CN203567933U - Spherical aircraft - Google Patents
Spherical aircraft Download PDFInfo
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- CN203567933U CN203567933U CN201320642644.1U CN201320642644U CN203567933U CN 203567933 U CN203567933 U CN 203567933U CN 201320642644 U CN201320642644 U CN 201320642644U CN 203567933 U CN203567933 U CN 203567933U
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Abstract
The utility model discloses a spherical aircraft which belongs to the field of unmanned aerial vehicle flying devices, and aims to provide a spherical aircraft combining a rotary wing type flight principle and a fixed wing flight principle. The spherical aircraft consists of an outer frame, a crossed body, a motor, servo motors and control planes. The spherical aircraft has the main advantages that capability of rolling over on the ground can be achieved, and damage to main power parts in a severe environment can be avoided; compared with a multi-rotary wing structure, the spherical aircraft has the advantages that the construction cost is low, hardware is simple, and the operation is easy; the attitude is flexibly controlled through the four control planes controlled by the servo motors; the reactive torque of a screw propeller is eliminated through the lower four control planes, and compared with a helicopter, the spherical aircraft is simpler in structure.
Description
Technical field
The utility model belongs to unmanned plane during flying device field.
Background technology
At present, domestic unmanned plane developed in recent years than comparatively fast.And except military use, due to unmanned plane cost is relatively low, no one was injured risk, viability is strong, maneuvering performance good, easy to use etc. advantage, make that unmanned plane is taken pictures in aviation, geologic survey, ultra-high-tension power transmission line tour, oil filed pipeline inspection, freeway management, forest fire protection inspection, poison gas prospecting, drug law enforcement and the civil area application prospect such as emergency management and rescue, rescue very wide.Rotary wind type unmanned plane is divided into single rotor and many rotor structures.Single rotor mainly refers to the type of helicopter class, and its flight attitude adjustment is mainly by tilting frame.The attitude of Multi-axis aircraft is mainly by regulating the speed of different motors to make centre-of gravity shift change of flight attitude.But for helicopter class mechanism, its screw propeller exposes fragile, eliminate the anti-torque structure of screw propeller comparatively complicated, under harsh environment, be unfavorable for flight and land; Comparatively simple for multiaxis its control of flying, but cost is higher.
Summary of the invention
The purpose of this utility model is to provide a kind of spherical aircraft that rotary wind type flight theory is combined with fixed-wing flight theory.
The utility model is comprised of housing, cross fuselage, motor, servomotor, rudder face;
Housing: be by a spherical housing, No. two spherical housings, No. three spherical housings, spherical transversely strengthening part forms, at a spherical housing, No. two spherical housings, No. three spherical housings, on spherical transversely strengthening part, there are positive slot and cloudy slot in correspondence with each other, spherical housing and No. two spherical housings longitudinally positive slot by are in correspondence with each other connected with cloudy slot, at spherical housing and No. two spherical housings, by bar shaped reinforcing member, spherical housing is installed No. three between longitudinally, spherical transversely strengthening part is laterally by positive slot and cloudy slot and a spherical housing in correspondence with each other, No. two spherical housings, No. three spherical housing connects,
Cross fuselage: formed by inserted sheet under inserted sheet with it cross machine and cross fuselage, cross machine with it under inserted sheet and cross fuselage inserted sheet by the upper slot on inserted sheet under the lower slot on inserted sheet with it cross machine and cross fuselage, peg graft, under inserted sheet with it cross machine and cross fuselage, all there is servomotor groove inserted sheet upper end;
On a spherical housing and No. two spherical housings, all have the support plate extending inward, motor is arranged on support plate, on the motor shaft of motor upper end, screw propeller is installed, and motor is placed in cross machine and holds with it; In the servomotor groove that cross machine is held, servomotor is installed with it, upper rudder face is arranged on servomotor, and cross fuselage lower end is provided with lower servomotor, and lower rudder face is arranged on lower servomotor.
The utility model is provided with bracing frame on No. three spherical housings, and bracing frame has lower rudder face and passes through groove.
The present invention mainly contains following advantage:
(1) can realize in ground rolling, at rugged environment, not damage main power part;
(2) than many rotor structures, have cheap, the simple and easy operating of hardware;
(3) rudder face that its attitude is controlled by four servomotors controls completes, more flexible;
(4) it eliminates the anti-twisted power of screw propeller four rudder faces on the lower, simpler with helicopter type structure compared.
The object of this Flight Vehicle Design is, reduces costs, and expands the environment of aircraft flight and landing, and the developing principle of novel pneumatic aircraft and anti-twisted power cancellation are played to certain heuristic effect.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation;
Fig. 2 is that the utility model Figure 1A-A is to view;
Fig. 3 is spherical housing schematic diagram of the utility model;
Fig. 4 is No. two spherical housing schematic diagrams of the utility model;
Fig. 5 is No. three spherical housing schematic diagrams of the utility model;
Fig. 6 is the spherical transversely strengthening part of the utility model schematic diagram;
Fig. 7 is inserted sheet schematic diagram on the utility model criss-cross fuselage;
Fig. 8 is inserted sheet schematic diagram under the utility model criss-cross fuselage.
The specific embodiment
The utility model is comprised of housing, cross fuselage, motor 13, servomotor, rudder face;
Housing: be by a spherical housing 1, No. two spherical housings 14, No. three spherical housings 3, spherical transversely strengthening part 5 forms, at a spherical housing 1, No. two spherical housings 14, No. three spherical housings 3, on spherical transversely strengthening part 5, there are positive slot 16 and cloudy slot 15 in correspondence with each other, spherical housing 1 and No. two spherical housings 14 longitudinally positive slot 16 by are in correspondence with each other connected with cloudy slot 15, at spherical housing 1 and No. two spherical housings 14, by bar shaped reinforcing member 2, spherical housing 3 is installed No. three between longitudinally, spherical transversely strengthening part 5 is laterally by positive slot 16 and cloudy slot 15 and a spherical housing 1 in correspondence with each other, No. two spherical housings 14, No. three spherical housing 3 connects,
Cross fuselage: formed by inserted sheet 8 under inserted sheet 9 with it cross machine and cross fuselage, cross machine with it under inserted sheet 9 and cross fuselage inserted sheet 8 by cross machine with it under the lower slot 91 on inserted sheet 9 and cross fuselage the upper slot 81 on inserted sheet 8 peg graft, under inserted sheet with it cross machine 9 and cross fuselage, all there is servomotor groove 17 inserted sheet 8 upper ends;
On a spherical housing 1 and No. two spherical housings 14, all have the support plate 11 extending inward, motor 13 is arranged on support plate 11, on the motor shaft of motor 13 upper ends, screw propeller 12 is installed, and motor 13 is placed in cross machine and holds with it; In the servomotor groove 17 that cross machine is held, servomotor 10 is installed with it, upper rudder face 4 is arranged on servomotor 10, and cross fuselage lower end is provided with lower servomotor 7, and lower rudder face 6 is arranged on lower servomotor 7.
The utility model is provided with bracing frame 31 on No. three spherical housings 3, and bracing frame 31 has lower rudder face by groove 32.
Appearance improvement of the present utility model: adopt spherical housing.The engine installation of aircraft has been protected in one of its effect, has prevented the damage of screw propeller, motor and rudder face; Protected personal safety for second, prevented that operator from being scratched by aircraft; The 3rd can realize in the landform of non-stationary and landing; The 4th can realize in flat rolls on the floor;
Flight attitude principle innovation of the present utility model: the downwash flow that has utilized screw propeller to produce, combines with rudder face and make aircraft center of gravity skew change attitude;
The anti-twisted power of aircraft of the present utility model is eliminated and is improved: utilize lower rudder face to combine with downwash flow, practical microcontroller and 3-axis acceleration three axis angular rate sensors are controlled the deflection angle of servomotor, eliminate anti-twisted power;
Remote controller of the present utility model is manually controlled with the Collaborative Control of microcontroller and is improved.Remote controller is controlled propeller speed, and its servomotor adopts microcontroller be combined automatic control with sensor.
The utility model is mainly comprised of mechanics and electronic control part two parts, and electronic control part adopts existing electric elements.Below in conjunction with accompanying drawing and specific embodiment, describe the utility model in detail, in this illustrative examples of the present utility model and explanation, be used for explaining the utility model, but not as to restriction of the present utility model.
As shown in Figure 1, spherical aircraft of the present invention comprises: firmware, motor, screw propeller, servomotor, microcontroller, remote control receiver, motor driving, battery, remote controller, three shaft angle acceleration pick-ups, three axis linear acceleration pick-ups, adapter before and after inserted sheet under inserted sheet, criss-cross fuselage, upper rudder face, lower rudder face, electric machine support, electric machine support left and right firmware, electric machine support on spherical housing parts (a spherical housing, No. two spherical housings and No. three spherical housings), spherical transversely strengthening part, bar shaped reinforcing member, criss-cross fuselage.
Before and after described spherical housing parts, spherical transversely strengthening part, bar shaped reinforcing member, criss-cross fuselage, criss-cross fuselage, upper rudder face, lower rudder face, electric machine support, electric machine support left and right firmware, electric machine support, the selected material of firmware is polystyrene foam matter, can select carbon fiber; Described motor is brush DC buncher; Described screw propeller is the positive oar of 10*4.5L; Described servomotor is power supply voltage 4.8V～6.0V, moment of torsion 1.6/2.0Kgf.cm, the digital servomotor that responsiveness is 0.12/0.1s/60, its three wires be respectively power supply, and control signal; Described battery is 11.1V, the optional electrokinetic cell of 850mAh capacity.
Described spherical housing parts have connecting groove (positive slot or cloudy slot), for each spherical housing parts, spherical transversely strengthening part and bar shaped reinforcing member, mutually embed respectively.Two cross bars of wherein take are boundary, and two grooves up and down that circle center line connecting is 90 degree with cross bar excessively embed with corresponding upper and lower two grooves of spherical housing parts, and at this moment, a spherical housing and No. two spherical housing angles of cut are 90 degree; The groove of spherical transversely strengthening part spherical housing parts parallel with cross bar with crossing circle center line connecting, two grooves embedding mutually respectively of spherical housing parts, now spherical transversely strengthening part and a spherical housing, No. two spherical housing angles of cut are 90 degree; Then, the residue groove of the groove of No. three spherical housing parts and spherical transversely strengthening part is inserted, form an outer spherical housing, be seen as from top to bottom the connected relation of arc that angle is respectively the 60 degree angles of cut, each arc is reinforced mutually by spherical transversely strengthening part; Then remaining groove and adjacent two nearest grooves, respectively with the reinforcing that is connected of bar shaped reinforcing member, so far complete the composition of a spherical housing, and it connects insecure place makes to gum down.Screw propeller is fixed on motor.Servomotor is fixed on to the cross machine narrower place of face with it, and outwardly, motor fuselage is just clipped in narrower place in its motor rotation place, and servomotor is relative between two, and line is angle at 90 degrees to each other.Become cross to be fixed on motor left and right with No. two spherical housing part stent No. one, the elongated portion of No. three spherical housing parts becomes miter angle to be fixed in criss-cross frame with cross.Other servomotor is separately fixed at below the prolongation of No. three spherical housing parts, is just in time positioned on the angle diagonal line of the cross bar angle of cut of spherical housing parts and No. two spherical housing parts.So far, servomotor lays respectively under four cross bars of two cross bars of two cross bars of spherical housing parts, No. two spherical housing parts, No. three spherical housing parts, its mounting distance can guarantee to install after rudder face, lower rudder face, and rudder face can be firmly and freely rotated as installation guideline.The narrower one end of upper rudder face servomotor that is fixed in the above is rotated to end, and the side that upper rudder face is straight line is parallel with the cross bar of No. two spherical housing parts with spherical housing parts; The wider one end of lower rudder face is fixed on to servomotor below and rotates end, the side that lower rudder face is oblique line is parallel with the cross bar of No. three spherical housing parts.Screw propeller is arranged on motor.The three-phase line of motor is driven and is connected with motor, simultaneously, motor drives thicker power lead to be connected with anode with the negative electrode of battery by joint, motor-driven 5V power and ground is connected with the VDD-to-VSS of microcontroller simultaneously, and motor-driven motor control signal line is connected with the output signal pin of remote control receiver.The VDD-to-VSS of remote control receiver is connected by wire respectively with the power positive cathode of microcontroller.Adapter is connected to adapter by the line with the connected servomotor of upper rudder face for two servomotors parallel with spherical housing parts cross bar, power lead connects a contact pin of 2.54mm contact pin, signal wire (SW) connects contact pin No. two, ground wire connects contact pin No. three, the correspondence that adapter is connect to microcontroller is set pin, and the output signal pin that adapter is connect to remote control receiver is connected.By the line with the connected servomotor of upper rudder face, be that the servomotor parallel with No. three spherical housing parts cross bars is connected by above-mentioned same way.Power lead, ground wire and the signal wire (SW) of the servomotor connected with lower rudder face are connected with the corresponding setting pin of microcontroller.Three shaft angle acceleration pick-ups, three axis linear acceleration pick-ups are connected with microcontroller.Criss-cross underbelly and spherical outer frame bottom are fixed with glue.Remaining part is placed on criss-cross body, and it lays criterion is to make body center of gravity be positioned at the centre of criss-cross body as far as possible, can suitably add counterweight center-of-gravity regulating, makes its position close to center.
When described spherical aircraft starts to fly, first by described remote controller, send control command and control aircraft takeoff, control command is sent to remote control receiver, remote control receiver conveys to motor by signal wire (SW) by instruction again and drives, by described motor driver output speed controling signal, give described motor, described driven by motor screw propeller gets into smooth.In described spherical aircraft take-off process, need upwards to rise, motor carries out manually controlling and accelerating, and after reaching required flying height, described propeller speed declines, and reached and highly kept knowing hovering, otherwise falling head and landing is by control; In this process, screw propeller rotates and makes body produce anti-twisted power, and four lower rudder faces cross roll angle, pitch angle and three the attitude angle values of course angle that calculate aircraft to angular acceleration and the acceleration value information exchange of microcontroller according to three shaft angle acceleration pick-ups and three axis linear acceleration pick-ups.Then microcontroller is according to the pid algorithm setting in advance, from line output, control the control signal of eight servomotors, servomotor rotates and drives four lower rudder faces and four upper rudder faces, when four lower rudder faces make aircraft eliminate screw propeller rotation, body produces anti-twisted power, and four upper rudder faces make body keep statokinetic.If aircraft need to complete forward, backward, left, the airline operation action such as to the right, can manually control remote controller, remote control receiver conveys to instruction by signal wire (SW) four servomotors that are connected with four upper rudder faces of aircraft again, makes four servomotors rotate corresponding angle, here belong to multichannel mixing, realize airline operation.
For the improvement of technique scheme, be included on criss-cross body and assemble miniature camera, GPS navigation system or its mechanical part material is changed: lightweight aerial metal etc. will provide more excellent navigation performance for aircraft.
Claims (2)
1. a spherical aircraft, is characterized in that: housing, cross fuselage, motor (13), servomotor, rudder face, consist of;
Housing: be by a spherical housing (1), No. two spherical housings (14), No. three spherical housings (3), spherical transversely strengthening part (5) forms, at a spherical housing (1), No. two spherical housings (14), No. three spherical housings (3), on spherical transversely strengthening part (5), there are positive slot (16) and cloudy slot (15) in correspondence with each other, a spherical housing (1) and No. two spherical housings (14) the longitudinally positive slot (16) by are in correspondence with each other connected with cloudy slot (15), at a spherical housing (1) and No. two spherical housings (14), by bar shaped reinforcing member (2), No. three spherical housings (3) are installed between longitudinally, spherical transversely strengthening part (5) is laterally by positive slot (16) and cloudy slot (15) and a spherical housing (1) in correspondence with each other, No. two spherical housings (14), No. three spherical housings (3) connect,
Cross fuselage: formed by inserted sheet (8) under inserted sheet (9) with it cross machine and cross fuselage, inserted sheet (8) is by cross machine upper slot (81) grafting on inserted sheet (8) under the lower slot (91) on inserted sheet (9) and cross fuselage with it under inserted sheet (9) and cross fuselage with it for cross machine, and under inserted sheet with it cross machine (9) and cross fuselage, all there is servomotor groove (17) inserted sheet (8) upper end;
On a spherical housing (1) and No. two spherical housings (14), all there is the support plate (11) extending inward, motor (13) is arranged on support plate (11), on the motor shaft of motor (13) upper end, screw propeller (12) is installed, motor (13) is placed in cross machine and holds with it; In the servomotor groove (17) that cross machine is held, servomotor (10) is installed with it, upper rudder face (4) is arranged on servomotor (10), cross fuselage lower end is provided with lower servomotor (7), and lower rudder face (6) is arranged on lower servomotor (7).
2. spherical aircraft according to claim 1, is characterized in that: bracing frame (31) is installed on No. three spherical housings (3), and bracing frame (31) has lower rudder face by groove (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320642644.1U CN203567933U (en) | 2013-10-18 | 2013-10-18 | Spherical aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320642644.1U CN203567933U (en) | 2013-10-18 | 2013-10-18 | Spherical aircraft |
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| Publication Number | Publication Date |
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| CN203567933U true CN203567933U (en) | 2014-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320642644.1U Expired - Fee Related CN203567933U (en) | 2013-10-18 | 2013-10-18 | Spherical aircraft |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104553648A (en) * | 2015-01-09 | 2015-04-29 | 广西大学 | Transformable triphibian robot |
| CN106005392A (en) * | 2016-06-29 | 2016-10-12 | 汇星海科技（天津）有限公司 | Spherical aerial vehicle |
| CN106043683A (en) * | 2016-04-27 | 2016-10-26 | 深圳市拓灵者科技有限公司 | An aircraft and an outer device thereof |
| CN106314754A (en) * | 2016-08-19 | 2017-01-11 | 西藏贝珠亚电子科技有限公司 | Spherical unmanned aerial vehicle |
| CN106347654A (en) * | 2016-10-09 | 2017-01-25 | 南京信息工程大学 | Spherical unmanned aerial vehicle |
| CN107539466A (en) * | 2016-06-29 | 2018-01-05 | 北京末元科技有限公司 | A kind of unmanned plane for pan-shot |
| CN110194259A (en) * | 2019-06-17 | 2019-09-03 | 西北工业大学 | A kind of novel intelligent cage type rotor wing unmanned aerial vehicle |
-
2013
- 2013-10-18 CN CN201320642644.1U patent/CN203567933U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104553648A (en) * | 2015-01-09 | 2015-04-29 | 广西大学 | Transformable triphibian robot |
| CN106043683A (en) * | 2016-04-27 | 2016-10-26 | 深圳市拓灵者科技有限公司 | An aircraft and an outer device thereof |
| CN106005392A (en) * | 2016-06-29 | 2016-10-12 | 汇星海科技（天津）有限公司 | Spherical aerial vehicle |
| CN107539466A (en) * | 2016-06-29 | 2018-01-05 | 北京末元科技有限公司 | A kind of unmanned plane for pan-shot |
| CN106314754A (en) * | 2016-08-19 | 2017-01-11 | 西藏贝珠亚电子科技有限公司 | Spherical unmanned aerial vehicle |
| CN106347654A (en) * | 2016-10-09 | 2017-01-25 | 南京信息工程大学 | Spherical unmanned aerial vehicle |
| CN110194259A (en) * | 2019-06-17 | 2019-09-03 | 西北工业大学 | A kind of novel intelligent cage type rotor wing unmanned aerial vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140430 Termination date: 20171018 |
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| CF01 | Termination of patent right due to non-payment of annual fee |