, the output ends of the four motors are fixedly connected with one ends of second hinge shafts respectively, when the four motors rotate simultaneously, the four second hinge shafts can be driven to rotate, the second hinge shafts drive the L-shaped connecting block to rotate, and the L-shaped connecting block drives the side wall to be opened and closed; an arc-shaped groove is formed in the side wall, two ends of the rotor wing tray are respectively connected with the inner sides of the arc-shaped grooves through positioning shafts, the outer side of one positioning shaft is connected with the output end of a stepping motor, the stepping motor is fixed in the side wall, and the rotor wing tray is of a truncated cone-shaped structure with a large outer part and a small inner part; the center of rotor tray is equipped with the rotor mount rather than lateral wall fixed connection, install the screw on the rotor mount.
Preferably, end faces with the same structure and an angle of 45 degrees with the side end face of the side wall are arranged at two ends of the side wall; the center of the side wall is provided with an arc-shaped groove.
Preferably, an arc-shaped baffle is arranged in the side wall.
Preferably, the brackets of the rotor fixing frame are evenly distributed in a trisection mode on the circumference.
Preferably, a snap ring for ensuring that the two side walls are in the same horizontal plane is arranged between the bottoms of the two adjacent side walls.
Preferably, the snap ring is divided into two independent structures, and the two independent structures are respectively fixed at the bottoms of the two corresponding side walls.
Compared with the prior art, the invention has the beneficial effects that:
the unmanned aerial vehicle can realize the actions of advancing, inclining, hovering and the like of the unmanned aerial vehicle in the air by adjusting the angle of the rotor wing; be different from traditional through the aerial action of rotor rotational speed realization unmanned aerial vehicle, have and control portably, advantage that the flexibility is strong.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a bottom view of the present invention;
FIG. 3 is a partial schematic view of the present invention;
figure 4 is a schematic view of a rotor tray of the present invention;
FIG. 5 is a schematic side wall view of the present invention;
FIG. 6 is a schematic view of a control box according to the present invention;
FIG. 7 is a diagram of the relative positions of four connectors of the present invention;
FIG. 8 is a perspective view of a single connector of the present invention;
FIG. 9 is a position view of the top block and the carrier block after the side walls are closed in the present invention;
FIG. 10 is a schematic view of a snap ring of the present invention;
FIG. 11 is an enlarged view of the four corners of the control box of the present invention.
Detailed Description
The following detailed description of the preferred embodiments will be made with reference to the accompanying drawings.
As shown in fig. 1-6, a quad-rotor unmanned aerial vehicle comprises a square frame formed by installing four detachable side walls 1 with the same structure; the bottoms of the four side walls 1 are provided with fixing devices, and rotating rotor wing devices are arranged in the side walls; end faces 1-1 which have the same structure and form an angle of 45 degrees with the side end face of the side wall 1 are arranged at two ends of the side wall 1; the center of the side wall 1 is provided with an arc-shaped groove 1-2; the end faces of the two side walls 1 and the side end faces are arranged to form a 45-degree angle structure, so that mutual matching is facilitated between the two adjacent side walls when the positions are adjusted, and the airframes can be kept symmetrical and balanced when the unmanned aerial vehicle flies.
The interior of the side wall 1 is of a hollow structure, and baffles 1-4 are arranged in the hollow structure; the baffle plates 1-4 in the side wall are determined to be installed or not according to the actual flight mission, when the unmanned aerial vehicle needs to fly for a long time, the baffle plates 1-4 are not installed in order to reduce the weight of the unmanned aerial vehicle, and when the mission environment is severe or objects need to be consigned, the baffle plates 1-4 are usually installed; the unmanned aerial vehicle is in a cube shape, so that the transverse wind resistance is greatly influenced; the baffle is embedded at the outer side of the side wall and is a main transverse wind resistance bearing part; therefore, the baffle is of an arc structure, and the arc structure has stronger deformation resistance and bearing capacity and is convenient to install with the space formed between the side walls.
The rotary rotor wing device comprises a rotor wing tray 2 which is rotatably connected in an arc-shaped groove 1-2, the side wall of the rotor wing tray 2 is of a truncated cone structure with a large outer part and a small inner part, the larger end face side faces outwards, two ends of the rotor wing tray are respectively connected with the inner sides of the arc-shaped grooves through positioning shafts 2-1, the outer side of one positioning shaft is connected with the output end of a stepping motor 8, and the stepping motor is fixed in the side wall; a rotor wing fixing frame 3 is fixedly connected to the inner wall of the rotor wing tray 2, and a propeller 4 is installed on the rotor wing fixing frame 3; the propeller 4 is provided with a driving motor, the interior of the rotor wing fixing frame is of a hollow structure, and the motor can be connected with the controller and the battery through wiring in the rotor wing fixing frame; screw 4 sets up in the outside of rotor mount 3, and rotor mount 3 sets up in the narrower one side of rotor tray terminal surface.
The side wall of the rotor wing tray 2 is designed into a truncated cone-shaped structure with a large outer part and a small inner part, so that the resistance borne by the propeller 4 can be reduced during flight; secondly, the airflow direction of the propeller 4 is stabilized, so that the propeller is easier to control; the three brackets of the rotor wing fixing frame 3 are uniformly distributed on the circumference; the number of the brackets in the rotor wing fixing frame 3 can be 3 or more, the more the brackets are arranged, the propeller protection in severe environment is facilitated, and the less the brackets are arranged, the stronger the air suction capacity of the propeller 4 is; can save unmanned aerial vehicle's electric quantity.
The fixing device comprises a connecting piece 5 which can be hinged with the side wall 1, as shown in fig. 7 and 8, the connecting piece 5 comprises a top block 5-1, a connecting plate 5-2 and an L-shaped connecting block 5-3, the two L-shaped connecting blocks are fixedly connected together through the connecting plate, a first connecting hole 5-4 and a second connecting hole 5-5 are respectively arranged at two ends of the L-shaped connecting block, the first connecting hole is positioned on a short side 5-7 of the L-shaped connecting block, the second connecting hole is positioned on a long side 5-8 of the L-shaped connecting block, and the length of the long side 5-8 of the L-shaped connecting block is greater than that of the short side 5-7; the first connecting holes 5-4 are hinged with connecting lugs arranged on the inner side of the side wall through first hinge shafts 1-3, and the L-shaped connecting blocks 5-3 are hinged to the lower part of the control box 6. As shown in fig. 11, specifically, fixing grooves 6-3 for installing motors 6-2 are reserved at four included angles of the control box 6, the four motors are installed in the fixing grooves respectively, output ends of the four motors are fixedly connected with one ends of second hinge shafts 6-1 respectively, when 4 motors 6-2 rotate simultaneously, the four second hinge shafts are driven to rotate, the second hinge shafts drive the connecting piece 5 to rotate, the connecting piece 5 drives the side walls to be opened and closed, and the clamping ring at the bottom plays a role in guiding. The back side of the L-shaped connecting block 5-3 is provided with a top block 5-1, the bottom side of the L-shaped connecting block is provided with a support block 5-6, the top block is in inserting fit with a limiting groove 1-5 correspondingly arranged on the side wall, as shown in figure 10, when the side wall is opened, the L-shaped connecting block rotates along with the top block, and finally the top block is inserted into the limiting groove, so that the L-shaped connecting block cannot rotate continuously, namely the side wall is opened to the maximum position. As shown in fig. 9, when the side wall is closed, the support block is in contact fit with the bottom of the control box, that is, the support block can be supported to the bottom of the control box after the L-shaped connecting block rotates by 90 degrees, so that the support block cannot rotate continuously, that is, the side wall is in a closed position. Connecting piece 5 not only will bear the lift that the lateral wall subassembly produced, also is the important mechanical control structure of unmanned aerial vehicle opening, closed two kinds of states.
Be equipped with controller and battery in the control box 6, kicking block 5-1 is favorable to keeping the angle between the control box and the lateral wall of bottom, loads the bottom at unmanned aerial vehicle center with control element box battery, is favorable to balancing whole unmanned aerial vehicle's gravity firstly, secondly protects control element.
A snap ring 7 used for ensuring that the two side walls are on the same horizontal plane is arranged between the bottoms of the two adjacent side walls 1; the snap ring 7 is divided into two independent structures and is respectively fixed at the bottoms of the two corresponding side walls 1
As shown in fig. 10, the bottom of each of the four side walls of the device is provided with 4 snap rings 7, each snap ring 7 is composed of a limiting piece 7-1, a guide pin 7-2 and a connecting piece 7-3, the limiting piece 7-1 is provided with a guide groove 7-4, the guide groove has two limiting end points, one is a limiting end point after the side wall is closed, the other is a limiting end point after the side wall is opened, one end of the guide pin is fixed on the connecting piece, the other end of the guide pin is inserted into the guide groove and is in sliding connection with the guide groove, wherein the limiting piece 7-1 is fixed on one side of the bottom of one side wall, the corresponding connecting piece is fixed on one side of the bottom of the side wall adjacent to the side wall, the limiting pieces and the connecting pieces are arranged in groups, the four side walls can be opened outwards through two ways, one is that four side walls are, the other is that the four side walls are respectively driven to move by 4 motors 6-2. According to the unmanned aerial vehicle, the side walls are opened manually by taking the example of manual operation, when the four side walls move outwards, each guide pin can slide in the guide groove synchronously, the four side walls move outwards to drive the connecting piece on the inner side to turn over for 90 degrees, the control box in the middle can move downwards relative to the side walls, the guide pins are limited by the limiting end points of the guide grooves after all the guide pins are opened, the clamping rings can ensure that the bottoms between the four side walls are on the same horizontal line, synchronous operation is realized in the opening and closing process of the side walls, and the height symmetry and balance of the unmanned aerial vehicle are further ensured.
The specific flight steps are as follows:
when the unmanned aerial vehicle takes off, two opposite rotor wings or all the rotor wings can be controlled to be in the horizontal position, when the unmanned aerial vehicle needs to advance after being lifted off, the unmanned aerial vehicle can be realized by controlling the rotating speed of the rotor wings, or the two rotor wings in the advancing direction can be in the vertical state, the unmanned aerial vehicle is driven to advance by the transverse thrust of the vertical state of the rotor wings, when the unmanned aerial vehicle needs to decelerate or stop when moving, the advancing rotor wings are driven to overturn, and when the aircraft body needs to be overturned or adjusted in angle, the rotor wing tray is driven to rotate by a certain angle through the stepping motor, so that; this device realizes the drive realization mode of actions such as another kind of unmanned aerial vehicle hover, every single move, roll, driftage under the prerequisite that original control rotor rotational speed realized the aerial action of unmanned aerial vehicle, has liberated the original mode that can only realize aerial action through control rotor rotational speed, makes operability and flexibility improve, has also simplified simultaneously and has controlled the procedure, more does benefit to the operation.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A quad-rotor unmanned aerial vehicle is characterized by comprising a square frame formed by mounting four detachable side walls with the same structure; the bottom parts of the four side walls are provided with fixing devices, each fixing device comprises a connecting piece capable of being hinged with the corresponding side wall, each connecting piece comprises a top block, a connecting plate and an L-shaped connecting block, the two L-shaped connecting blocks are fixedly connected together through the connecting plates, a first connecting hole and a second connecting hole are respectively arranged at two ends of each L-shaped connecting block, the first connecting hole is located on the short side of each L-shaped connecting block, the second connecting hole is located on the long side of each L-shaped connecting block, and the length of the long side of each L-shaped connecting block is larger than that of; the L-shaped connecting block is hinged with a connecting lug arranged on the inner side of the side wall through a first hinge shaft, the L-shaped connecting block is hinged to the lower part of the control box, a controller and a battery are arranged in the control box, fixing grooves for mounting motors are reserved at four included angles of the control box respectively, the four motors are mounted in the fixing grooves respectively, the output ends of the four motors are fixedly connected with one ends of second hinge shafts respectively, when the four motors rotate simultaneously, the four second hinge shafts can be driven to rotate, the second hinge shafts drive the L-shaped connecting block to rotate, and the L-shaped connecting block drives the side wall to be opened and closed; an arc-shaped groove is formed in the side wall, two ends of the rotor wing tray are respectively connected with the inner sides of the arc-shaped grooves through positioning shafts, the outer side of one positioning shaft is connected with the output end of a stepping motor, the stepping motor is fixed in the side wall, and the rotor wing tray is of a truncated cone-shaped structure with a large outer part and a small inner part; the center of rotor tray is equipped with the rotor mount rather than lateral wall fixed connection, install the screw on the rotor mount.
2. A quad-rotor unmanned aerial vehicle according to claim 1, wherein end faces of the same structure and 45 ° to the side end faces of the side walls are provided at both ends of the side walls; the center of the side wall is provided with an arc-shaped groove.
3. A quad-rotor drone according to claim 2, wherein said side walls incorporate therein a curved baffle.
4. A quad-rotor drone according to claim 3, wherein the cradles of the rotor mount are evenly circumferentially trisected.
5. A quad-rotor unmanned aerial vehicle according to claim 1, wherein a snap ring is disposed between bottoms of two adjacent sidewalls to ensure that the two sidewalls are at the same horizontal plane.
6. A quad-rotor Unmanned Aerial Vehicle (UAV) according to claim 5, wherein the snap ring is divided into two independent structures and is fixed at the bottom of the two corresponding side walls respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010065649.7A CN110871890B (en) | 2020-01-20 | 2020-01-20 | Four rotor unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010065649.7A CN110871890B (en) | 2020-01-20 | 2020-01-20 | Four rotor unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN110871890A CN110871890A (en) | 2020-03-10 |
| CN110871890B true CN110871890B (en) | 2020-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010065649.7A Expired - Fee Related CN110871890B (en) | 2020-01-20 | 2020-01-20 | Four rotor unmanned aerial vehicle |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113240881B (en) * | 2021-07-12 | 2021-10-29 | 环球数科集团有限公司 | Fire identification system based on multi-feature fusion |
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| WO2016012790A1 (en) * | 2014-07-23 | 2016-01-28 | Airbus Ds Limited | Improvements in and relating to unmanned aerial vehicles |
| KR20180070298A (en) * | 2016-12-16 | 2018-06-26 | 곽준범 | Drone system |
| CN108238244A (en) * | 2016-11-28 | 2018-07-03 | 张力骅 | Aircraft, unmanned vehicle, its control system and the control method with full pointing vector propulsion system |
| CN208576720U (en) * | 2018-05-25 | 2019-03-05 | 华中科技大学 | A kind of unmanned aerial vehicle rack and the unmanned plane comprising it |
| CN109592027A (en) * | 2018-12-18 | 2019-04-09 | 广州市华科尔科技股份有限公司 | A kind of water-cooled engine type plant protection drone |
| CN110379285A (en) * | 2019-06-28 | 2019-10-25 | 西安交通大学 | A kind of rectangular pyramid solid inverted pendulum device and control method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205524956U (en) * | 2016-03-14 | 2016-08-31 | 珠海市磐石电子科技有限公司 | Portable aircraft |
| CN108910014B (en) * | 2018-05-31 | 2023-09-26 | 南京航空航天大学 | Foldable multi-rotor unmanned aerial vehicle |
| CN109466760A (en) * | 2018-11-19 | 2019-03-15 | 福州市筑梦者工业设计有限公司 | A kind of suspension shooting unmanned plane with blade hurricane globe |
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2020
- 2020-01-20 CN CN202010065649.7A patent/CN110871890B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016012790A1 (en) * | 2014-07-23 | 2016-01-28 | Airbus Ds Limited | Improvements in and relating to unmanned aerial vehicles |
| CN108238244A (en) * | 2016-11-28 | 2018-07-03 | 张力骅 | Aircraft, unmanned vehicle, its control system and the control method with full pointing vector propulsion system |
| KR20180070298A (en) * | 2016-12-16 | 2018-06-26 | 곽준범 | Drone system |
| CN208576720U (en) * | 2018-05-25 | 2019-03-05 | 华中科技大学 | A kind of unmanned aerial vehicle rack and the unmanned plane comprising it |
| CN109592027A (en) * | 2018-12-18 | 2019-04-09 | 广州市华科尔科技股份有限公司 | A kind of water-cooled engine type plant protection drone |
| CN110379285A (en) * | 2019-06-28 | 2019-10-25 | 西安交通大学 | A kind of rectangular pyramid solid inverted pendulum device and control method |
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| CN110871890A (en) | 2020-03-10 |
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Effective date of registration: 20200507 Address after: Room 502-67, block a, Haitai green industrial base, No. 6, Haitai development road, Huayuan Industrial Zone, Binhai New Area, Tianjin Applicant after: TIANJIN VST TECHNOLOGY Co.,Ltd. Applicant after: TIANJIN SINO-GERMAN UNIVERSITY OF APPLIED SCIENCES Address before: Room 502-67, block a, Haitai green industrial base, No. 6, Haitai development road, Huayuan Industrial Zone, Binhai New Area, Tianjin Applicant before: TIANJIN VST TECHNOLOGY Co.,Ltd. |
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