CN205931255U - Spherical unmanned aerial vehicle based on ARM - Google Patents
Spherical unmanned aerial vehicle based on ARM Download PDFInfo
- Publication number
- CN205931255U CN205931255U CN201620984206.7U CN201620984206U CN205931255U CN 205931255 U CN205931255 U CN 205931255U CN 201620984206 U CN201620984206 U CN 201620984206U CN 205931255 U CN205931255 U CN 205931255U
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- China
- Prior art keywords
- module
- spherical
- unmanned plane
- secondary propeller
- arm
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- Expired - Fee Related
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- 238000004891 communication Methods 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 abstract description 6
- 241000143392 Oar Species 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000003028 elevating Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000037396 body weight Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Abstract
The utility model discloses a spherical unmanned aerial vehicle based on ARM, including netted spherical shell, the vice screw of second, fuselage frame mechanism, clamping rings, communication module, motor control module, power module, sensor module and control system module, the bottom of principal screw oar is connected with fuselage frame mechanism, fuselage frame mechanism's left side is equipped with first pair of screw, and fuselage frame mechanism's right side is equipped with the vice screw of second, netted spherical shell and clamping rings fixed connection, be electric connection between control system module and communication module, motor control module, power module and the sensor module. This spherical unmanned aerial vehicle based on ARM outward appearance is spherical, adopts the storage battery power supply, and descendings of taking off that can be safe can realize perpendicular flight, hover in air, turn to flight during flight, realization flight process that can be better, assurance screw and inner structure's safety to realize the required function.
Description
Technical field
This utility model is related to unmanned air vehicle technique field, specially a kind of spherical unmanned plane based on ARM.
Background technology
With all many progress such as scientific and technological fast development and new material, unmanned plane relies on oneself economy, safety
Etc. advantage so as to obtain wide development space in the aspects such as Military Application, the research of unmanned plane become recent each
The focus of countries and regions research.Unmanned plane major part is rotary wind type now, as unmanned plane unmanned plane, six rotor wing unmanned aerial vehicles etc.,
But the propeller of these unmanned planes is mostly exposed to outside so that unmanned plane rotor is awing likely encountered various damages at any time
Evil, the damage of propeller would potentially result in unmanned plane disequilibrium, and then leads to unmanned plane crash out of control.
Utility model content
The purpose of this utility model is to provide a kind of spherical unmanned plane based on ARM, to solve in above-mentioned background technology
Propose existing unmanned plane propeller be mostly exposed to outside so that unmanned plane rotor be awing likely encountered at any time various
Infringement, the damage of propeller would potentially result in unmanned plane disequilibrium, and then leads to the problem of unmanned plane crash out of control.
For achieving the above object, this utility model provides following technical scheme：A kind of spherical unmanned plane based on ARM, bag
Include main screw, the first secondary propeller, netted spherical housing, the second secondary propeller, fuselage ring mechanism, clamping rings, communication
Module, motor control module, power module, sensor assembly and control system module, the bottom of described main screw is connected with
Fuselage ring mechanism, the left side of described fuselage ring mechanism is provided with the first secondary propeller, and the right side of fuselage ring mechanism is provided with
Second secondary propeller, described netted spherical housing is fixedly connected with clamping rings, described control system module and communication module, electricity
It is electric connection between machine control module, power module and sensor assembly.
Preferably, the inside of described netted spherical housing is provided with two central shafts.
Preferably, the described first secondary propeller and the second secondary propeller are centered on fuselage ring mechanism, right
Claim to be installed on central shaft, and the first secondary propeller and the second secondary propeller are perpendicular to main screw.
Preferably, the inside of described fuselage ring mechanism is provided with motor, and this motor is rotatedly connected with main screw and connects.
Preferably, described communication module, motor control module, power module, sensor assembly and control system module are common
With the hardware components forming described spherical unmanned plane.
Preferably, described clamping rings is ellipsoidal structure.
Preferably, described power module is specially storage battery power supply.
Compared with prior art, the beneficial effects of the utility model are：Should the spherical unmanned plane outward appearance based on ARM be ball
Shape, using storage battery power supply, is capable of the landing of taking off of safety, be capable of during flight vertical flight, hovering, turn to winged
OK, preferably flight course can be realized it is ensured that the safety of propeller and its internal structure, thus realizing required function, in structure
Make, this unmanned plane is mainly made up of with its internal framework netted spherical housing, netted spherical enclosure contains two
Central shaft, centre is fixed reinforcement with the similar annulus of netted spherical housing to its inside, and wherein main screw is in body
Top half, provides lift upwards for body, remaining two secondary propellers perpendicular to main screw, on center shaft symmetrically
Install, the battery of unmanned plane and other parts then all below body so that below body weight relatively heavy it is ensured that unmanned plane
Longitudinal stability, make unmanned plane more safety and easily take off and land, the flight theory of this spherical unmanned plane is to utilize water
Square to main screw produce lift straight up under the drive of motor, provide power upwards for spherical unmanned plane,
Thus controlling the elevating movement of spherical unmanned plane；Meanwhile, this spherical unmanned plane is coaxial using two below main screw
Symmetrical secondary propeller, to offset the torsional forces of main screw generation, enables unmanned plane force balance, in addition, secondary spiral
Oar can also control the heading of this spherical unmanned plane by way of changing itself speed discrepancy, after adjusting direction,
Thrust can be provided using secondary propeller, spherical unmanned plane can be flown along oneself required direction, by no
Mutually coordinated cooperation between man-machine modules, enables spherical unmanned plane smoothly to complete to take off, various flight appearances in the air
State, safe falling.
Brief description
Fig. 1 is this utility model structural representation；
Fig. 2 is this utility model overlooking the structure diagram；
Fig. 3 is this utility model side view；
Fig. 4 is this utility model hardware block diagram.
In figure：1st, main screw, the 2, first secondary propeller, 3, netted spherical housing, the 4, second secondary propeller, 5, fuselage frame
Frame mechanism, 6, clamping rings, 7, communication module, 8, motor control module, 9, power module, 10, sensor assembly, 11, control
System module.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely description is it is clear that described embodiment is only a part of embodiment of this utility model rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of making creative work
The every other embodiment being obtained, broadly falls into the scope of this utility model protection.
Refer to Fig. 1-4, this utility model provides a kind of technical scheme：A kind of spherical unmanned plane based on ARM, including master
The secondary propeller 2 of propeller 1, first, the secondary propeller 4 of netted spherical housing 3, second, fuselage ring mechanism 5, clamping rings 6, logical
News module 7, motor control module 8, power module 9, sensor assembly 10 and control system module 11, the bottom of main screw 1
It is connected with fuselage ring mechanism 5, the inside of fuselage ring mechanism 5 is provided with motor, and this motor is rotatedly connected with main screw 1
Connect, the left side of fuselage ring mechanism 5 is provided with the first secondary propeller 2, and the right side of fuselage ring mechanism 5 is provided with the second secondary propeller
4, the first secondary propeller 2 and the second pair propeller 4, centered on fuselage ring mechanism 5, are symmetrically arranged on central shaft, and first
, perpendicular to main screw 1, netted spherical housing 3 is fixedly connected with clamping rings 6, fixing for secondary propeller 2 and the second secondary propeller 4
Annulus 6 is ellipsoidal structure, and the inside of netted spherical housing 3 is provided with two central shafts, control system module 11 and communication module
7th, it is electric connection between motor control module 8, power module 9 and sensor assembly 10, control system module 11 is responsible for whole
Individual unmanned plane is coordinated, stable flight it is ensured that modules be capable of rational and orderly complete the control instruction that controller sends, and
Process modules feedack, so that aircraft is normally run, sensor assembly 10 is to collect whole unmanned plane
The information such as flight speed, attitude, transfer to data processing module to process and deliver to controller, and wireless communication module 7 is used for processing
Radio communication between ground and unmanned plane, motor control module 8 is used for driving propeller according to controlling requirement to run, and communicates mould
Block 7, motor control module 8, power module 9, sensor assembly 10 collectively constitute spherical unmanned plane with control system module 11
Hardware components, power module 9 is specially storage battery power supply, and power module 9 is each module of whole UAS with required electricity
Pressure power supply.
Operation principle：When using this spherical unmanned plane based on ARM, need first to whole spherical unmanned based on ARM
Machine has the understanding in a structure, when using, can more easily be used, and control system module 11 is responsible for whole nothing
Man-machine harmony, stable flight it is ensured that modules be capable of rational and orderly complete the control instruction that controller sends, and process
Modules feedack, enables aircraft normally to run；Sensor assembly 10 is the flight collecting whole unmanned plane
The information such as speed, attitude, transfer to data processing module to process and deliver to controller；Communication module 7 is used for processing ground and nobody
Radio communication between machine；Power module 9 is each module of whole UAS with required power voltage supply；Motor control module
8 are used for driving propeller to require to run according to control；The flight theory of this spherical unmanned plane is the principal screw using horizontal direction
Oar 1 produces lift straight up under the drive of motor, provides power upwards for spherical unmanned plane, thus controlling spherical nothing
Man-machine elevating movement；Meanwhile, this spherical unmanned plane utilizes two common axisymmetric pair propellers of main screw 1 lower section
To offset the torsional forces of main screw 1 generation, to enable unmanned plane force balance, in addition, secondary propeller can also pass through
The heading to control this spherical unmanned plane for the mode of itself speed discrepancy of change, after adjusting direction, it is possible to use secondary spiral shell
Rotation oar provides thrust, and spherical unmanned plane can be flown along oneself required direction, by unmanned plane modules
Between mutually coordinated cooperation, enable spherical unmanned plane smoothly to complete to take off, various flight attitudes, safe falling in the air.
In sum, although being described in detail to this utility model with reference to the foregoing embodiments, for this area
For technical staff, it still can be modified to the technical scheme described in foregoing embodiments, or to wherein part
Technical characteristic carries out equivalent, all any modifications within spirit of the present utility model and principle, made, equivalent,
Improve etc., should be included within protection domain of the present utility model.
Claims (7)
1. a kind of spherical unmanned plane based on ARM, including main screw (1), the first secondary propeller (2), netted spherical housing
(3), the second secondary propeller (4), fuselage ring mechanism (5), clamping rings (6), communication module (7), motor control module (8),
Power module (9), sensor assembly (10) and control system module (11) it is characterised in that：The bottom of described main screw (1)
It is connected with fuselage ring mechanism (5), the left side of described fuselage ring mechanism (5) is provided with the first secondary propeller (2), and fuselage ring
The right side of mechanism (5) is provided with the second secondary propeller (4), and described netted spherical housing (3) is fixedly connected with clamping rings (6), institute
State control system module (11) and communication module (7), motor control module (8), power module (9) and sensor assembly (10) it
Between be electric connection.
2. a kind of spherical unmanned plane based on ARM according to claim 1 it is characterised in that：Described netted spherical housing
(3) inside is provided with two central shafts.
3. a kind of spherical unmanned plane based on ARM according to claim 1 it is characterised in that：Described first secondary propeller
(2) with the second secondary propeller (4) centered on fuselage ring mechanism (5), it is symmetrically arranged on central shaft, and the first secondary propeller
(2) with the second secondary propeller (4) perpendicular to main screw (1).
4. a kind of spherical unmanned plane based on ARM according to claim 1 it is characterised in that：Described fuselage ring mechanism
(5) inside is provided with motor, and motor is rotatedly connected with main screw (1) and connects, and this motor is with motor control module (8) electrically
Connect.
5. a kind of spherical unmanned plane based on ARM according to claim 1 it is characterised in that：Described communication module (7),
Motor control module (8), power module (9), sensor assembly (10) and control system module (11) collectively constitute described spherical
The hardware components of unmanned plane.
6. a kind of spherical unmanned plane based on ARM according to claim 1 it is characterised in that：Described clamping rings (6) is
Ellipsoidal structure.
7. a kind of spherical unmanned plane based on ARM according to claim 1 it is characterised in that：Described power module (9) tool
Body is storage battery power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620984206.7U CN205931255U (en) | 2016-08-30 | 2016-08-30 | Spherical unmanned aerial vehicle based on ARM |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620984206.7U CN205931255U (en) | 2016-08-30 | 2016-08-30 | Spherical unmanned aerial vehicle based on ARM |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205931255U true CN205931255U (en) | 2017-02-08 |
Family
ID=57955264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620984206.7U Expired - Fee Related CN205931255U (en) | 2016-08-30 | 2016-08-30 | Spherical unmanned aerial vehicle based on ARM |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205931255U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107352022A (en) * | 2017-06-08 | 2017-11-17 | 国蓉科技有限公司 | A kind of spherical UAS of rotor of impact resistant four |
| CN107856856A (en) * | 2017-11-24 | 2018-03-30 | 南京航空航天大学 | A kind of Flyable spherical robot |
-
2016
- 2016-08-30 CN CN201620984206.7U patent/CN205931255U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107352022A (en) * | 2017-06-08 | 2017-11-17 | 国蓉科技有限公司 | A kind of spherical UAS of rotor of impact resistant four |
| CN107352022B (en) * | 2017-06-08 | 2020-04-21 | 国蓉科技有限公司 | Collision-resistant quadrotor spherical unmanned aerial vehicle system |
| CN107856856A (en) * | 2017-11-24 | 2018-03-30 | 南京航空航天大学 | A kind of Flyable spherical robot |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170208 Termination date: 20170830 |