CN201842257U - Electric collision-preventive safe unmanned helicopter - Google Patents
Electric collision-preventive safe unmanned helicopter Download PDFInfo
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- CN201842257U CN201842257U CN2010205812686U CN201020581268U CN201842257U CN 201842257 U CN201842257 U CN 201842257U CN 2010205812686 U CN2010205812686 U CN 2010205812686U CN 201020581268 U CN201020581268 U CN 201020581268U CN 201842257 U CN201842257 U CN 201842257U
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Abstract
An electric collision-preventive safe unmanned helicopter is characterized in that a support frame is connected into a central duct of an inner cavity of a disk helicopter body, a main rotor wing power transmission mechanism is fixedly connected to the center of the support frame, main rotor wings are respectively coaxially connected to the upper end and the lower end of the main rotor wing power transmission mechanism, altitude control auxiliary rotor wing ducts are respectively symmetrically connected to two sides of the lateral front of the disk helicopter body, and altitude control auxiliary rotor wings are connected into the altitude control auxiliary rotor wing ducts by altitude control auxiliary power transmission mechanisms. The electric collision-preventive safe unmanned helicopter has the advantages that 1, reliability and stability of a flight control system are effectively guaranteed, 2, flight safety in complicated environments is improved, and more safety, quietness, simplicity and reliability of the helicopter are realized, and 3, the unmanned helicopter is excellent in vertical take-off and landing and reliable and stable in flight control performance, and has wide application prospect.
Description
Technical field
The utility model relates to a kind of depopulated helicopter, relates in particular to a kind of electronic anti-collision safety depopulated helicopter.
Background technology
As everyone knows, unmanned plane has all obtained widespread use and develop rapidly because of its distinct technical characterstic in the military and civilian field in recent years, especially have demand widely in fields such as military surveillance, anti-terrorism, public security, fire-fighting, forest inspection, nuclear leakage detection and the disaster relief, it is representing an important development direction of following aerocraft.In various unmanned plane schemes, compare with unmanned fixed wing aircraft, unmanned autogyro can vertical takeoff and landing, not to the dependence of airfield runway, can either realize hovering and before fly, has good comprehensive advantage, but existing unmanned autogyro great majority are motion coupled systems, in-flight direction and attitude are coupled, be unfavorable for flicon, alerting ability and less stable, and blade is exposed to the fuselage outside, the blade of high speed revolution is easy to meet other objects and produces aircraft accident, and the blade of high speed revolution also is fatal threat to operating personal simultaneously.In addition, existing unmanned autogyro also exists some to be not so good as the people's will part aspect the quiet feature of environmental protection and the economy, be difficult to satisfy the application under the complex environments such as city and mountain region.
Summary of the invention
The purpose of this utility model is to provide a kind of electronic anti-collision safety depopulated helicopter, solves the motion of traditional unmanned autogyro and the flight control system complexity that the coupling of attitude height causes, poor stability; Rotor blade exposes and causes poor stability and a series of problems such as noise is big, cost height, to promote the application of depopulated helicopter at complex environments such as city, forests.
The utility model is achieved like this, it comprises dish-shaped fuselage, inner chamber central authorities duct, bracing frame, the main rotor Power train, attitude is controlled secondary rotor duct, attitude is controlled secondary Power train, attitude is controlled secondary rotor, advance duct, propelling spiral shell slurry, the anti-collision air bag, main rotor, it is characterized in that being connected with bracing frame in the inner chamber central authorities duct of dish-shaped fuselage, the central authorities of bracing frame are fixed with the main rotor Power train, on the main rotor Power train, the coaxial respectively main rotor that is connected with in lower end, the both sides, side the place ahead of dish fuselage symmetry respectively are connected with attitude and control secondary rotor duct, attitude is controlled in the secondary rotor duct and to be controlled secondary Power train by attitude and be connected with attitude and control secondary rotor, the dish-shaped fuselage that two attitudes are controlled between the secondary rotor duct is provided with the propelling duct, advance to be connected with in the duct and advance the spiral shell slurry, the main rotor Power train, advance the spiral shell slurry to control secondary Power train with attitude and be connected power supply and controller respectively, the outer rim of butterfly fuselage is provided with a circle anti-collision air bag.
Described main rotor Power train comprises main rotor, rotor shaft, driven gear, servomotor, and upper and lower main rotor is symmetrical coaxial connection rotor shaft respectively, and rotor shaft connects driven gear by bearing, and driven gear connects servomotor by driving gear.
Described attitude is controlled secondary Power train and is comprised that servomotor, attitude control secondary rotor, pull bar, rocking arm, steering wheel, and servomotor connects attitude by rotor shaft and controls secondary rotor, and attitude is controlled secondary rotor and connected rocking arm by pull bar, and rocking arm connects steering wheel.
The utility model has the advantages that: 1, it all adopts separately fully independently power face and control surface, has overcome the serious problem of traditional unmanned helicopter flight control coupling, has effectively ensured the reliability and stability of flight control system; 2, overall structure adopts whole rotors and blade to be built in the duct and dish-shaped anti-collision air bag, has improved the flight safety under the complex environment, and aircraft is safer, quiet and succinct reliable; 3, this unmanned plane has good vertical takeoff and landing and performance is controlled in reliable and stable flying, can carry out under complex environments such as city, forest that fire flood situation monitoring, forest inspection, oil pipeline supervision, nuclear leakage are surveyed, control the traffic, pursued and captured an escaped prisoner, aerophotography and advertising etc., can be used for military situation scouting, anti-terrorism and antisubmarine clearance etc. in military field, is a kind of unmanned vehicle with broad prospect of application.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Fig. 2 is the structural representation of the utility model main rotor Power train.
Fig. 3 controls the structural representation of secondary Power train for the utility model attitude.
In the drawings, 1, dish-shaped fuselage 2, inner chamber central authorities duct 3, bracing frame 4, main rotor Power train 5, attitude control that secondary rotor duct 6, attitude are controlled secondary Power train 7, attitude is controlled secondary rotor 8, advances duct 9, advanced spiral shell slurry 10, anti-collision air bag 11, main rotor 12, rotor shaft 13, driven gear 14, servomotor ⅰ 15, servomotor ⅱ 16, pull bar 17, rocking arm 18, steering wheel.
The specific embodiment
As shown in Figure 1, the utility model is achieved like this, be connected with bracing frame 3 in the inner chamber central authorities duct 2 of dish fuselage 1, the central authorities of bracing frame 3 are fixed with main rotor Power train 4, on the main rotor Power train 4, the coaxial respectively main rotor 11 that is connected with in lower end, the both sides, side the place ahead of dish fuselage 1 symmetry respectively are connected with attitude and control secondary rotor duct 5, attitude is controlled in the secondary rotor duct 5 and to be controlled secondary Power train 6 by attitude and be connected with attitude and control secondary rotor 7, two attitudes are controlled dish-shaped fuselage 1 between the secondary rotor duct 5 and are provided with and advance duct 8, advance to be connected with in the duct 8 and advance spiral shell slurry 9, main rotor Power train 4, advance spiral shell slurry 9 to control secondary Power train 6 with attitude and be connected power supply and controller respectively, the outer rim of butterfly fuselage 1 is provided with a circle anti-collision air bag 10.
As shown in Figure 2, described main rotor Power train comprises main rotor 11, rotor shaft 12, driven gear 13, servomotor ⅰ 14, upper and lower main rotor 11 is symmetrical coaxial connection rotor shaft 12 respectively, rotor shaft 12 connects driven gear 13 by bearing, and driven gear 13 connects servomotor ⅰ 14 by driving gear.
As shown in Figure 3, described attitude is controlled secondary Power train and is comprised that servomotor ⅱ 15, attitude control secondary rotor 7, pull bar 16, rocking arm 17, steering wheel 18, servomotor ⅱ 15 connects attitude by rotor shaft and controls secondary rotor 7, attitude is controlled secondary rotor 7 and is connected rocking arm 17 by pull bar 16, and rocking arm 17 connects steering wheel 18.
The control principle of the VUAV in the utility model is as follows:
1, controls the pitch of secondary rotor and rotating speed by two attitudes of synchronization regulation and change two attitudes and control the pulling force size that secondary rotor duct produces, form the longitudinal attitude that vertical control torque is controlled this unmanned plane.
2, by regulating the rotating speed of upper and lower main rotor, produce the course attitude that deflecting torque is controlled this unmanned plane.
3, the pitch of controlling secondary rotor by two attitudes of reverse adjusting makes two attitudes control the oppositely directed pulling force that secondary rotor duct produces, thereby controls the roll attitude of this unmanned plane.
Being described below of three kinds of exemplary operation states of the VUAV in the utility model:
1, vertical takeoff and landing: two rotor constant speed counter-rotatings, produce the weight of pulling force balance aircraft straight up, control the pitch and the rotating speed of secondary rotor by controlling two attitudes simultaneously, produce needed vertical trim moment of aircraft and lift-over trim moment, advance duct not work.
2, hovering: by controlling the weight that lift that two main rotor rotating speeds make its generation can just the balance aircraft, thereby make aircraft be in floating state, control the pitch and the rotating speed of secondary rotor by controlling two attitudes simultaneously, produce needed vertical trim moment of aircraft and lift-over trim moment, guarantee the stability of hang state; By regulating the rotating speed of upper and lower main rotor, produce deflecting torque, make the rotation of aircraft original place, realize course control; Advance duct not work.
3, preceding flying: by controlling the weight that two main rotor rotating speeds make the lift balance aircraft of its generation, before producing aircraft, the rotating speed that advances propeller flies required thrust by controlling, control the pitch and the rotating speed of secondary rotor by controlling two attitudes simultaneously, produce needed vertical trim moment of aircraft and lift-over trim moment, guarantee the stability of flight.
Claims (3)
1. electronic anti-collision safety depopulated helicopter, it comprises dish-shaped fuselage, inner chamber central authorities duct, bracing frame, the main rotor Power train, attitude is controlled secondary rotor duct, attitude is controlled secondary Power train, attitude is controlled secondary rotor, advance duct, propelling spiral shell slurry, the anti-collision air bag, main rotor, it is characterized in that being connected with bracing frame in the inner chamber central authorities duct of dish-shaped fuselage, the central authorities of bracing frame are fixed with the main rotor Power train, on the main rotor Power train, the coaxial respectively main rotor that is connected with in lower end, the both sides, side the place ahead of dish fuselage symmetry respectively are connected with attitude and control secondary rotor duct, attitude is controlled in the secondary rotor duct and to be controlled secondary Power train by attitude and be connected with attitude and control secondary rotor, the dish-shaped fuselage that two attitudes are controlled between the secondary rotor duct is provided with the propelling duct, advance to be connected with in the duct and advance the spiral shell slurry, the main rotor Power train, advance the spiral shell slurry to control secondary Power train with attitude and be connected power supply and controller respectively, the outer rim of dish-shaped fuselage is provided with a circle anti-collision air bag.
2. electronic anti-collision safety depopulated helicopter according to claim 1, it is characterized in that described main rotor Power train comprises main rotor, rotor shaft, driven gear, servomotor, upper and lower main rotor is symmetrical coaxial connection rotor shaft respectively, rotor shaft connects driven gear by bearing, and driven gear connects servomotor by driving gear.
3. electronic anti-collision safety depopulated helicopter according to claim 1, it is characterized in that described attitude controls secondary Power train and comprise that servomotor, attitude control secondary rotor, pull bar, rocking arm, steering wheel, servomotor connects attitude by rotor shaft and controls secondary rotor, attitude is controlled secondary rotor and is connected rocking arm by pull bar, and rocking arm connects steering wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205812686U CN201842257U (en) | 2010-10-28 | 2010-10-28 | Electric collision-preventive safe unmanned helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205812686U CN201842257U (en) | 2010-10-28 | 2010-10-28 | Electric collision-preventive safe unmanned helicopter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201842257U true CN201842257U (en) | 2011-05-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205812686U Expired - Fee Related CN201842257U (en) | 2010-10-28 | 2010-10-28 | Electric collision-preventive safe unmanned helicopter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201842257U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973395A (en) * | 2010-10-28 | 2011-02-16 | 南昌航空大学 | Electric anti-collision safety unmanned helicopter |
| CN103072690A (en) * | 2013-01-23 | 2013-05-01 | 中国航空工业空气动力研究院 | Single-ducted coaxial rotor/propeller saucer-shaped aircraft |
-
2010
- 2010-10-28 CN CN2010205812686U patent/CN201842257U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973395A (en) * | 2010-10-28 | 2011-02-16 | 南昌航空大学 | Electric anti-collision safety unmanned helicopter |
| CN101973395B (en) * | 2010-10-28 | 2015-04-15 | 南昌航空大学 | Electric anti-collision safety unmanned helicopter |
| CN103072690A (en) * | 2013-01-23 | 2013-05-01 | 中国航空工业空气动力研究院 | Single-ducted coaxial rotor/propeller saucer-shaped aircraft |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110525 Termination date: 20121028 |