CN204979232U - Many rotor crafts of electronic feather - Google Patents
Many rotor crafts of electronic feather Download PDFInfo
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- CN204979232U CN204979232U CN201520728042.7U CN201520728042U CN204979232U CN 204979232 U CN204979232 U CN 204979232U CN 201520728042 U CN201520728042 U CN 201520728042U CN 204979232 U CN204979232 U CN 204979232U
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- rotor aerocraft
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Abstract
The utility model provides a many rotor crafts of electronic feather, includes frame, multiunit rotor, motor (6), feather mechanism and can carry out the flight control that controls to motor (6) rotational speed and feather mechanism, motor (6) and feather mechanism correspond each group's rotor and set up respectively, feather mechanism includes: steering wheel (7), rocking arm (9) be connected with the steering wheel, with rocking arm articulated connecting rod (10), with connecting rod (10) be connected and the cover in rotor drive epaxial promotion dish (12), rotor holder (8) be connected with promotion dish (12), displacement about promotion dish (12) are driven by steering wheel (7), and then drive rotor holder (8) rotation, realize the adjustment to the pitch.
Description
Technical field
The utility model belongs to technical field of aerospace, particularly relates to multi-rotor aerocraft technical field.
Background technology
Modern multi-rotor aerocraft adopts the many pieces of multiple drivings of motor, the rotor of fixing aerofoil profile, its flight of this structures shape controls to change lift size that rotor produces and realize by controlling motor speed respectively, namely the rotor of fixed pitch multi-rotor aerocraft can only produce lift, flight controls to realize by the lift regulating different oar to produce respectively, and motor is relatively long-time to the process need of rotating speed of target from a current adjustment of rotational speed, speed of response reduces with the increase of the rotor inertia of rotating mechanism, this greatly limits the flight control ability of multi-rotor aerocraft, particularly system follow response characteristic.The utility model introduces variablepiston system, realize flying by change rotor pitch and rotating speed and control, overcome the many rotors of fixed pitch and can only carry out by regulating motor speed the many drawbacks controlled of flying, substantially improve the flight controller performance of multi-rotor aerocraft.
Summary of the invention
The purpose of this utility model adopts pitch-variable system to improve existing multi-rotor aerocraft, regulates the mode of working in coordination with to realize flying and control by rotor pitch control and motor speed, thus the flight controller performance of raising multi-rotor aerocraft.
The technical solution of the utility model is: a kind of electric pitch-changing multi-rotor aerocraft, comprises frame, organizes rotor more, motor, pulp distance varying mechanism and the flight control system that can control motor speed and pulp distance varying mechanism; Described motor, pulp distance varying mechanism each group rotor corresponding is arranged respectively; Described pulp distance varying mechanism comprises: steering wheel, the rocking arm be connected with steering wheel, and the connecting rod hinged with rocking arm, is connected with connecting rod and is enclosed within the pushing disk on rotor axle drive shaft, the rotor holder be connected with pushing disk; Described pushing disk drives upper and lower displacement by steering wheel, and then drives rotor holder to rotate, and realizes the adjustment to pitch.
Technique effect of the present utility model is: the introducing of variable pitch control, and the responding ability of following that the flight of electronic multi-rotor aerocraft is controlled is greatly improved.The speed of response that flight controls directly determines particularity and the reliability of flight control, the lifting of flight controller performance makes multi-rotor aerocraft significantly promote for the adaptive capacity of different operating mode, antijamming capability strengthens greatly, control difficulty declines, control accuracy promotes, thus obtains more excellent reliability.
Accompanying drawing explanation
Fig. 1 is the general system set-up schematic diagram of the utility model electric pitch-changing multi-rotor aerocraft embodiment 1;
Fig. 2 is the rotor assembly schematic diagram of the utility model electric pitch-changing multi-rotor aerocraft embodiment 1;
Fig. 3 is the rotor assembly assembling schematic diagram of the utility model electric pitch-changing multi-rotor aerocraft embodiment 1;
Fig. 4 is the general system set-up schematic diagram of the utility model electric pitch-changing multi-rotor aerocraft embodiment 2;
Fig. 5 is the support-folding self-locking device block diagram of the utility model electric pitch-changing multi-rotor aerocraft embodiment 2;
Fig. 6 is the support-folding self-locking device lateral plan of the utility model electric pitch-changing multi-rotor aerocraft embodiment 2.
Detailed description of the invention
The embodiment 1 of the utility model electric pitch-changing multi-rotor aerocraft is described below in conjunction with accompanying drawing 1-3.Figure 1 shows that the general system set-up schematic diagram of the utility model electric pitch-changing multi-rotor aerocraft, mainly comprise be positioned at center mainframe 1, from the outward extending support of mainframe 12, above-mentioned support 2 uniform intervals composition cross, each support 2 end has one group of rotor.The aircraft of the present embodiment always has four groups of rotors, and wherein relative rotor turns to identical, and adjacent rotor turns on the contrary, and its objective is that eliminating himself to interact rotates the reactive torque power produced, avoiding aircraft to spin cannot directed fly.
As shown in Figure 2,3, motor 6 and pulp distance varying mechanism each group rotor corresponding are arranged respectively.Flight control system can control motor (6) rotating speed and pulp distance varying mechanism.Described pulp distance varying mechanism comprises: steering wheel 7, the rocking arm 9 be connected with steering wheel, and the connecting rod 10 hinged with rocking arm, is connected with connecting rod 10 and is enclosed within the pushing disk 12 on rotor axle drive shaft, the rotor holder 8 be connected with pushing disk 12.Described pushing disk 12 is arranged on rotor holder 8 bottom and overhanging two symmetrical hangers, and described each rotor holder 8 is provided with overhanging lug, hinged between described lug and corresponding hanger.Wherein, motor 6 rotary actuation rotor, here, the major axis being fixed on the oar seat 11 on motor is power input shaft.While motor drives rotor assembly to rotate, steering wheel 7 can to carry out in vertical direction by driving rocking arm 9 to rotarily drive connecting rod 10 upper and lower displacement with pushing disk 12, and then drive rotor holder 8 to rotate, realize the adjustment to pitch.
In flight course, the flight of aircraft controls by gyroplane rotate speed and rotor pitch Collaborative Control.Adjust the control command exported can change the rotating speed of rotor by electricity, steering wheel instruction, can according to the size of interference such as when aircraft is subject to external interference, and rotating speed and pitch change simultaneously, reaches the fastest optimum disturbance rejection from steady Adjustment effect.
The embodiment 2 of the utility model electric pitch-changing multi-rotor aerocraft is described below in conjunction with accompanying drawing 4-6.Embodiment 2 and the difference of embodiment 1 are only that have employed folding and self-locking apparatus between mainframe with rotor support is connected, and other structure is all identical.
The folding and self-locking apparatus of the present embodiment 2 is arranged at the junction of aircraft center main frame 1a and overhanging rotor support 2a, the second assembly comprising the first assembly and be attached thereto by bearing pin; Described first assembly comprises the side plate 21 be parallel to each other for a pair and the elasticity locking device be arranged between described side plate 21; Described elasticity is locked be installed on comprise be arranged at strut bar 22 between described side plate 21, sliding bar 25 that one end crosses described strut bar 22 slidably, the locked pin 24 be fixedly connected with sliding bar 25 other end, between strut bar 22 and locked pin 24 and the spring 23 be set on sliding bar 25; Side plate 21 has chute 26, for setting up locked pin 24.Described second assembly comprises rotatable positioning member 27 and the support jointing 28 be fixedly connected with it; The angle that described rotatable positioning member 27 has between two grooves, 29, two grooves 29 is 90 °, realizes locked fixing for coordinating with described elasticity locking device.Described locked pin 24 can slide in the chute 26 of described pair of side plates 21, by external force, locked pin 24 is compressed with spring 23, now the second assembly is in loosening state, can selection level or vertical groove, decontroling locked pin 24 with spring 23 combines with groove 29, be in self-locking state, locked pin 24 is stuck with groove 29, and rotor support 2a and mainframe 1a just can be fixed relative to one another.
In the present embodiment, rotor support 2a is tubular structure, and corresponding support jointing 8 is pipe clamp.
In order to expendable weight, described side plate 21 adopts engraved structure to design.
When aircraft is in preparation flight or state of flight, rotor support 2a is in level, when aircraft terminates flight, rotor support 2a can be regained and be in vertically.
The above embodiment is only preferred implementation of the present utility model; not scope of the present utility model is limited; under the prerequisite not departing from the utility model design spirit; the various distortion that those of ordinary skill in the art make the technical solution of the utility model and improvement, all should fall in protection domain that claims of the present utility model determine.
Claims (10)
1. an electric pitch-changing multi-rotor aerocraft, comprises frame, organizes rotor more, motor (6), pulp distance varying mechanism and the flight control system that can control motor (6) rotating speed and pulp distance varying mechanism; Described motor (6) and pulp distance varying mechanism each group rotor corresponding are arranged respectively; Described pulp distance varying mechanism comprises: steering wheel (7), the rocking arm be connected with steering wheel (9), the connecting rod (10) hinged with rocking arm, is connected and is enclosed within the pushing disk (12) on rotor axle drive shaft with connecting rod (10), the rotor holder (8) be connected with pushing disk (12); Described pushing disk (12) drives upper and lower displacement by steering wheel (7), and then drives rotor holder (8) to rotate, and realizes the adjustment to pitch.
2. electric pitch-changing multi-rotor aerocraft according to claim 1, it is characterized in that, described pushing disk (12) is arranged on rotor holder (8) bottom and overhanging two symmetrical hangers, described each rotor holder (8) is provided with overhanging lug, hinged between described lug and corresponding hanger.
3. electric pitch-changing multi-rotor aerocraft according to claim 2, is characterized in that, frame comprises from the outward extending multiple support (2,2a) of the mainframe being positioned at center (1,1a), and each support (2,2a) end has one group of rotor.
4. electric pitch-changing multi-rotor aerocraft according to claim 3, is characterized in that, described support (2,2a) is four.
5. electric pitch-changing multi-rotor aerocraft according to claim 4, is characterized in that, is provided with folding and self-locking apparatus between described mainframe (1,1a) Yu support (2,2a).
6. electric pitch-changing multi-rotor aerocraft according to claim 5, is characterized in that, the second assembly that described folding and self-locking apparatus is comprised the first assembly and is attached thereto by bearing pin; Described first assembly comprises the side plate (21) be parallel to each other for a pair and the elasticity locking device be arranged between described side plate (21); Described second assembly comprises rotatable positioning member (27) and the support jointing (28) be fixedly connected with it; Described rotatable positioning member (27) has at least two grooves (29), realizes locked fixing for coordinating with described elasticity locking device.
7. electric pitch-changing multi-rotor aerocraft according to claim 6, it is characterized in that, described elasticity is locked be installed on comprise be arranged at strut bar (22) between described side plate (21), sliding bar (25) that one end crosses described strut bar (22) slidably, the locked pin (24) be fixedly connected with sliding bar (25) other end, between strut bar (22) and locked pin (24) and the spring (23) be set on sliding bar (25); Described pair of side plates (21) has chute (26), for setting up locked pin (24); Described locked pin (24) can be slided in described chute (26), and coordinates with the groove (29) of described rotatable positioning member (27) under locking state.
8. electric pitch-changing multi-rotor aerocraft according to claim 7, is characterized in that, described groove (29) is two, and angle is each other 90 °.
9. electric pitch-changing multi-rotor aerocraft according to claim 8, is characterized in that, described support jointing (28) is pipe clamp.
10. electric pitch-changing multi-rotor aerocraft according to claim 9, is characterized in that, described side plate (21) has engraved structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520728042.7U CN204979232U (en) | 2015-09-21 | 2015-09-21 | Many rotor crafts of electronic feather |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520728042.7U CN204979232U (en) | 2015-09-21 | 2015-09-21 | Many rotor crafts of electronic feather |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204979232U true CN204979232U (en) | 2016-01-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520728042.7U Active CN204979232U (en) | 2015-09-21 | 2015-09-21 | Many rotor crafts of electronic feather |
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| Country | Link |
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| CN (1) | CN204979232U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107521655A (en) * | 2016-06-22 | 2017-12-29 | 北京臻迪机器人有限公司 | A kind of aircraft horn |
-
2015
- 2015-09-21 CN CN201520728042.7U patent/CN204979232U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107521655A (en) * | 2016-06-22 | 2017-12-29 | 北京臻迪机器人有限公司 | A kind of aircraft horn |
| CN107521655B (en) * | 2016-06-22 | 2021-11-16 | 北京臻迪机器人有限公司 | Aircraft horn |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180125 Address after: 100080 Beijing Haidian District North Fourth Ring Road West, No. 9 2106-030 Patentee after: The fast online Science and Technology Ltd. in Beijing three Address before: 100191 Haidian Haidian District street, No. 1, building 10,, 3 1001-52 Patentee before: BEIJING HAOHENG JOURNEY AVIATION TECHNOLOGY CO., LTD. |