CN205469853U - Self -balancing anticollision aircraft - Google Patents
Self -balancing anticollision aircraft Download PDFInfo
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- CN205469853U CN205469853U CN201620297783.9U CN201620297783U CN205469853U CN 205469853 U CN205469853 U CN 205469853U CN 201620297783 U CN201620297783 U CN 201620297783U CN 205469853 U CN205469853 U CN 205469853U
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Abstract
The utility model discloses a self -balancing anticollision aircraft, including interior aircraft, protection casing and multiaxis balancing unit, interior aircraft passes through multiaxis balancing unit sets up in the protection casing, multiaxis balancing unit includes a balanced axle and a balanced ring, the both ends of balanced axle are arrived through a hinge assembly is articulated respectively balanced ring is gone up and is made balanced ring can for balanced axle is rotatory at first rotation axis, balanced ring arrives through the 2nd hinge assembly is articulated make on the protection casing balanced ring can for the protection casing is rotatory at the second rotation axis, first rotation axis with second rotation axis quadrature, interior aircraft setting is in the central point of balanced axle puts, the focus of interior aircraft set up in coincide below the central point of balanced axle and with vertical rotary shaft, vertical rotary shaft with first rotation axis, second rotation axis quadrature. This self -balancing anticollision aircraft stability is good.
Description
Technical field
This utility model relates to unmanned air vehicle technique field, in particular, relating to a kind of self-balancing and preventing knocking away
Row device.
Background technology
At present, the development of many rotor wing unmanned aerial vehicles is very fast, in order to ensure flight safety, mostly uses each
Kind of avoidance technology, does not the most allow the aircraft mode with bar contact.
Protection aircraft crashproof in, modal one be around blade increase by one guard ring,
This mode is only capable of there is blade certain protective effect, and can not protect other parts of aircraft,
More can not effectively ensure the aerial flight of the aircraft of collision rift.
The Chinese patent Shen of another kind of reasonable anti-collision structure such as Application No. 201480024468.2
Please, its open a kind of vertically taking off and landing flyer, including inner frame, balance loop systems and outside framework, interior
Framework includes propulsion system and control system, and propulsion system produces lift, and control system controls described interior
The orientation of framework, inner frame is connected to outside framework by balance loop systems at least two rotary shaft so that
Outside framework have independent of inner frame rotate degree of freedom, inner frame have one the biggest with each rotary shaft
Cause the barycenter overlapped.Thus realize reducing the system by the interference caused by contacting with exterior object,
Allowing aircraft to collide with barrier, the most of the time is maintained in stable orientation simultaneously.This structure
Due to " inner frame has a barycenter all substantially overlapped with each rotary shaft " so that aircraft is in one
Plant indifferent equilibrium state (i.e. aircraft can not remain level) rather than stability,
The mobility of this aircraft is relatively good with motility, but stability is the most poor, meeting during collision
The stability causing flight owing to the aircraft in outside framework deflects is greatly affected, no
The scouting flight of the most applicable narrow space.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of good stability and can fly in keeping
The crashproof aircraft of self-balancing of row device stability.
The purpose of this utility model is achieved through the following technical solutions: a kind of self-balancing is anti-to be knocked away
Row device, including interior aircraft, protective cover and multi-axis balancing device, described interior aircraft is by described
Multi-axis balancing device is arranged in described protective cover；
Described multi-axis balancing device includes a balance axle and a balance ring, and the two ends of described balance axle are divided
It is not hinged on described balance ring by the first hinge assembly and makes described balance ring can put down relative to described
Weighing apparatus axle rotates in the first rotary shaft, and described balance ring is hinged to described protective cover by the second hinge assembly
On make described balance ring can rotate in the second rotary shaft relative to described protective cover, described first rotate
Axle and the dead in line of described balance axle, described second rotary shaft and described balance ring and described protective cover
The line coincident of pin joint, described first rotary shaft and described second rotating shaft direct cross, described balance
Ring relative to the direction of rotation of described balance axle and described balance ring relative to the rotation side of described protective cover
To orthogonal；
Described interior aircraft is arranged on the center of described balance axle, and the center of gravity of described interior aircraft sets
It is placed in below the central point of described balance axle and overlaps with vertical rotating shaft, described vertical rotating shaft and institute
State the first rotary shaft, the second rotating shaft direct cross.
Preferably, described protective cover is for being connected with each other and balling-up by multiple connecting rods and multiple connector
The network structure of shape.
Preferably, described cancellated mesh is that regular polygon structure is arranged.
Preferably, described cancellated mesh is regular pentagon and/or the setting of regular hexagon structure,
Described connector includes first connector with three connecting portions and has the second of four connecting portions
Connector, the mesh of two of which centrosymmetric regular pentagon structure will by described second connector
Described connecting rod is formed by connecting, and described second hinge assembly is arranged on said two centrosymmetric positive five
In the mesh of limit shape structure, described second hinge assembly is connected to described second connector by connecting rod
On.
Preferably, described connecting rod is carbon fibre material.
Preferably, described balance ring includes the first semicircular ring and the second semicircular ring, described first semicircular ring
Connect fixing with described second semicircular ring by described first hinge assembly.
Preferably, described first hinge assembly includes the balance axle connecting portion being arranged in a mutually vertical manner and puts down
Weighing apparatus ring connecting portion, described balance axle connecting portion is hinged to described balance ring connecting portion by screw, described
Balance axle connecting portion is connected fixing with described balance axle, and described balance ring connecting portion is respectively with described first
Semicircular ring, the second semicircular ring connect fixing.
Preferably, the two ends of described balance ring connecting portion are respectively arranged with connecting groove, and described the first half
Annulus, the end of the second semicircular ring insert in described connecting groove respectively and are screwed.
Preferably, the central area of described balance axle be provided with an I-shaped support for fix described in
Aircraft.
Preferably, described interior aircraft is four-axle aircraft, and described four-axle aircraft includes: carbon fiber
Base plate, motor, blade, electron speed regulator, control unit, electronic equipment storehouse, antenna, photographic head
And battery, described carbon fiber base plate includes central plate and is integrally disposed upon four of central plate surrounding
The flight axis extended, described motor and described blade are arranged on described flight the tip of the axis；Described control
Unit processed is arranged on the upper side of the central plate of described carbon fiber base plate, described electronic equipment storehouse, antenna,
Photographic head and battery are arranged at the downside of described central plate；Described interior aircraft passes through described carbon
Foundation board is fixed on described balance axle.
The benefit that this utility model brings is: made by the balance axle of multi-axis balancing device and balance ring
Interior aircraft can be freely rotatable independent of protective cover, and owing to the center of gravity of interior aircraft is arranged at described
Overlap below the central point of balance axle and with vertical rotating shaft so that the crashproof aircraft of self-balancing is in collision
Or the poised state all the time of interior aircraft during by other factors image, can be kept, so make self-balancing
Crashproof aircraft can keep relatively stable continuation state of flight after an impact.Therefore, this practicality is new
The crashproof aircraft of self-balancing described in type can be effectively protected self-balancing with barrier when colliding to be prevented knocking away
The stabilized flight of row device, thus it is without damage to realize being not only the crashproof aircraft of self-balancing, and can also
Ensure the safe flight of the crashproof aircraft of self-balancing, not by collision baneful influence, continue to ensure self-balancing
The aerial flight of crashproof aircraft.
Accompanying drawing explanation
Fig. 1 is the structural representation of the crashproof aircraft of self-balancing of this utility model aircraft；
Fig. 2 is the structural representation of the multi-axis balancing device of this utility model aircraft；
Fig. 3 is the structural representation of the protective cover of this utility model aircraft；
Fig. 4 is the structural representation of the interior aircraft of this utility model aircraft.
Wherein: 100, protective cover；101, the first connector；102, the second connector；103, even
Extension bar；104, axle sleeve；200, multi-axis balancing device；201, balance axle；202, balance axle connects
Portion；203, balance ring；204, balance ring connecting portion；205, axle head；206, screw；207, spiral shell
Nail；208, I-shaped support；300, interior aircraft；301, carbon fiber base plate；302, motor；
303, blade；304, electron speed regulator；305, control unit；306, electronic equipment storehouse；307、
Remote control reception antenna；308, battery；309, figure passes antenna；310, photographic head.
Detailed description of the invention
Describing preferred implementation of the present utility model below, those of ordinary skill in the art can root
According to hereinafter described being realized by the correlation technique of this area, and wound of the present utility model can be will be apparent from
New part and the benefit brought.
Concrete for a crashproof aircraft of self-balancing providing based on this utility model as Figure 1-4
Embodiment, it includes interior aircraft 300, protective cover 100 and multi-axis balancing device 200, described interior
Aircraft 300 is arranged in described protective cover 100 by described multi-axis balancing device 200；Described many
Axis balancing unit 200 includes balance axle 201 and a balance ring 203, described balance axle 201
Two ends are hinged on described balance ring 203 by the first hinge assembly respectively and make the described balance ring 203 can
With relative to described balance axle 201 the first rotary shaft rotate (i.e. balance ring relative to balance axle rotate
Rotary shaft), described balance ring 203 is hinged on described protective cover 100 by the second hinge assembly and makes
Described balance ring 203 can rotate in the second rotary shaft relative to described protective cover 100 and (i.e. balance ring
The rotary shaft rotated relative to protective cover), described first rotary shaft and the axis weight of described balance axle 201
Close, described second rotary shaft and described balance ring 203 and the line of the pin joint of described protective cover 100
Overlap (i.e. balance ring 203 rotates with two junction points of described protective cover 100 relative to it), described
First rotary shaft and described second rotating shaft direct cross, described balance axle 201 is relative to described balance ring 203
Direction of rotation orthogonal relative to the direction of rotation of described protective cover 100 with described balance ring 203；Institute
State interior aircraft 300 and be arranged on the center of described balance axle 201, described interior aircraft 300
Center of gravity is arranged at below the central point of described balance axle 201 and overlaps with vertical rotating shaft, described vertically
Rotary shaft and described first rotary shaft, the second rotating shaft direct cross.Putting down by multi-axis balancing device 200
Weighing apparatus axle 201 and balance ring 203 make interior aircraft 300 can be freely rotatable independent of protective cover 100,
And owing to the center of gravity of interior aircraft 300 is arranged at below the central point of described balance axle 201 and with vertical
Rotary shaft overlaps so that can keep when the crashproof aircraft of self-balancing is in collision or by other factors image
All the time the poised state of interior aircraft, so makes the crashproof aircraft of self-balancing can keep after an impact
Relatively stable continuation state of flight.Therefore, the crashproof aircraft of self-balancing described in the utility model exists
The stabilized flight of self-balancing crashproof aircraft can be effectively protected when colliding with barrier, thus realize not
It is only that the crashproof aircraft of self-balancing is without damage, but also can guarantee that the safety of the crashproof aircraft of self-balancing
Flight, not by collision baneful influence, continues to ensure the aerial flight of the crashproof aircraft of self-balancing.
In the present embodiment, described multi-axis balancing device at least balance axle 201 and 203 groups of ring of balance
Two axis balancing units become, it is also possible to set up one second balance ring again on balance ring 203 and rotate
Axle orthogonal formation three axis balancing unit, then by hinged for this second balance ring be fixed on described protective cover real
The multi-axis balancing of aircraft 300 in existing.
In the present embodiment, described interior aircraft 300 is four-axle aircraft, certainly, and interior aircraft 300
Can also be other Multi-axis aircraft, other Multi-axis aircraft be readily adaptable for use in this utility model.
Described four-axle aircraft includes: carbon fiber base plate 301, motor 302, blade 303, electron speed regulator
304, (remote control reception antenna 307 and figure pass sky for control unit 305, electronic equipment storehouse 306, antenna
Line 309), photographic head 310 and battery 308, described carbon fiber base plate 301 include central plate and
It is integrally disposed upon the flight axis of four extensions of central plate surrounding, described motor 302 and described blade
303 are arranged on described flight the tip of the axis；Described control unit 305 is arranged on described carbon fiber base plate
The upper side of the central plate of 301, described electronic equipment storehouse 306, antenna, photographic head 310 and battery
308 downsides being arranged at described central plate；Described interior aircraft 300 is by the bottom of described carbon fiber
Plate 301 is fixed on described balance axle 201.So, all arrange due to most heavier assembly
In the downside of carbon fiber base plate 301, and carbon fiber base plate 301 is connected with balance axle 201, thus
Can ensure that the center of gravity of interior aircraft 300 is in the lower section (when level) of balance axle 201.From
And when flight, it is ensured that interior aircraft 300 can remain level or be adjusted to horizontal timely
State.It addition, carbon fiber base plate 301 is owing to using carbon fibre material, fly in greatly reducing
The overall weight of row device 300, can reduce flying weight thus improve the time of flight.
In the present embodiment, described protective cover 100 is by multiple connecting rods 103 and multiple connector
It is connected with each other and the network structure of globulate.Network structure can protect interior aircraft in multiple orientation
The safety of 300, and there is good mechanical property, intensity is more preferable.In the present embodiment, described netted
The mesh of structure is that regular polygon structure is arranged.Preferably, described cancellated mesh is positive five limits
Shape and/or regular hexagon structure arrange (can be i.e. the combination of regular hexagon and regular pentagon, it is also possible to
It is regular pentagon), described connector includes first connector 101 with three connecting portions and has
Second connector 102 of four connecting portions, described connecting rod 103 and described first connector 101 with
And the connecting portion that second on connector 102 connects, wherein there are two centrosymmetric regular pentagon structures
Mesh by described second connector 102, described connecting rod 103 is formed by connecting, described second hinge
Connected components is arranged in the mesh of said two centrosymmetric regular pentagon structure, described second hinged
Assembly is connected on described second connector by connecting rod.
In the present embodiment, described connecting rod uses carbon fibre material, so can largely subtract
The weight of little protective cover 100.
In the present embodiment, as in figure 2 it is shown, the balance ring of multi-axis balancing device 200 includes the first half
Annulus and the second semicircular ring, described first semicircular ring and described second semicircular ring are by described first hinged
Assembly connects fixing, and such structure makes to balance ring and is more convenient for assembling and processing.
In the present embodiment, described first hinge assembly includes the balance axle connecting portion being arranged in a mutually vertical manner
202 and balance ring connecting portion 204, described balance axle connecting portion 202 is hinged to institute by screw 206
Stating balance ring connecting portion 204, described balance axle connecting portion 202 is connected fixing with described balance axle 201,
Described balance ring connecting portion 204 is connected fixing (figure respectively with described first semicircular ring, the second semicircular ring
Not shown in).Described second hinge assembly includes the axle sleeve 104 being fixed on described protective cover 100
And axle head 205, axle sleeve 104 and axle head 205 are hinged by screw 206.
The two ends of described balance ring connecting portion 204 are respectively arranged with connecting groove, described first semicircular ring,
The end of the second semicircular ring is inserted in described connecting groove respectively and is screwed.Such connection
Structure can keep assembly precision as far as possible so that balance ring is basic relative to the rotary shaft of balance axle
Dead in line with described balance axle.
In the present embodiment, the central area of described balance axle 201 is provided with an I-shaped support 208
For fixing described interior aircraft 300, the carbon fiber base plate 301 of interior aircraft 300 passes through screw hole
207 are fixed.
In this utility model, for isostructural statement vertical, orthogonal, than statement described as follows: " institute
State the dead in line of the first rotary shaft and described balance axle, described second rotary shaft and described balance ring with
The line coincident of the pin joint of described protective cover, described first rotary shaft and described second rotating shaft direct cross,
Described balance axle relative to the direction of rotation of described balance ring and described balance ring relative to described protective cover
Direction of rotation orthogonal ".This kind of statement is not to be construed as absolute " vertically ", " orthogonal " or " coincidence ".
The impact being subject to processing the factor such as precision, ambient condition be there may be less error by these structures.
Above content be combine that this utility model made by concrete preferred implementation the most in detail
Describe in detail bright, it is impossible to assert that of the present utility model being embodied as is confined to these explanations.For this practicality
For novel person of an ordinary skill in the technical field, in the premise conceived without departing from this utility model
Under, it is also possible to make some simple deduction or replace.
Claims (10)
1. the crashproof aircraft of self-balancing, it is characterised in that described self-balancing crashproof aircraft bag
Including interior aircraft, protective cover and multi-axis balancing device, described interior aircraft passes through described multi-axis balancing
Device is arranged in described protective cover；
Described multi-axis balancing device includes a balance axle and a balance ring, and the two ends of described balance axle are divided
It is not hinged on described balance ring by the first hinge assembly and makes described balance ring can put down relative to described
Weighing apparatus axle rotates in the first rotary shaft, and described balance ring is hinged to described protective cover by the second hinge assembly
On make described balance ring can rotate in the second rotary shaft relative to described protective cover, described first rotate
Axle and the dead in line of described balance axle, described second rotary shaft and described balance ring and described protective cover
The line coincident of pin joint, described first rotary shaft and described second rotating shaft direct cross, described balance
Ring relative to the direction of rotation of described balance axle and described balance ring relative to the rotation side of described protective cover
To orthogonal；
Described interior aircraft is arranged on the center of described balance axle, and the center of gravity of described interior aircraft sets
It is placed in below the central point of described balance axle and overlaps with vertical rotating shaft, described vertical rotating shaft and institute
State the first rotary shaft, the second rotating shaft direct cross.
2. the crashproof aircraft of self-balancing as claimed in claim 1, it is characterised in that described protection
Cover is for being connected with each other and the network structure of globulate by multiple connecting rods and multiple connector.
3. the crashproof aircraft of self-balancing as claimed in claim 2, it is characterised in that described netted
The mesh of structure is that regular polygon structure is arranged.
4. the crashproof aircraft of self-balancing as claimed in claim 3, it is characterised in that described netted
The mesh of structure is regular pentagon and/or the setting of regular hexagon structure, and described connector includes having three
First connector of connecting portion and there is the second connector of four connecting portions, two of which center pair
Described connecting rod is formed by connecting by the mesh of the regular pentagon structure claimed by described second connector, institute
State in the mesh that the second hinge assembly is arranged on said two centrosymmetric regular pentagon structure, described
Second hinge assembly is connected on described second connector by connecting rod.
5. the crashproof aircraft of self-balancing as claimed in claim 3, it is characterised in that described connection
Bar is carbon fibre material.
6. the crashproof aircraft of self-balancing as claimed in claim 1, it is characterised in that described balance
Ring includes that the first semicircular ring and the second semicircular ring, described first semicircular ring and described second semicircular ring are passed through
Described first hinge assembly connects fixing.
7. the crashproof aircraft of self-balancing as claimed in claim 6, it is characterised in that described first
Hinge assembly includes balance axle connecting portion and balance ring connecting portion, the described balance being arranged in a mutually vertical manner
Axle connecting portion is hinged to described balance ring connecting portion by screw, and described balance axle connecting portion is flat with described
Weighing apparatus axle connects fixing, and described balance ring connecting portion is respectively with described first semicircular ring, the second semicircular ring even
Connect fixing.
8. the crashproof aircraft of self-balancing as claimed in claim 7, it is characterised in that described balance
The two ends of ring connecting portion are respectively arranged with connecting groove, described first semicircular ring, the end of the second semicircular ring
Portion inserts in described connecting groove respectively and is screwed.
9. the crashproof aircraft of self-balancing as claimed in claim 1, it is characterised in that described balance
The central area of axle is provided with an I-shaped support for fixing described interior aircraft.
10. the crashproof aircraft of self-balancing as claimed in claim 1, it is characterised in that fly in described
Row device is four-axle aircraft, and described four-axle aircraft includes: carbon fiber base plate, motor, blade, electricity
Sub-speed regulator, control unit, electronic equipment storehouse, antenna, photographic head and battery, described carbon fiber
Base plate includes central plate and is integrally disposed upon four flight axis extended of central plate surrounding, described electricity
Machine and described blade are arranged on described flight the tip of the axis；Wherein, described control unit is arranged on institute
State the upper side of the central plate of carbon fiber base plate, described electronic equipment storehouse, antenna, photographic head and electricity
Pond is arranged at the downside of described central plate；Described interior aircraft is fixed by described carbon fiber base plate
On described balance axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620297783.9U CN205469853U (en) | 2016-04-11 | 2016-04-11 | Self -balancing anticollision aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620297783.9U CN205469853U (en) | 2016-04-11 | 2016-04-11 | Self -balancing anticollision aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205469853U true CN205469853U (en) | 2016-08-17 |
Family
ID=56643873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620297783.9U Active CN205469853U (en) | 2016-04-11 | 2016-04-11 | Self -balancing anticollision aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205469853U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857628A (en) * | 2016-04-11 | 2016-08-17 | 北京智鹰科技有限公司 | Self-balancing anti-collision aircraft |
| CN112758318A (en) * | 2019-11-06 | 2021-05-07 | 杭州海康机器人技术有限公司 | Unmanned plane |
| CN114104307A (en) * | 2022-01-24 | 2022-03-01 | 西安杰出科技有限公司 | Obstacle alarm device for unmanned aerial vehicle |
-
2016
- 2016-04-11 CN CN201620297783.9U patent/CN205469853U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857628A (en) * | 2016-04-11 | 2016-08-17 | 北京智鹰科技有限公司 | Self-balancing anti-collision aircraft |
| CN112758318A (en) * | 2019-11-06 | 2021-05-07 | 杭州海康机器人技术有限公司 | Unmanned plane |
| CN114104307A (en) * | 2022-01-24 | 2022-03-01 | 西安杰出科技有限公司 | Obstacle alarm device for unmanned aerial vehicle |
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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: 20190717 Address after: 100085 No. 105, Block 1, Block B, No. 51, Kunming Hunan Road, Haidian District, Beijing Patentee after: BEIJING SHENZHOU ZHIHUI TECHNOLOGY CO., LTD. Address before: 100176 Beijing Daxing District Beijing Economic and Technological Development Zone Ronghua Road 8 Court 10 Building 20 Floor 2305 Patentee before: Beijing Zhiying Technology Co., Ltd. |