CN205891232U - Urgent safe launching appliance of four rotor unmanned aerial vehicle - Google Patents
Urgent safe launching appliance of four rotor unmanned aerial vehicle Download PDFInfo
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- CN205891232U CN205891232U CN201620714838.1U CN201620714838U CN205891232U CN 205891232 U CN205891232 U CN 205891232U CN 201620714838 U CN201620714838 U CN 201620714838U CN 205891232 U CN205891232 U CN 205891232U
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Abstract
The utility model relates to an urgent safe launching appliance of four rotor unmanned aerial vehicle, including dual -rotor driving motor, the dual -rotor pivot, upper rotor, lower rotor, the rotor equalizer, dual -rotor power supply, four rotor voltage detector, four rotor revolution detector, gyroscope sensor and flight controller, the central point that dual -rotor driving motor located four rotor unmanned aerial vehicle puts, dual -rotor driving motor is connected in the dual -rotor pivot, lower rotor locates in the dual -rotor pivot, upper rotor locates in the dual -rotor pivot through the reverse gear ware, and lie in lower rotor's top, upper rotor is connected to the rotor equalizer, dual -rotor power supply connects dual -rotor driving motor, flight controller connects dual -rotor driving motor respectively, four rotor voltage detector, four rotor revolution detector, gyroscope sensor and four rotor driving motor. Compared with the prior art, the utility model discloses simple structure, safety, stable, the reliability is high, has guaranteed the security when unmanned aerial vehicle descends.
Description
Technical field
The utility model is related to a kind of four rotor wing unmanned aerial vehicles, especially relates to a kind of four rotor wing unmanned aerial vehicle emergency safety landing
Device.
Background technology
In recent years, the application of unmanned plane and research are extensively paid attention to by relevant various aspects.With flush bonding processor,
Micro-sensor technologies, the development of control theory, micro electro mechanical system (MEMS) technology extensively should in each side such as military weapon, the products for civilian use
With.The research that this allows for unmanned plane is more and more burning hoter.
Four rotor wing unmanned aerial vehicles, due to can VTOL freely hover, are adaptable to various speed and various flight profile, mission profile boat
The flight condition on road.There are several features as follows: 1) small volume, lightweight, good concealment, be suitable for multi-platform, many spaces use,
Can flexible VTOL on ground, warship；2) flying height is low, has very strong mobility, executes special assignment ability
By force, microminiature four rotor wing unmanned aerial vehicle flying height arrives hundreds of rice for several meters, and flying speed is few meters per second to tens meters, can get into
Execute reconnaissance mission in building or cave tunnel, be easy to use under complex environment, tiny link can be scouted；3)
The simple low cost of structure, security is good, and four rotor wing unmanned aerial vehicles can provide accurately target acquisition information in real time, and cost is relatively low,
Convenient disassembly, and easy to maintain.
The maximum feature of four rotor wing unmanned aerial vehicles be exactly can vertical and landing takeoff, there is very strong mobility and operable
Property, being easy to operator is controlled and scouts, aircraft can fly to from target closer to region, and unlike conventional helicopters by
Can not therefore have good development space closely near target in its huge single rotor, but be intended to play four rotors
The peculiar advantage of unmanned plane, also faces many challenges.Traditional Rotor Helicopter passes through to change the rotary speed of screw,
Four rotors are different from traditional helicopter, and the frame for movement employing 4 rotors has the rotor of 4 fixations, 4 motor conducts
The direct driving force source of flight, the lift being produced by changing 4 screws controls, and structure and dynamics have obtained letter
Change.Although these advantages allow four rotor wing unmanned aerial vehicles to have obtained more preferably developing faster.But four rotor wing unmanned aerial vehicles there is also itself
Certain defect.Such as 1) four gyroplanes are flown due to 4 motors, and power consumption is big, easily cause electric power not enough and unexpected
Fall.2) four rotor wing unmanned aerial vehicles speed when landing is wayward, and it is too fast to easily cause decrease speed, and lead to aircraft or
The damage of miscellaneous equipment.3) be in addition also remotely pilotless machine common defect, aircraft is possible to accident, and makes to control letter
Number lose, so arise that aircraft grade out of control than relatively hazardous phenomenon.It is exactly tight for the last processing mode of these phenomenons
Plunge.
Prior art all proposes to improve respectively in terms of the landing of four rotor wing unmanned aerial vehicles, out of control, hypervelocity and security,
Ensure that the relative safety of four rotor wing unmanned aerial vehicles.But, also there are deficiency in these device U.S.-Chinas.Such as patent
A kind of four rotor wing unmanned aerial vehicle top-arranged landing assistant parachutes disclosed in cn204415737u, although this solution avoids aircraft fall suddenly
The huge damage bringing, but but lack flexibility, the Comparision trouble and Landing assistant parachute closes one's umbrella after opening, and parachuting effect
Fruit is affected by the external environment larger.For unmanned plane drop buffer a kind of disclosed in patent cn105480412a although being somebody's turn to do
The method of patent utilization lower airbag perfectly protects four gyroplanes not damage because of hard hit, but equally also carries
Air bag reclaims so one feature bothering its cost big, nor allows the landing of four rotor wing unmanned aerial vehicles to become more
Flexibly.For the method and device controlling unmanned plane landing a kind of disclosed in patent cn105353765a, this method needs root
To determine whether to process according to the image that video camera photographs, to be affected by ambient weather larger, and simply solve four rotors
Other unexpected situations can not be processed by the speed issue of the landing of unmanned plane.
Utility model content
The purpose of this utility model is exactly to overcome the defect of above-mentioned prior art presence to provide a kind of four rotors no
Man-machine emergency safety landing-gear, simply, safety, stable, reliability high it is ensured that security during unmanned plane landing.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of four rotor wing unmanned aerial vehicle emergency safety landing-gears, including DCB Specimen motor, DCB Specimen rotating shaft, upper rotation
The wing, lower rotor, rotor balancer, DCB Specimen power supply, four rotor voltage detectors, four rotor revolution detectors, gyroscope
Sensor and flight controller, described DCB Specimen motor turns located at the center of four rotor wing unmanned aerial vehicles, described DCB Specimen
Axle connects the output shaft of DCB Specimen motor, and in DCB Specimen rotating shaft, described upper rotor passes through reverse tooth to described lower rotor
Trochus is in DCB Specimen rotating shaft, and the top positioned at lower rotor, and described rotor balancer turns the tip of the axis located at DCB Specimen, and
Rotor in connection, described DCB Specimen power supply connects DCB Specimen motor, and described four rotor voltage detectors connect four rotations
Four rotor power supplies of wing unmanned plane, four rotors that described four rotor revolution detectors connect four rotor wing unmanned aerial vehicles drive electricity
, all on four rotor wing unmanned aerial vehicles, described flight controller connects double respectively for machine, described gyro sensor and flight controller
Rotor motor, four rotor voltage detectors, four rotor revolution detectors, gyro sensor and four rotor motors.
This device also includes remote signal detector, and described remote signal detector connects flight controller.
Described DCB Specimen motor passes through DCB Specimen motor cabinet located at the center of four rotor wing unmanned aerial vehicles, described bispin
Connection between wing motor cabinet and four rotor wing unmanned aerial vehicles is detachable connection.
This device also includes leg, and described leg is located at the bottom surface of four rotor wing unmanned aerial vehicles.
It is provided with buffer spring in described leg.
Described upper rotor and lower rotor are all using the double bladed paddle of same size.
The spacing of described upper rotor and lower rotor is 0.3～0.4 times of the spacing of upper rotor and four rotor wing unmanned aerial vehicles.
The length of described upper rotor is 0.4～0.5 times of the catercorner length of four rotor wing unmanned aerial vehicles.
Compared with prior art, the utility model has the advantage that
1st, can only land but also can not flexibly smoothly drop to overcome existing UAS to run into unexpected situation
Fall, be in addition also easy to break unmanned plane because touchdown ground speed is too fast and ground installation is caused with the shortcomings of damage, the utility model
It is emergent under rotor damaged condition by four rotor wing unmanned aerial vehicles are achieved on coaxial double-rotary wing Technology application to four rotor wing unmanned aerial vehicles
Flight, is individually powered by DCB Specimen power supply it is ensured that forced landing has enough power supply energies, in the guarantee of rotor balancer
The stable rotation of rotor, flight controller coordinate four rotor voltage detectors, four rotor revolution detectors, gyro sensor,
Remote signal detector, can real-time monitoring unmanned plane state of flight so that in time find emergency, can accomplish steadily to pacify
High-fall fall and can realize the flexible switching and between regular flight condition, it is to avoid existing bring because reclaiming auxiliary landing device
Extra work and expense.
2nd, the utility model structure is simple, using the detachable connection of DCB Specimen motor cabinet, be easy to quick with unmanned plane,
Stable assembling, applied range.
3rd, the utility model also sets up the leg with buffer spring, and the buffering realizing unmanned plane is landed, and improves unmanned plane tight
Plunge the security falling.
4th, the utility model is always according to unmanned plane structure, devises preferred structure and the size of rotor and lower rotor, makes
The operation obtaining emergency safety landing-gear does not interfere with the flight of unmanned plane itself, and emergency safety landing-gear can provide foot
Enough keep the flight performance that unmanned plane stably lands.
Brief description
Fig. 1 is the utility model perspective view；
Fig. 2 is the utility model main structure diagram；
Fig. 3 is the utility model internal circuit connection diagram；
Fig. 4 is the utility model emergency safety landing flow chart.
In figure: 1, DCB Specimen motor, 2, DCB Specimen rotating shaft, 3, upper rotor, 4, lower rotor, 5, rotor balancer, 6,
DCB Specimen power supply, 7, four rotor voltage detectors, 8, four rotor revolution detectors, 9, gyro sensor, 10, flight control
Device processed, 11, four rotor motors, 12, remote signal detector, 13, DCB Specimen motor cabinet, 14, leg, 15, fixed plate,
16th, four rotor motor cabinet, 17, extending bracket.
Specific embodiment
With specific embodiment, the utility model is described in detail below in conjunction with the accompanying drawings.The present embodiment is with the utility model
Implemented premised on technical scheme, given detailed embodiment and specific operating process, but guarantor of the present utility model
Shield scope is not limited to following embodiments.
, this four rotor wing unmanned aerial vehicle includes two fixed plates 15, four and prolongs taking four rotor wing unmanned aerial vehicles of djf330 model as a example
Stretch 17, four four rotor motors 11 of support and four four rotor motor cabinets 16, fixed plate 15 is in crosswise, two fixed plates
15 is setting up and down, forms the center of four rotor wing unmanned aerial vehicles, one end of four extending brackets 17 is connected respectively fixed plate
One jiao of 15, the other end connects four rotor motor cabinets 16 respectively, and each four rotor motor cabinet 16 arranges four rotors
Motor 11, four rotor motors 11 transfer to drive a screw by electricity, and four rotor motors 11 are by four rotors
Power supply is powered.Four rotor wing unmanned aerial vehicles change variable rotor speed by adjusting four motor speeds, realize the change of lift, from
And control attitude and the position of aircraft.Quadrotor is a kind of vertical conveyor of six degree of freedom, but only four defeated
Enter power, but have six states (vertical movement, elevating movement, yawing rotation, move forward and backward and be inclined to motion) output simultaneously, so
It is a kind of under-actuated systems.
As shown in Figure 1, Figure 2 and Figure 3, four rotor wing unmanned aerial vehicles are installed and be applied to unmanned plane stable landing and unmanned plane
In the emergency safety landing-gear of the situation emergency processing suddenly such as out of control, stall, low battery, control signal loss, this device bag
Include DCB Specimen motor 1, DCB Specimen rotating shaft 2, upper rotor 3, lower rotor 4, rotor balancer 5, DCB Specimen power supply 6, four
Rotor voltage detector 7, four rotor revolution detectors 8, gyro sensor 9, remote signal detector 12 and flight controller
10, with having dug an installing hole, DCB Specimen motor 1 passes through DCB Specimen motor for the middle of fixed plate 15 above
Seat 13 connects the output shaft of DCB Specimen motor 1 located at this installation in the hole, DCB Specimen rotating shaft 2, and lower rotor 4 turns located at DCB Specimen
On axle 2, upper rotor 3 passes through reverse gear device in DCB Specimen rotating shaft 2, and is located at the top of lower rotor 4, rotor balancer 5
Located at the end of DCB Specimen rotating shaft 2, and connect rotor 3, DCB Specimen power supply 6 connects DCB Specimen motor 1, four rotors
Voltage detector 7 connects four rotor power supplies of four rotor wing unmanned aerial vehicles, and four rotor revolution detector 8 connects four rotor wing unmanned aerial vehicles
Four rotor motors 11, all on four rotor wing unmanned aerial vehicles, flight controls for gyro sensor 9 and flight controller 10
Device 10 connects DCB Specimen motor 1, four rotor voltage detectors 7, four rotor revolution detectors 8, gyro sensor respectively
9th, remote signal detector 12 and four rotor motors 11, the bottom surface of each four rotor motor cabinet 16 is provided with a leg
14, it is provided with buffer spring in leg 14, form fixed landing gear.
Wherein, all using the double bladed paddle of same size, upper rotor 3 with the spacing of lower rotor 4 is for upper rotor 3 and lower rotor 4
0.3～0.4 times of the spacing of upper rotor 3 and four rotor wing unmanned aerial vehicles, adopts 0.35 times in the present embodiment, the dextrorotation of upper rotor 3
Turn, lower rotor 4 rotate counterclockwise, the reaction torque of upper and lower two rotors can be cancelled out each other, and so ensures that unmanned aerial vehicle body
Rotation will not be produced with the rotation of rotor, the length of upper rotor 3 be the catercorner length of four rotor wing unmanned aerial vehicles 0.4～
0.5 times, using 0.45 times it is ensured that the structure of coaxial double-rotary wing can provide enough lift right in the present embodiment
The rotation of former four rotors impacts.
In the present embodiment, be No. 1 to four four rotor motors 11 order number consecutively of four rotor wing unmanned aerial vehicles, No. 2,
No. 3 and No. 4, No. 1, No. 2, No. 3, No. 4 motors to adopt different types of motor, wherein No. 1 motor and No. 3 motors are a pair of phase
With motor, that is, right-handed thread motor (cw) right-handed screw cap is into tightening；So No. 2 motors and No. 4 motors are a pair of phase
With motor, that is, left hand thread motor (ccw) left-handed screw cap is into tightening.Thus correspondence is contained in No. 2 electricity of No. 1 motor
Screw on machine No. 4 motors of No. 3 motors also followed by and is divided into 2 kinds, i.e. positive oar, and the meaning is exactly to produce according to turning clockwise to rise
Power；The anti-oar meaning is exactly to produce lift according to rotate counterclockwise.For No. 1 and No. 3 motors, the utility model joins anti-oar, for 2
Number and No. 4 motors, the utility model joins positive oar.The size of screw according to the size of the four rotor wing unmanned aerial vehicle frames being used with
And using the model of motor determine.Following matching method: the motor of kv value 900-1000 can be referred to, join 1060 or
1047 slurry or 9 cun of oar, the motor of kv value 1200-1400, join 9050 to 8 cun or 6 cun of slurry, kv value 1600-1800
Motor, join 7 cun or 6 cun of slurry, the motor of kv value 2200-2800, join 5 cun of slurries, motors of kv value 3000-3500, join
4530 slurry.Concrete pairing is according to depending on actual demand.
Under normal circumstances, unmanned plane is smoothly placed on ground, opening remote control device, starts release tab, now four rotor
The flight controller 10 of unmanned plane successfully unlocks state, No. 1 of four rotor wing unmanned aerial vehicles, No. 2, No. 3, No. 4 four rotors drive
The propeller rotational that motor 11 drive is fixedly connected with four rotor motors 11.The now rotation of 4 four rotor motors 11
Rotary speed is in idling mode, and the lift produced by screw rotation that 4 four rotor motors 11 drive is not enough to allow four
Rotor wing unmanned aerial vehicle takes off, so, aircraft will not be allowed self-balancing shape is entered when 4 motors of four rotor wing unmanned aerial vehicles are in idling mode
State.
4 four rotor motors 11 for four rotor unmanned aerial vehicles drive 4 propeller rotational fixed with nut
When, the direction of rotation of 4 screws is as follows: the screw rotate counterclockwise that No. 1 motor drives, the screw that No. 2 motors drive
Turn clockwise, the screw rotate counterclockwise that No. 3 motors drive, the screw of No. 4 motor drives turns clockwise.
When the input current promoting throttle to increase motor, the rotating speed of 4 four rotor motors 11 can rise, when any
The lift produced by rotation of one four rotor motor 11 be more than corresponding lift when, four rotor wing unmanned aerial vehicles will
Attitude will change, once the attitude of four rotor wing unmanned aerial vehicles changes, then the controller of four rotor wing unmanned aerial vehicles will allow winged
Machine enters self-balancing state so that the rotating speed of 4 four rotor motors 11 cooperates thus allowing aircraft held stationary state.
Allowing four rotors be in plateau is that the six axle gyro sensors 9 connecting by flight controller 10 ceaselessly to detect four rotors
The attitude of aircraft, is then increased by flight controller 10 or somewhat reduces the input current of each motor, then reach control
Motor speed is so that the function of aircraft held stationary.
The utility model emergency safety landing-gear, as shown in figure 4, can use in the case of following:
The first, when four rotor wing unmanned aerial vehicles are from small space to the open local flight in space.Because four rotors are unmanned
When machine is started with four rotors, the space of needs is larger, and when just starting, the lift of four rotor generations will not be identical, then
So may result in four rotor wing unmanned aerial vehicles and bump against space wall etc., unmanned plane and the damage of other property can be caused.Using urgent
Safety device takes off and can save space of taking off, this is because emergency safety landing-gear is located at the middle of four rotor wing unmanned aerial vehicles
Top.This takeoff method protects unmanned plane will not break screw and property around other.When four rotor wing unmanned aerial vehicle profits
Risen with emergency safety device when flying to clearing, start four rotors of unmanned plane, increase by four rotors by continuous
Lift reduces the lift of emergency safety device simultaneously, to realize the switching between emergency safety landing-gear rotor and four rotors.
Second, when the unexpected brownout in four rotor wing unmanned aerial vehicle high-altitudes.Due to during the flight in the air of four rotor wing unmanned aerial vehicles,
There are four four rotor motors 11 to drive four screw rotations simultaneously, thus producing lift, realizing and completing four rotors
The various state of flights of unmanned plane.But four four rotor motors 11 rotate and need to consume substantial amounts of electricity simultaneously, if
Now aircraft leads to four four rotor motors 11 to lose the ability maintaining unmanned plane steadily to decline because not having electricity, and that will be made
Become unpredictable serious consequence.So, when electricity and being too low, unmanned plane starts emergency safety landing-gear at once, with
When reduce by four rotors four four rotor motors 11 rotating speed, increase emergency safety landing-gear connect DCB Specimen drive
The rotating speed of motor 1.Until emergency safety landing-gear is taken over and so that aircraft steadily declines, when, thoroughly close the 1 of four rotors
Number, No. 2, No. 3, No. 4 motors.Four rotor wing unmanned aerial vehicles will fall in the auxiliary of emergency safety landing-gear, because emergency safety fall
Dropping control device is in the center of unmanned plane, it is possible to fully ensuring that the vertical decline of unmanned plane.So can reduce in high-altitude
Connect the rotating speed of the DCB Specimen motor 1 of emergency safety landing-gear, rapid decrease unmanned plane as needed, subaerial
When increase the rotating speed of DCB Specimen motor 1 so that unmanned plane obtains bigger lift brings because of rapid decrease to contend with
Huge inertia.Unmanned plane thus can be realized in slow stable landing near the ground.
The third, current four rotor wing unmanned aerial vehicles in landing near the ground, due to the drive of four four rotor motors 11
Screw lift near the ground differ greatly so that unmanned plane the moment landed can occur turn on one's side situation, to unmanned plane
Cause serious damage.So the present invention goes out in overhead near the ground certain position, quickly by UAV Flight Control from 1
Number, the pattern switching of the driving of No. 2, No. 3, No. 4 four rotors to DCB Specimen motor 1 drive emergency safety landing-gear fall
The pattern falling is up.Increase the rotating speed of DCB Specimen motor 1 so that unmanned plane acquisition is bigger so when subaerial
The huge inertia that lift brings because of rapid decrease to contend with.Then realize unmanned plane in slow stable landing near the ground.
4th kind, for remote signal lost contact in runaway conditions for four rotor wing unmanned aerial vehicles.Four rotor wing unmanned aerial vehicles by No. 1,2
Number, No. 3, No. 4 four motors unmanned plane when driving screws to produce lift, have DCB Specimen motor 1 to drive emergency safety fall
Dropping control device.When unmanned plane and remote control, inevitably result in unmanned plane stability and huge fluctuation occurs.Now, remote signal
Whether detector 12 detection flight controller 10 is kept in communication with remote control, and emergency safety landing-gear can be examined according to remote signal
The result surveying the detection of device 12 judges whether to start.If losing communication to connect, DCB Specimen being started with the time the shortest and drives electricity
Machine 1 simultaneously increases to certain speed, and No. 1, No. 2, No. 3, No. 4 motors are fallen in rapid closing simultaneously.Driven by DCB Specimen motor 1
The lift to provide four rotor wing unmanned aerial vehicles for the emergency safety landing-gear.When four rotor wing unmanned aerial vehicles be in vertical landing when
Wait, the lift according to the in good time adjustment emergency safety landing-gear of the height sensor carrying inside flight controller 10 is to obtain
Optimum sinking speed.During four rotor wing unmanned aerial vehicle vertical landings, if flight controller 10 is examined by remote signal
Survey device 12 and be connected to remote control again, and receive remote signal, now can rapidly close emergency safety device, simultaneously
Open No. 1, No. 2, No. 3, No. 4 motors, drive four rotors, realize unmanned plane moment fixed height.So it is achieved that unmanned plane exists
Recover the function of normal flight at any time in high-altitude when emergency situations eliminate.Do not need must force-land nobody as prior art
Machine, takes off from ground after situation eliminates again again.
5th kind, interrupt suddenly any one spiral shell in 4 screws in four rotors in high-altitude for four rotor wing unmanned aerial vehicles
During rotation oar.Now four rotor wing unmanned aerial vehicles will necessarily lead to unmanned plane to shortage lift because a rotor lacks sufficient lift
While tilt flight.Now unmanned plane is just out of control, is in inclination flight and nothing when flight controller 10 detects unmanned plane
When method passes through remote control control, UAV Flight Control device 10 will start emergency safety landing-gear.Assume No. 1 motor connection
Screw drops, the screw normal flight of No. 2, No. 3, No. 4 motor connections.Now, UAV Flight Control device 10 starts tightly
Anxious safe falling device, DCB Specimen motor 1 drives emergency safety landing-gear.
6th kind, when the screw of No. 1 motor connection breaks down, unmanned plane will tilt fly to No. 1 motor place direction
OK, now start emergency safety landing-gear to make up the lift being lacked at No. 1 motor.Flight controller 10 reduces by 2 simultaneously
Number, the rotating speed of No. 4 motors, the moment of torsion that can produce with No. 3 motors until moment of torsion sum that No. 2 and No. 4 motors produce to counteracting,
Unmanned plane is so enable to keep the state of a balance flight.If any one in No. 2 or No. 3 or No. 4
The damage problem that drops in rotor, and has the processing scheme similar to No. 1 motor.Reduce the adjacent motor having damaged motor
Rotating speed, reached the moment of torsion that other 3 motors produce and be zero effect.
7th kind, when the screw that two adjacent motors are fixed all breaks down, start emergency safety landing-gear,
And reduce the rotary speed of remaining two motors simultaneously, reduce lift with suitable, increase turning of DCB Specimen motor 1 simultaneously
Speed allows emergency safety landing-gear obtain larger lift, then allows unmanned plane keep a balance state of flight.
8th kind, when 3 screws damages occur in four rotors, now, that left motor of rapid reduction
Rotating speed, the emergency safety landing-gear of flight controller 10 startup simultaneously.The coaxial double-rotary being connected using DCB Specimen motor 1
The wing, to manipulate the flight of four rotor wing unmanned aerial vehicles.Emergency safety device adopts coaxial double-rotary wing mechanism to design, can be by change
The relative angle of 2 rotors in lower rotor 4, to control unmanned plane rotation, in front and back, vertical flight.
9th kind, when four rotors all damage, processing scheme is simpler, directly initiates emergency safety dress
Put, emergency safety landing-gear forced landing.
To sum up shown, four rotor wing unmanned aerial vehicle emergency safety landing-gears constitute one with the structure of whole four rotor wing unmanned aerial vehicles
Overall, entered by remote signal detector 12, four rotor voltage detectors 7, four rotor revolution detectors 8, gyro sensor 9
Row signal detection, using flight controller 10 control DCB Specimen motor 1 reach best guarantee unmanned plane safe flight and
The effect of safety and steady landing is it is achieved that the function of emergent flight under multiple emergency case and emergency safety landing.
Claims (8)
1. a kind of four rotor wing unmanned aerial vehicle emergency safety landing-gears are it is characterised in that include DCB Specimen motor (1), bispin
Wing rotating shaft (2), upper rotor (3), lower rotor (4), rotor balancer (5), DCB Specimen power supply (6), four rotor voltage detecting
Device (7), four rotor revolution detectors (8), gyro sensor (9) and flight controller (10), described DCB Specimen motor
(1) located at the center of four rotor wing unmanned aerial vehicles, described DCB Specimen rotating shaft (2) connects the output shaft of DCB Specimen motor (1),
In DCB Specimen rotating shaft (2), described upper rotor (3) passes through reverse gear device located at DCB Specimen rotating shaft (2) to described lower rotor (4)
On, and the top positioned at lower rotor (4), described rotor balancer (5) is located at the end of DCB Specimen rotating shaft (2), and connects rotation
The wing (3), described DCB Specimen power supply (6) connects DCB Specimen motor (1), and described four rotor voltage detectors (7) connect
Four rotor power supplies of four rotor wing unmanned aerial vehicles, described four rotor revolution detectors (8) connect four rotors of four rotor wing unmanned aerial vehicles
Motor (11), described gyro sensor (9) and flight controller (10) all on four rotor wing unmanned aerial vehicles, described flight
Controller (10) connect respectively DCB Specimen motor (1), four rotor voltage detectors (7), four rotor revolution detectors (8),
Gyro sensor (9) and four rotor motors (11).
2. a kind of four rotor wing unmanned aerial vehicle emergency safety landing-gears according to claim 1 it is characterised in that this device also
Including remote signal detector (12), described remote signal detector (12) connects flight controller (10).
3. a kind of four rotor wing unmanned aerial vehicle emergency safety landing-gears according to claim 1 are it is characterised in that described bispin
Wing motor (1) passes through DCB Specimen motor cabinet (13) located at the center of four rotor wing unmanned aerial vehicles, described DCB Specimen motor cabinet
(13) connection between and four rotor wing unmanned aerial vehicles is detachable connection.
4. a kind of four rotor wing unmanned aerial vehicle emergency safety landing-gears according to claim 1 it is characterised in that this device also
Including leg (14), described leg is located at the bottom surface of four rotor wing unmanned aerial vehicles.
5. a kind of four rotor wing unmanned aerial vehicle emergency safety landing-gears according to claim 4 are it is characterised in that described leg
(14) it is provided with buffer spring in.
6. a kind of four rotor wing unmanned aerial vehicle emergency safety landing-gears according to claim 1 are it is characterised in that described upper rotation
The wing (3) and lower rotor (4) are all using the double bladed paddle of same size.
7. a kind of four rotor wing unmanned aerial vehicle emergency safety landing-gears according to claim 1 are it is characterised in that described upper rotation
The spacing of the wing (3) and lower rotor (4) is 0.3～0.4 times of upper rotor (3) and the spacing of four rotor wing unmanned aerial vehicles.
8. a kind of four rotor wing unmanned aerial vehicle emergency safety landing-gears according to claim 1 are it is characterised in that described upper rotation
The length of the wing (3) is 0.4～0.5 times of the catercorner length of four rotor wing unmanned aerial vehicles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620714838.1U CN205891232U (en) | 2016-07-08 | 2016-07-08 | Urgent safe launching appliance of four rotor unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620714838.1U CN205891232U (en) | 2016-07-08 | 2016-07-08 | Urgent safe launching appliance of four rotor unmanned aerial vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN205891232U true CN205891232U (en) | 2017-01-18 |
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ID=57770748
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620714838.1U Expired - Fee Related CN205891232U (en) | 2016-07-08 | 2016-07-08 | Urgent safe launching appliance of four rotor unmanned aerial vehicle |
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| CN107933903A (en) * | 2017-12-03 | 2018-04-20 | 佛山市神风航空科技有限公司 | One kind stablizes more rotor hook goods aircraft |
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| CN107972856A (en) * | 2017-12-03 | 2018-05-01 | 佛山市神风航空科技有限公司 | One kind balance multi-rotor aerocraft |
| CN108153325A (en) * | 2017-11-13 | 2018-06-12 | 上海顺砾智能科技有限公司 | The control method and device of Intelligent unattended machine |
| CN108423166A (en) * | 2018-05-14 | 2018-08-21 | 天长市星舟航空技术有限公司 | A kind of horizontal landing system of multi-rotor unmanned aerial vehicle |
| CN109383835A (en) * | 2017-08-04 | 2019-02-26 | 上海裕芮信息技术有限公司 | A kind of vehicle-mounted unmanned aerial vehicle system |
| CN109703756A (en) * | 2019-02-19 | 2019-05-03 | 南京工业职业技术学院 | Unmanned plane is used in a kind of detection of chimney |
| CN109823521A (en) * | 2019-02-22 | 2019-05-31 | 江西希德防务系统技术有限公司 | It is a kind of can be by the mechanism and method of motor-locking to specific position |
| CN109878713A (en) * | 2019-04-10 | 2019-06-14 | 上海交通大学 | Miniature coaxial double-rotary wing unmanned plane |
| CN110481780A (en) * | 2019-09-11 | 2019-11-22 | 北方民族大学 | Hybrid power unmanned plane and its control method with two kinds of rotors |
| WO2022008592A1 (en) * | 2020-07-08 | 2022-01-13 | Robert Bosch Gmbh | Emergency stop device |
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| CN108423166A (en) * | 2018-05-14 | 2018-08-21 | 天长市星舟航空技术有限公司 | A kind of horizontal landing system of multi-rotor unmanned aerial vehicle |
| CN108423166B (en) * | 2018-05-14 | 2023-12-22 | 天长市星舟航空技术有限公司 | Multi-rotor unmanned aerial vehicle horizontal landing system |
| CN109703756A (en) * | 2019-02-19 | 2019-05-03 | 南京工业职业技术学院 | Unmanned plane is used in a kind of detection of chimney |
| CN109703756B (en) * | 2019-02-19 | 2023-08-15 | 南京工业职业技术学院 | Unmanned aerial vehicle for chimney detection |
| CN109823521A (en) * | 2019-02-22 | 2019-05-31 | 江西希德防务系统技术有限公司 | It is a kind of can be by the mechanism and method of motor-locking to specific position |
| CN109878713A (en) * | 2019-04-10 | 2019-06-14 | 上海交通大学 | Miniature coaxial double-rotary wing unmanned plane |
| CN110481780A (en) * | 2019-09-11 | 2019-11-22 | 北方民族大学 | Hybrid power unmanned plane and its control method with two kinds of rotors |
| WO2022008592A1 (en) * | 2020-07-08 | 2022-01-13 | Robert Bosch Gmbh | Emergency stop device |
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