CN117104548A - Composite structure ball balance aircraft - Google Patents

Composite structure ball balance aircraft Download PDF

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Publication number
CN117104548A
CN117104548A CN202311317514.5A CN202311317514A CN117104548A CN 117104548 A CN117104548 A CN 117104548A CN 202311317514 A CN202311317514 A CN 202311317514A CN 117104548 A CN117104548 A CN 117104548A
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CN
China
Prior art keywords
load
fixed
board
system device
motor
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.)
Pending
Application number
CN202311317514.5A
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Chinese (zh)
Inventor
姬书得
岳玉梅
刘震磊
王涵玉
王宝广
胡为
龚鹏
任赵旭
王留芳
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Shenyang Aerospace University
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Shenyang Aerospace University
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Filing date
Publication date
Application filed by Shenyang Aerospace University filed Critical Shenyang Aerospace University
Priority to CN202311317514.5A priority Critical patent/CN117104548A/en
Publication of CN117104548A publication Critical patent/CN117104548A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/17—Helicopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/003—Multidirectional wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/14—Ball-type wheels
    • 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
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/80—UAVs characterised by their small size, e.g. micro air vehicles [MAV]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/70—Constructional aspects of the UAV body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • 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
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/294—Rotors arranged in the UAV body
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power

Abstract

The application relates to a composite structure ball balance aircraft, which belongs to the technical field of aircrafts, and comprises a rotor wing system device at the top, wherein a power and transmission system device is arranged at the bottom of the rotor wing system device; the frame structure comprises a central shaft and a plurality of load plates, wherein the central shaft is coaxially connected with an inner tilting plate and an outer tilting plate, and the outer tilting plate and the inner tilting plate can respectively rotate around mutually perpendicular rotating shafts; the outside parcel of load board has the aircraft safety cover, and the inside bottom of aircraft safety cover is provided with the roll supporting mechanism, and the ball-type wheel setting of land traveling system is on the roll supporting mechanism, is located the load board below. The application has the advantages of good stability, portability, smaller radial dimension and partial load, has the functions of land omnidirectional running and flying, and can realize the tasks of flying in a narrow space and land running.

Description

Composite structure ball balance aircraft
Technical Field
The application belongs to the technical field of aircrafts, and particularly relates to a composite structure ball balance aircraft.
Background
In recent years, small aircrafts are rapidly developed, and the miniaturization of aircrafts enables the aircrafts to adapt to each corner of a battlefield in the military field, meanwhile, the aircrafts are flexible and not easy to find by places, and the aircrafts are convenient for wide users in the civil field and adapt to various exploration and search and rescue works. The small coaxial double-rotor unmanned aerial vehicle is similar to a coaxial double-rotor helicopter, is a rotor type aerial vehicle taking rotor force as a main lifting component, and has obvious advantages compared with other types of aerial vehicles, namely the small coaxial double-rotor unmanned aerial vehicle has the characteristics of vertical take-off and landing, fixed-point hovering and narrow space obstacle avoidance flight. The flight capability enables the runway to be capable of adapting to various civil and military tasks, such as searching, rescuing and monitoring in complex terrain environments of polar regions, plateaus, mountainous areas and urban building groups.
The existing coaxial double-oar aircraft has relatively perfect flight performance and has the functions of vertical take-off and landing, hovering and low-altitude flight. The remote control flight function of the aircrafts is perfect, but the aircrafts do not have the amphibious capability, are difficult to pass through the narrow and low-altitude terrain which is difficult to fly, and cannot finish the flight tasks under the conditions.
Disclosure of Invention
Aiming at the defects existing in the prior art, the application provides a composite structure ball balance aircraft.
A composite structure ball balance aircraft comprises a rotor wing system device at the top, wherein a power and transmission system device is arranged at the bottom of the rotor wing system device, a flight control system device is fixed on the power and transmission system device through a frame structure, and a land running system is arranged at the bottom of the frame structure;
the frame structure comprises a central shaft and a plurality of load plates, wherein the central shaft is coaxially connected with an inner tilting tray and an outer tilting tray, the side surfaces of the outer tilting tray are symmetrically connected to the upper ends of the two support columns through pin rotating shafts, and the outer tilting tray can rotate around the rotating shafts; the side surface of the inner inclined disc is connected with the inner surface of the outer inclined disc through a pin rotating shaft, and the inner inclined disc can rotate around the rotating shaft; the rotating shaft of the outer tilting tray is vertically arranged with the rotating shaft of the inner tilting tray; the bottom of the support column is sequentially and coaxially provided with a plurality of load plates; the rotor wing system device is connected with the inner tilting plate in a fastening connection mode;
the outside parcel of load board has the aircraft safety cover, and the inside bottom of aircraft safety cover is provided with the roll supporting mechanism, and the ball-type wheel setting of land traveling system is on the roll supporting mechanism, is located the load board below.
The load boards comprise three load boards, namely a first load board, a second load board and a third load board from top to bottom, and the centers of the three load boards are all on the axle center of the central shaft; the support column is connected with the first load plate in a fastening connection mode, and the first load plate, the second load plate and the third load plate are connected through pins; the bottom of support column passes through bolted connection at the upper surface of first load board, and two support columns are arranged for first load board central symmetry.
The aircraft protective cover is a detachable protective cover.
The rolling support mechanism comprises a support shaft, a rolling shaft and bearings, wherein the bearings are connected through holes, every two bearings are symmetrically arranged into a group, the two groups are divided into 90 degrees, and the bearings are fixed at the lower end of the aircraft protective cover; the support shaft is fixed with the bearing inner ring and can rotate along with the bearing; the inner ring of the roller is tangent to the supporting shaft and fixed on the supporting shaft, and can rotate along with the supporting shaft.
The rotor wing system device comprises a double motor, wherein the double motor is arranged on the central shaft and is positioned above the inner tilting plate; the top of the double motor is connected with a coaxial double-rotor, namely an upper rotor assembly arranged horizontally and a lower rotor arranged horizontally, and the two groups of rotor assemblies are concentric in rotating shaft to form a coaxial double-rotor aircraft; the lower machine of the double motors is connected with the lower rotor wing, and the upper motor is connected with the upper rotor wing and adopts double-motor differential operation; the paddle is fixed on the clamping seat through a flexible gasket and a screw, and four pieces are provided; the clamping seat is fixed on the output shaft of the double motor through a bearing; the wing hub is fixed on the central shaft; the gears connected with the output shafts of the double motors are arranged on two sides, so that the center of gravity is ensured to be in the center of the central shaft.
The power and transmission system device comprises two groups of steering gears which are arranged vertically to each other and fixed on the lower surface of the first load board, and the steering gears are fixed through steering gear supports; the side surface of the inner tilting plate is rotationally connected with an inner tilting plate transmission rod, the side surface of the outer tilting plate is rotationally connected with an outer tilting plate transmission rod, and the other ends of the inner tilting plate transmission rod and the outer tilting plate transmission rod are respectively connected with two steering engines through torque arms; the upper surface of the first load board is fixed with an electric adjuster through cementing; the second load board is a circuit control integrated board, namely a pcb board, and the upper surface of the second load board is fixed with a shock absorber and a PX4 flight control board of a flight control system device; the third load board is a circuit control integrated board, namely a pcb board, and the battery is fixed on the third load board through glue joint; the third load board is provided with an STM32F7 chip controller, an accelerometer, a gyroscope, a magnetometer and a barometer integrated device of a flight control system device; the PX4 flight control board is connected with the electric and pcb board through a data transmission line to realize the transmission of control signals and the acquisition of attitude and position information, and the PX4 flight control board is in wireless connection with the remote controller; the lower surface of the third load board is connected with a plurality of motor support frames through bolts, and the motor support frames are fixed in a 45-degree inclined mode.
The land traveling system device further comprises a motor, and the motor is fixed in the motor support frame through bolts; the output end of the motor is connected with omni-wheels, and the three omni-wheels are fixed at intervals of 120 degrees to form an omni-wheel supporting structure; the ball-type wheel is arranged between the omni-wheel supporting structure and the rolling supporting mechanism.
The beneficial effects of the application are as follows:
1. compared with the existing aircraft, the structure of the application is simplified, and only the transverse and longitudinal period variable pitch of the upper rotor wing is changed to control the forward flight and the side flight of the aircraft; the control of the machine body course is realized through the differential speed of the upper rotor wing and the lower rotor wing, so that the design of the control mechanism is simplified, and the complexity of the machine body structure is reduced.
2. The device has the capability of vertical take-off and landing, hovering and fixed-point cruising.
3. The lower part adopts the design of a ball balance mechanism, thereby creating an air-ground amphibious unmanned intelligent small multipurpose aircraft, realizing the functions of land traveling and obstacle crossing, realizing single-point contact with the ground, having very flexible movement, almost zero turning radius, and better protecting the internal fittings of the aircraft body by designing a circular aircraft body cover around the aircraft body.
The application has the advantages of good stability, portability, smaller radial dimension and partial load, has the functions of land omnidirectional running and flying, and can realize the tasks of flying in a narrow space and land running.
Drawings
FIG. 1 is a schematic view of the overall structure of an aircraft provided by the present application;
FIG. 2 is a schematic view of the internal structure of the present application;
FIG. 3 is a schematic view of a frame structure in the present application;
FIG. 4 is a perspective view of a first loadboard portion of the present application;
FIG. 5 is a front view of a first loadboard portion of the present application;
FIG. 6 is a schematic illustration of the connection of support column sections in the present application;
FIG. 7 is a schematic view of a portion of an aircraft protective cover in accordance with the application;
FIG. 8 is a bottom view of the boot portion of the aircraft of the present application;
FIG. 9 is a schematic view of a rolling support mechanism in the present application;
figure 10 is a schematic view of a rotor assembly of the present application;
FIG. 11 is a schematic diagram of a land travel system according to the present application;
wherein,
rotor system device 1, hub 11, blade 12, bearing I13, cartridge 14, power and transmission system device 2, dual motor 21, output shaft 22, flight control system device 3, swashplate 31, swashplate 32, swashplate drive rod 33, swashplate drive rod 34, torque arm 35, steering engine 36, px4 flight control board 37, electric trim 39, stm32f7 chip controller 310, barometer integrated device 311, battery 312, damper 313, land travel system 4, omni wheel 41, motor support frame 42, motor 43, ball wheel 44, frame structure 5, support shaft 51, roller 52, bearing II 53, aircraft shroud 54, central shaft 55, first load plate 56, second load plate 57, third load plate 58, stationary post 59, support post 510.
Detailed Description
For better explanation of the present application, for easy understanding, the technical solution and effects of the present application will be described in detail below by way of specific embodiments with reference to the accompanying drawings.
As shown in fig. 1-2, a composite structural ball balance aircraft comprises a rotor system device 1 at the top, a power and transmission system device 2 is arranged at the bottom of the rotor system device 1, a flight control system device 3 is fixed on the power and transmission system device 2 through a frame structure 5, and a land running system 4 is arranged at the bottom of the frame structure 5.
The frame structure 5 comprises a central shaft 55 and a plurality of load plates, the central shaft 55 is a pivot for connecting the whole aircraft system, the central shaft 55 is coaxially connected with an inner tilting plate 31 and an outer tilting plate 32, the side surfaces of the outer tilting plate 32 are symmetrically connected to the upper ends of two support columns 510 through pin shafts, and the outer tilting plate 32 can rotate around the rotating shafts; the side surface of the inner inclined disc 31 is connected to the inner surface of the outer inclined disc 32 through a pin rotating shaft, and the inner inclined disc 31 can rotate around the rotating shaft; the rotation axis of the outer swash plate 32 is arranged perpendicular to the rotation axis of the inner swash plate 31. As shown in fig. 3-6, three load plates are coaxially arranged at the bottom of the support column 510 in sequence, and two adjacent load plates are fixedly connected through a fixing support 59. The central axis 55 is the axis of the entire aircraft and is the hub connecting the other parts. The rotor system device 1 is connected to the swashplate 31 by means of a secure connection. The load boards comprise three load boards, namely a first load board 56, a second load board 57 and a third load board 58 from top to bottom, and the centers of the three load boards are all on the axle center of the central shaft 55. The support column 510 is connected to the first load plate 56 by a fastening connection, and the first load plate 56, the second load plate 57, and the third load plate 58 are connected by pins. The bottoms of the support columns 510 are connected to the upper surface of the first load plate 56 by bolts, and the two support columns 510 are arranged symmetrically with respect to the center of the first load plate 56.
7-9, the exterior of the load board is wrapped with an aircraft protection cover 54, and the aircraft protection cover 54 is a detachable protection cover, so that the smooth flight of the aircraft is ensured, and the internal components are protected; the bottom end inside the aircraft boot 54 is provided with a rolling support mechanism on which the ball wheels 44 are disposed.
The rolling support mechanism comprises a support shaft 51, a rolling shaft 52 and a bearing II 53, wherein the bearing II 53 is connected through holes, every two bearings are symmetrically formed into a group, the two groups are divided into 90 degrees, and each group of included angles are fixed at the lower end of the aircraft protective cover; the supporting shaft 51 is fixed with the inner ring of the bearing II 53 and can rotate along with the bearing II 53; the inner ring of the roller 52 is tangent to the supporting shaft 51, and is fixed on the supporting shaft 51 to rotate along with the supporting shaft 51.
The rotor system device 1 comprises a double motor 21, wherein the double motor 21 is arranged on the central shaft 55 and is positioned above the inner tilting plate 31; the top of the double motor 21 is connected with a coaxial double rotor, namely an upper rotor assembly arranged horizontally and a lower rotor arranged horizontally, and the two groups of rotor assemblies are concentric in rotating shaft to form a coaxial double rotor aircraft; the upper rotor assembly is shown in figure 10; the lower machine of the double motor 21 is connected with the lower rotor, the upper machine is connected with the upper rotor, and differential operation of the double motor 21 is adopted. The paddle 12 is fixed on the clamping seat 14 through a flexible gasket and screws, and four pieces are provided; the flexible gasket provides space for the rotor to swing up and down, and prevents unnecessary structural member resonance from occurring when the rotor system rotates; the clamping seat 14 is fixed on an output shaft 22 of the double motor 21 through a bearing I13; the hub 11 is fixed to the central shaft 55. The double motors 21 enable a pair of propellers with opposite pitches to rotate at equal speed and in opposite directions, and the torque is counteracted internally, so that the flying stability is ensured. The gears connected with the output shafts 22 of the double motors 21 are arranged on two sides of the double motors 21, so that the center of gravity is ensured to be in the center of the central shaft 55.
Two sets of rotor assemblies of rotor system adopt the structure of upper rotor variable pitch, lower rotor unchangeable pitch.
The power and transmission system device 2 comprises two groups of steering gears 36 which are arranged vertically, the steering gears 36 are fixed on the lower surface of a first load plate 56, and the steering gears 36 are fixed through steering gear supports; the side of the inner tilting plate 31 is rotationally connected with an inner tilting plate driving rod 33, the side of the outer tilting plate 32 is rotationally connected with an outer tilting plate driving rod 34, the other ends of the inner tilting plate driving rod 33 and the outer tilting plate driving rod 34 are respectively connected with two steering engines 36 through torque arms 35, and the steering engines 36 provide power for the inner tilting plate 31 and the outer tilting plate 32. The upper surface of the first load board 56 is fixed with the electric adjuster 39 through cementing, and the first load board 56 enables the steering engine 36 and the electric adjuster 39 to be stably fixed on the machine body. The second load board 57 is a pcb board, which is a circuit control board, and a damper 313 and a PX4 flight control board 37 of the flight control system device 3 are fixed to the upper surface thereof. As shown in fig. 11, the third load board 58 is a circuit control board, i.e., pcb board, and the battery 312 is fixed to the third load board 58 by gluing; the third load board 58 is provided with an STM32F7 chip controller 310, an accelerometer, a gyroscope, a magnetometer and a barometer integrated device 311 of the flight control system device 3, the circuit parts with the same structure adopt a symmetrical layout, and the layout is optimized by adopting the principles of stable gravity center, uniform devices and attractive board surface, so that the control on the lower part is realized; the PX4 flight control board 37 is connected with the electric regulator 39 and the pcb board through a data transmission line, so that the transmission of control signals and the acquisition of attitude and position information are realized, and the PX4 flight control board 37 is in wireless connection with a remote controller. The lower surface of the third load plate 58 is connected with a plurality of motor support frames 42 through bolts, the motor support frames 42 are fixed in a 45-degree inclined manner, and in the embodiment, the three motor support frames 42 are uniformly arranged along the circumferential direction of the third load plate 58.
The land traveling system 4 device comprises a motor 43, wherein the motor 43 is fixed in a motor support frame 42 through bolts, and the motor 43 is a stepping motor; the output end of the motor 43 is connected with an omni-wheel 41, and the three omni-wheels 41 are fixed at intervals of 120 degrees to form an omni-wheel 41 supporting structure. A thrust bearing is provided between the output shaft of the motor 43 and the omni-wheel 41.
The battery 312 supplies power to the dual motors 21, PX4 flight control board 37, the electric motor 39, the steering engine 36, the third load board 58, the pcb board and the motor 43.
The ball wheel 44 is arranged between the omni wheel 41 support structure and the rolling support mechanism. The three omni wheels 41 of the support structure of the omni wheels 41 generate downward force by gravity, and the rolling support structure consisting of the support shaft 51, the rolling shaft 52 and the bearing II 53 generates upward force under the interaction of the aircraft gravity, so that the ball wheels 44 are clamped between the rolling support structure and the land travel system 4, and the ball wheels 44 do not fall in the flight mode.
The working principle of the aircraft is as follows:
flight mode: the PX4 flight control board 37 receives the vertical take-off and landing or hovering command signal sent by the remote controller, sends a signal to the electric regulator 39 through the data transmission line, and after receiving the signal, the electric regulator 39 controls the double motors 21 through the data transmission line, and the double motors 21 are started to drive the paddles 12 to generate downward airflow, so as to provide vertical lifting force, and the aircraft realizes vertical take-off and landing and hovering actions.
When receiving the roll command signal, the PX4 flight control board 37 sends the command signal to the steering engine 36 through the data transmission line, controls the steering engine 36 to rotate, the steering engine 36 swing arm drives the transmission rods on two sides of the camber plate 32 to move, the inner camber plate 31 and the camber plate 32 swing along with the swing angles of the two steering engines 36 and tilt towards a certain fixed direction, at this time, the inner camber plate 31 and the camber plate 32 drive the pitch-changing cross rod of the rotor system to tilt, so that the period tilting of the rotor surface is caused, namely, the period pitch change of the rotor is realized, and the control of the roll motion of the aircraft is realized.
When the PX4 flight control board 37 receives the flight command signal, the PX4 flight control board 37 sends the command signal to the dual motor 21 through the transmission line of the electric regulator 39, the dual motor 21 controls the rotor to rotate in the air, and applies torque to the surrounding air, and the rotor is also subjected to the counter torque. Under the flight state of constant heading, the coaxial double-rotor aircraft has the advantages that the rotating speeds of the upper rotor wing and the lower rotor wing are equal, the directions of the upper rotor wing and the lower rotor wing are opposite, and the torque generated by the two rotor wings are offset. The PX4 flight control board 37 receives the yaw flight command signal, the PX4 flight control board 37 sends the command signal to the double motor 21 through the electric adjustment 39 transmission line, the double motor 21 controls the rotation speed between the upper rotor wing and the lower rotor wing, and the differential torque is generated to realize yaw control, and the flight heading is controlled. According to the pre-stored tasks, the PX4 flight control board 37 controls the aircraft to switch in the above state so as to implement hover and fixed-point cruise functions.
Land travel mode: in the land driving mode, when the fuselage of the aircraft generates an inclination angle in a certain direction, the attitude measurement sensor unit carried on the pcb of the aircraft rapidly measures the tilting trend of the aircraft, and the measured inclination angle is input into the STM32F7 chip controller 310 as a feedback quantity, the STM32F7 chip controller 310 makes a control instruction for the stepping motor, namely the motor 43 through a data transmission line according to the attitude information and the position information of the aircraft at the moment, and the stepping motor drives the omnidirectional wheel 41 to rotate to drive the spherical wheel 44 to move towards the tilting direction of the aircraft, so that the aircraft keeps balanced.
The driving of the ground function of the aircraft is achieved by means of a ground-based driving system 4. The STM32F7 chip controller 310 sends a working instruction to the motor 43, the motor 43 drives the three omnidirectional wheels 41 to rotate to generate speeds in three directions, and if the three speeds are the same, the omnidirectional wheels 41 drive the spherical wheels 44 to rotate at the moment so as to drive the robot to generate in-situ autorotation; if the speeds are different, the combined speed of the three speeds can drive the spherical wheel 44 to run along the designated direction, so that the aircraft can generate motion in any direction. If the robot moves forward, two of the omni-directional wheels 41 rotate clockwise or anticlockwise at equal speed, and the other omni-directional wheel 41 does not move, so that the forward speed is synthesized, and the spherical wheel 44 rolls forward to drive the robot to move forward.
In the land driving mode, the working body is an STM32F7 chip controller 310, an accelerometer, a gyroscope, a magnetometer and barometer integrated device 311 and an omnidirectional wheel 41 supporting structure which are arranged on a pcb. Each omni wheel 41 is directly connected to the shaft of the stepper motor, without a reduction gear, which reduces backlash of the mechanism. The use of motors reduces the cost of the land travel system 4, the drive circuitry and the control software because they have an open loop characteristic and their torque is greater than that of a dc servo motor. The configuration of the stepper motor, omni-wheel 41 and ball-wheel 44 provides a smooth, low-oscillating motion for the robot. Each omni wheel 41 is fixed by a shaft so that the omni wheel 41 is perpendicular to the tangential plane of the ball, and the omni wheel 41 and the ball wheel 44 have only one contact line, so that the robot can be driven on the undulating surface conveniently, and the land running function is realized.

Claims (7)

1. A composite structural ball balanced aircraft, characterized in that: the system comprises a rotor wing system device at the top, a power and transmission system device arranged at the bottom of the rotor wing system device, a flight control system device fixed on the power and transmission system device through a frame structure, and a land running system arranged at the bottom of the frame structure;
the frame structure comprises a central shaft and a plurality of load plates, wherein the central shaft is coaxially connected with an inner tilting tray and an outer tilting tray, the side surfaces of the outer tilting tray are symmetrically connected to the upper ends of the two support columns through pin rotating shafts, and the outer tilting tray can rotate around the rotating shafts; the side surface of the inner inclined disc is connected with the inner surface of the outer inclined disc through a pin rotating shaft, and the inner inclined disc can rotate around the rotating shaft; the rotating shaft of the outer tilting tray is vertically arranged with the rotating shaft of the inner tilting tray; the bottom of the support column is sequentially and coaxially provided with a plurality of load plates; the rotor wing system device is connected with the inner tilting plate in a fastening connection mode;
the outside parcel of load board has the aircraft safety cover, and the inside bottom of aircraft safety cover is provided with the roll supporting mechanism, and the ball-type wheel setting of land traveling system is on the roll supporting mechanism, is located the load board below.
2. A composite structural ball balanced aircraft according to claim 1, wherein: the load boards comprise three load boards, namely a first load board, a second load board and a third load board from top to bottom, and the centers of the three load boards are all on the axle center of the central shaft; the support column is connected with the first load plate in a fastening connection mode, and the first load plate, the second load plate and the third load plate are connected through pins; the bottom of support column passes through bolted connection at the upper surface of first load board, and two support columns are arranged for first load board central symmetry.
3. A composite structural ball balanced aircraft according to claim 1, wherein: the aircraft protective cover is a detachable protective cover.
4. A composite structural ball balanced aircraft according to claim 1, wherein: the rolling support mechanism comprises a support shaft, a rolling shaft and bearings, wherein the bearings are connected through holes, every two bearings are symmetrically arranged into a group, the two groups are divided into 90 degrees, and the bearings are fixed at the lower end of the aircraft protective cover; the support shaft is fixed with the bearing inner ring and can rotate along with the bearing; the inner ring of the roller is tangent to the supporting shaft and fixed on the supporting shaft, and can rotate along with the supporting shaft.
5. A composite structural ball balanced aircraft according to claim 1, wherein: the rotor wing system device comprises a double motor, wherein the double motor is arranged on the central shaft and is positioned above the inner tilting plate; the top of the double motor is connected with a coaxial double-rotor, namely an upper rotor assembly arranged horizontally and a lower rotor arranged horizontally, and the two groups of rotor assemblies are concentric in rotating shaft to form a coaxial double-rotor aircraft; the lower machine of the double motors is connected with the lower rotor wing, and the upper motor is connected with the upper rotor wing and adopts double-motor differential operation; the paddle is fixed on the clamping seat through a flexible gasket and a screw, and four pieces are provided; the clamping seat is fixed on the output shaft of the double motor through a bearing; the wing hub is fixed on the central shaft; the gears connected with the output shafts of the double motors are arranged on two sides, so that the center of gravity is ensured to be in the center of the central shaft.
6. A composite structural ball balanced aircraft according to any one of claims 2 to 5, wherein: the power and transmission system device comprises two groups of steering gears which are arranged vertically to each other and fixed on the lower surface of the first load board, and the steering gears are fixed through steering gear supports; the side surface of the inner tilting plate is rotationally connected with an inner tilting plate transmission rod, the side surface of the outer tilting plate is rotationally connected with an outer tilting plate transmission rod, and the other ends of the inner tilting plate transmission rod and the outer tilting plate transmission rod are respectively connected with two steering engines through torque arms; the upper surface of the first load board is fixed with an electric adjuster through cementing; the second load board is a circuit control integrated board, namely a pcb board, and the upper surface of the second load board is fixed with a shock absorber and a PX4 flight control board of a flight control system device; the third load board is a circuit control integrated board, namely a pcb board, and the battery is fixed on the third load board through glue joint; the third load board is provided with an STM32F7 chip controller, an accelerometer, a gyroscope, a magnetometer and a barometer integrated device of a flight control system device; the PX4 flight control board is connected with the electric and pcb board through a data transmission line to realize the transmission of control signals and the acquisition of attitude and position information, and the PX4 flight control board is in wireless connection with the remote controller; the lower surface of the third load board is connected with a plurality of motor support frames through bolts, and the motor support frames are fixed in a 45-degree inclined mode.
7. A composite structural ball balanced aircraft according to claim 6, wherein: the land traveling system device further comprises a motor, and the motor is fixed in the motor support frame through bolts; the output end of the motor is connected with omni-wheels, and the three omni-wheels are fixed at intervals of 120 degrees to form an omni-wheel supporting structure; the ball-type wheel is arranged between the omni-wheel supporting structure and the rolling supporting mechanism.
CN202311317514.5A 2023-10-12 2023-10-12 Composite structure ball balance aircraft Pending CN117104548A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311317514.5A CN117104548A (en) 2023-10-12 2023-10-12 Composite structure ball balance aircraft

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311317514.5A CN117104548A (en) 2023-10-12 2023-10-12 Composite structure ball balance aircraft

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CN117104548A true CN117104548A (en) 2023-11-24

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CN202311317514.5A Pending CN117104548A (en) 2023-10-12 2023-10-12 Composite structure ball balance aircraft

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Country Link
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