CN111717377A - Four-rotor aircraft frame - Google Patents
Four-rotor aircraft frame Download PDFInfo
- Publication number
- CN111717377A CN111717377A CN202010594065.9A CN202010594065A CN111717377A CN 111717377 A CN111717377 A CN 111717377A CN 202010594065 A CN202010594065 A CN 202010594065A CN 111717377 A CN111717377 A CN 111717377A
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- China
- Prior art keywords
- propeller
- main frame
- frame body
- movement
- central plate
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000033001 locomotion Effects 0.000 claims abstract description 52
- 230000001105 regulatory effect Effects 0.000 claims abstract description 16
- 238000005096 rolling process Methods 0.000 claims abstract description 10
- 230000001276 controlling effect Effects 0.000 claims abstract description 6
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 12
- 238000013016 damping Methods 0.000 claims description 10
- 230000035939 shock Effects 0.000 claims description 7
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 6
- 239000004917 carbon fiber Substances 0.000 claims description 6
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims 1
- 229910052799 carbon Inorganic materials 0.000 claims 1
- 239000000835 fiber Substances 0.000 claims 1
- 239000006260 foam Substances 0.000 claims 1
- 239000013585 weight reducing agent Substances 0.000 claims 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 4
- 229910052744 lithium Inorganic materials 0.000 description 4
- 229920000642 polymer Polymers 0.000 description 4
- 229910052987 metal hydride Inorganic materials 0.000 description 3
- 241001391944 Commicarpus scandens Species 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 229920006324 polyoxymethylene Polymers 0.000 description 2
- 229910052739 hydrogen Inorganic materials 0.000 description 1
- 239000001257 hydrogen Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
Images
Classifications
-
- 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
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
-
- 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
- B64D47/00—Equipment not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention is suitable for the field of unmanned aerial vehicles, and particularly relates to a four-rotor aircraft frame which comprises a main frame body provided with an undercarriage; the main frame body comprises four propeller structures which are distributed in an X-shaped array with different included angles; the main frame body is provided with an electronic speed regulator which is used for acting on the propeller structure and regulating and controlling the rotating speed of the propeller structure by using the electronic speed regulator, and the main frame body is provided with an energy supply structure connected with the propeller structure; the four propeller structures are distributed in an X-shaped array with unequal included angles, and after the rotation speed is regulated and controlled by the electronic speed regulator, the four propeller structures are independently subjected to speed regulation to complete hovering movement, lifting movement, pitching movement, rolling movement and yawing movement, so that the control efficiency is low; the four-axis aircraft has a simple mechanical structure, is convenient to control, and does not need to consider the complicated aerodynamic problem.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a four-rotor aircraft frame.
Background
Four rotor crafts provide pulling force by 4 motors, and the overall arrangement mode of these 4 motors often has cross overall arrangement and X style of calligraphy overall arrangement, and the control hand can send the instruction through radio equipment and make four motors rotate with different rotational speeds, can provide different pulling force size through different rotational speeds to can control the direction of flight and the airspeed of four rotors.
The use of four rotors for performing tasks is very simple and practical, such as aerial photography, surveillance, tracking, searching, reconnaissance, exploration, mapping of terrain, disaster relief, transportation, etc.
At present, the four-axis aircraft has a complex mechanical structure, is inconvenient to control, has low control efficiency and needs to consider complex aerodynamics.
Disclosure of Invention
The invention aims to provide a four-rotor aircraft frame, which aims to solve the problems that the existing four-rotor aircraft is complex in mechanical structure, inconvenient to control, low in control efficiency and complex in aerodynamics. In order to realize the purpose, the following technical scheme is specifically provided:
a four-rotor aircraft frame comprises a main frame body provided with an undercarriage;
the main frame body comprises four propeller structures which are distributed in an X-shaped array with different included angles;
the main frame body is provided with an electronic speed regulator which is used for acting on the propeller structures, the electronic speed regulator is used for regulating and controlling the rotating speed of the propeller structures, and hovering movement, lifting movement, pitching movement, rolling movement and yawing movement are completed by regulating different rotating speeds of the four propeller structures;
the main frame body is provided with an energy supply structure connected with the propeller structure.
The four propeller structures are distributed in an X-shaped array with unequal included angles, and after the rotation speed is regulated and controlled by the electronic speed regulator, the four propeller structures are independently subjected to speed regulation to complete hovering movement, lifting movement, pitching movement, rolling movement and yawing movement, so that the control efficiency is low; the four-axis aircraft has a simple mechanical structure, is convenient to control, and does not need to consider the complicated aerodynamic problem.
In the invention: the energy supply structure comprises a battery structure, and the battery structure is electrically connected to the propeller structure;
the battery structure comprises a battery carrying plate and a battery arranged on the battery carrying plate.
Further, the battery comprises a lithium polymer battery and a nickel-metal hydride battery.
Further, the propeller structurally comprises a motor and a propeller arranged on an output shaft of the motor.
In the invention: the main frame body is additionally provided with an upper central plate and a lower central plate, and the central plate and/or the lower central plate are made of carbon fibers;
the energy supply structure is arranged between the upper central plate and the lower central plate;
the upper central plate is fixedly installed with the propeller structure through a machine arm.
Furthermore, a plurality of mechanical arm connecting pieces are additionally arranged between the upper central plate and the lower central plate, and the mechanical arm connecting pieces are fixedly connected with the mechanical arm.
Furthermore, a plurality of through holes for reducing weight are formed in the upper central plate and/or the lower central plate.
In the invention: the main frame body is additionally provided with a flight control, and the flight control is arranged on the main frame body through a flight control damping plate;
the flight control damping plate is arranged on the main frame body through a damping ball;
the main frame body is additionally provided with a GPS structure.
Furthermore, the GPS structure comprises a GPS bracket and a GPS arranged on the GPS bracket.
In the invention: a plurality of carbon fiber tubes are additionally arranged on the undercarriage and used for installing cloud platform equipment, a plurality of sponge shock tubes used for landing are additionally arranged at the bottom of the undercarriage, and the sponge shock tubes can reduce impact force generated during landing.
And the landing gear is made of polyformaldehyde materials, so that the landing gear is high in toughness and not easy to break.
Compared with the prior art: the invention relates to a four-rotor aircraft frame, which comprises a main frame body provided with an undercarriage; the main frame body comprises four propeller structures which are distributed in an X-shaped array with different included angles; the main frame body is provided with an electronic speed regulator which is used for acting on the propeller structures, the electronic speed regulator is used for regulating and controlling the rotating speed of the propeller structures, and hovering movement, lifting movement, pitching movement, rolling movement and yawing movement are completed by regulating different rotating speeds of the four propeller structures; the main frame body is provided with an energy supply structure connected with the propeller structure; the four propeller structures are distributed in an X-shaped array with unequal included angles, and after the rotation speed is regulated and controlled by the electronic speed regulator, the four propeller structures are independently subjected to speed regulation to complete hovering movement, lifting movement, pitching movement, rolling movement and yawing movement, so that the control efficiency is low; the four-axis aircraft has a simple mechanical structure, is convenient to control, and does not need to consider the complicated aerodynamic problem.
Drawings
Figure 1 is a schematic view of the configuration of the airframe of a quad-rotor aircraft of the present invention.
Fig. 2 is a schematic structural view of the upper center plate in fig. 1.
Fig. 3 is a schematic view of the structure of the lower center plate in fig. 1.
Fig. 4 is a schematic structural view of the horn of fig. 1.
Figure 5 is a schematic view of the structure of the landing gear of figure 1.
In the figure: 1-an upper central plate; 2-an electronic speed regulator; 3-flight control; 4-flight control damping plate; 5-carbon fiber tubes; 6-a sponge shock tube; 7-a landing gear; 8-cell structure; 9-lower center plate; 10-a shock absorbing ball; 11-a robotic arm linkage; 12-a horn; 13-a propeller configuration; 14-GPS architecture.
Detailed Description
The invention aims to provide a four-rotor aircraft frame, which aims to solve the problems that the existing four-rotor aircraft is complex in mechanical structure, inconvenient to control, low in control efficiency and complex in aerodynamics. In order to realize the purpose, the following technical scheme is specifically provided:
in the embodiment of the invention, as shown in fig. 1, a four-rotor aircraft frame comprises a main frame body additionally provided with an undercarriage 7; the main frame body comprises four propeller structures 13 which are distributed in an X-shaped array with unequal included angles; the main frame body is provided with an electronic speed regulator 2 which is used for acting on the propeller structures 13, the electronic speed regulator 2 is used for regulating and controlling the rotating speed of the propeller structures 13, and hovering movement, lifting movement, pitching movement, rolling movement and yawing movement are completed by regulating different rotating speeds of the four propeller structures 13; the main frame body is provided with an energy supply structure connected to the propeller structure 13.
In the embodiment of the present invention, the pulling force of a single propeller of a four-rotor aircraft in a hovering state can be expressed as:
wherein C isTThe coefficient of tension of the propeller can be obtained through experiments; omegaiThe rotational speed angular velocity of the propeller arrangement 13.
The moment that four rotor crafts produced single screw under the state of hovering is:
wherein, CMThe torque coefficient of the propeller can also be obtained through experiments.
The total pull in four rotors can be expressed as:
the moment generated on three axes of the traditional cross-shaped four-rotor wing in any motion state is as follows:
wherein d is the distance from the geometric center of the four rotors to the geometric center of the motor.
The matrix of the total moment of the cross-shaped quadrotors can be deduced by the formulas (4-1), (4-2), (4-3) and (4-4):
since each propeller structure 13 of the four rotors distributed in the X-shaped array forms an angle of 45 degrees with the installation direction of the autopilot, the moments in three axes in any motion state are:
the matrix of the total moment of the four rotors distributed in the X-shaped array can be deduced by the formulas (4-1), (4-2), (4-3) and (4-6) as follows:
comparing matrixes (4-5) and (4-7), wherein 4 motors are used as input quantities, but the output quantity of the quadrotors distributed in the X-shaped array is obviously more than that of the quadrotors in the traditional cross-shaped layout;
the four propeller structures 13 are distributed in an X-shaped array with unequal included angles, and after the rotation speed is regulated and controlled by the electronic speed regulator 2, the four propeller structures 13 are independently subjected to speed regulation to complete hovering movement, lifting movement, pitching movement, rolling movement and yawing movement, so that the control efficiency is low; the four-axis aircraft has a simple mechanical structure, is convenient to control, and does not need to consider the complicated aerodynamic problem.
In the embodiment of the present invention, as shown in fig. 1, the energy supply structure includes a battery structure 8, and the battery structure 8 is electrically connected to the propeller structure 13; the battery structure 8 includes a battery mounting plate, and a battery mounted on the battery mounting plate. Further, the battery comprises a lithium polymer battery and a nickel-hydrogen battery; the propeller structure 13 is provided with a motor and a propeller arranged on an output shaft of the motor, and the optimized propeller is a double-blade propeller. The battery includes the types not limited to the lithium polymer battery and the nickel-metal hydride battery as long as the requirement of providing energy is met, and the preferred battery includes the lithium polymer battery and the nickel-metal hydride battery; the number of the blades is not limited as long as the rotating takeoff can be provided, and preferably, the propeller is a double-blade propeller.
In the embodiment of the invention, as shown in fig. 1-4, an upper central plate 1 and a lower central plate 9 are additionally arranged on the main frame body, and the central plate 1 and/or the lower central plate 9 are made of carbon fibers; the energy supply structure is arranged between the upper central plate 1 and the lower central plate 9; the upper central plate 1 is fixedly installed with a propeller structure 13 through a machine arm 12. Furthermore, a plurality of mechanical arm connecting pieces 11 are additionally arranged between the upper central plate 1 and the lower central plate 9, and the mechanical arm connecting pieces 11 are fixedly connected with a mechanical arm 12; and a plurality of through holes for reducing weight are formed in the upper central plate 1 and/or the lower central plate 9.
In the embodiment of the invention, as shown in fig. 1, a flight control 3 is additionally arranged on the main frame body, and the flight control 3 is installed on the main frame body through a flight control damping plate 4; the flight control damping plate 4 is arranged on the main frame body through a damping ball 10; the main frame body is additionally provided with a GPS structure 14. Further, the GPS structure 14 includes a GPS bracket, and a GPS mounted on the GPS bracket.
In the embodiment of the invention, as shown in fig. 1 and 5, a plurality of carbon fiber tubes 5 are additionally arranged on the undercarriage 7 for mounting a holder device, a plurality of sponge shock tubes 6 for landing are additionally arranged at the bottom of the undercarriage, and the sponge shock tubes 6 can reduce impact force generated during landing; and the landing gear 7 is made of polyformaldehyde materials, so that the landing gear is strong in toughness and not easy to break.
The invention relates to a four-rotor aircraft frame, which comprises a main frame body provided with an undercarriage 7; the main frame body comprises four propeller structures 13 which are distributed in an X-shaped array with unequal included angles; the main frame body is provided with an electronic speed regulator 2 which is used for acting on the propeller structures 13, the electronic speed regulator 2 is used for regulating and controlling the rotating speed of the propeller structures 13, and hovering movement, lifting movement, pitching movement, rolling movement and yawing movement are completed by regulating different rotating speeds of the four propeller structures 13; the main frame body is provided with an energy supply structure connected with the propeller structure 13; the four propeller structures 13 are distributed in an X-shaped array with unequal included angles, and after the rotation speed is regulated and controlled by the electronic speed regulator 2, the four propeller structures 13 are independently subjected to speed regulation to complete hovering movement, lifting movement, pitching movement, rolling movement and yawing movement, so that the control efficiency is low; the four-axis aircraft has a simple mechanical structure, is convenient to control, and does not need to consider the complicated aerodynamic problem.
In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
While the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (9)
1. A four-rotor aircraft frame is characterized in that,
comprises a main frame body provided with an undercarriage;
the main frame body comprises four propeller structures which are distributed in an X-shaped array with different included angles;
the main frame body is provided with an electronic speed regulator which is used for acting on the propeller structures, the electronic speed regulator is used for regulating and controlling the rotating speed of the propeller structures, and hovering movement, lifting movement, pitching movement, rolling movement and yawing movement are completed by regulating different rotating speeds of the four propeller structures;
the main frame body is provided with an energy supply structure connected with the propeller structure.
2. A quad-rotor aircraft airframe according to claim 1,
the energy supply structure comprises a battery structure, and the battery structure is electrically connected to the propeller structure;
the battery structure comprises a battery carrying plate and a battery arranged on the battery carrying plate.
3. A quad-rotor aircraft airframe as claimed in claim 1 or claim 2 wherein the propeller structure includes a motor and a propeller mounted on an output shaft of the motor.
4. A quad-rotor aircraft airframe according to claim 1,
the main frame body is additionally provided with an upper central plate and a lower central plate, and the central plate and/or the lower central plate are made of carbon fibers;
the energy supply structure is arranged between the upper central plate and the lower central plate;
the upper central plate is fixedly installed with the propeller structure through a machine arm.
5. The airframe as recited in claim 4, wherein a plurality of robot arm links are attached between said upper and lower center plates, said robot arm links being fixedly attached to said arms.
6. The airframe as recited in claim 4, wherein said upper and/or lower central panels have a plurality of apertures therethrough for weight reduction.
7. A quad-rotor aircraft airframe according to claim 1,
the main frame body is additionally provided with a flight control, and the flight control is arranged on the main frame body through a flight control damping plate;
the flight control damping plate is arranged on the main frame body through a damping ball;
the main frame body is additionally provided with a GPS structure.
8. A quad-rotor aircraft airframe as recited in claim 7, wherein said GPS structure includes a GPS cradle, and a GPS mounted on the GPS cradle.
9. A quad-rotor craft rack according to claim 1 wherein the landing gear has attached thereto a plurality of carbon fibre tubes and the bottom has attached thereto a plurality of foam shock tubes for landing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010594065.9A CN111717377A (en) | 2020-06-24 | 2020-06-24 | Four-rotor aircraft frame |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010594065.9A CN111717377A (en) | 2020-06-24 | 2020-06-24 | Four-rotor aircraft frame |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111717377A true CN111717377A (en) | 2020-09-29 |
Family
ID=72569096
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010594065.9A Pending CN111717377A (en) | 2020-06-24 | 2020-06-24 | Four-rotor aircraft frame |
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| Country | Link |
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| CN (1) | CN111717377A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113884293A (en) * | 2021-10-11 | 2022-01-04 | 滨州学院 | Bolt tensile test, fatigue test universal fixturing that can conveniently change |
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|---|---|---|---|---|
| CN106061838A (en) * | 2014-01-20 | 2016-10-26 | 罗博杜伯公司 | Multicopters with variable flight characteristics |
| CN107264767A (en) * | 2017-06-02 | 2017-10-20 | 上海交通大学 | A kind of rotor wing unmanned aerial vehicle of Novel lightweight six |
| CN207809771U (en) * | 2017-12-23 | 2018-09-04 | 沈阳航空航天大学 | Disk like duct quadrotor |
| US10099784B1 (en) * | 2014-08-11 | 2018-10-16 | Fpv Manuals Llc | Frame for rotary wing aircraft |
| CN208086005U (en) * | 2018-03-19 | 2018-11-13 | 吉林大学 | A kind of quadrotor of traceable ground target |
| CN109703755A (en) * | 2018-12-12 | 2019-05-03 | 农业部南京农业机械化研究所 | A kind of agricultural quadrotor low altitude remote sensing platform and its control method |
-
2020
- 2020-06-24 CN CN202010594065.9A patent/CN111717377A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106061838A (en) * | 2014-01-20 | 2016-10-26 | 罗博杜伯公司 | Multicopters with variable flight characteristics |
| US10099784B1 (en) * | 2014-08-11 | 2018-10-16 | Fpv Manuals Llc | Frame for rotary wing aircraft |
| CN107264767A (en) * | 2017-06-02 | 2017-10-20 | 上海交通大学 | A kind of rotor wing unmanned aerial vehicle of Novel lightweight six |
| CN207809771U (en) * | 2017-12-23 | 2018-09-04 | 沈阳航空航天大学 | Disk like duct quadrotor |
| CN208086005U (en) * | 2018-03-19 | 2018-11-13 | 吉林大学 | A kind of quadrotor of traceable ground target |
| CN109703755A (en) * | 2018-12-12 | 2019-05-03 | 农业部南京农业机械化研究所 | A kind of agricultural quadrotor low altitude remote sensing platform and its control method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113884293A (en) * | 2021-10-11 | 2022-01-04 | 滨州学院 | Bolt tensile test, fatigue test universal fixturing that can conveniently change |
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Application publication date: 20200929 |
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