CN206856989U - Adjustable-piston quadrotor - Google Patents
Adjustable-piston quadrotor Download PDFInfo
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- CN206856989U CN206856989U CN201720661007.7U CN201720661007U CN206856989U CN 206856989 U CN206856989 U CN 206856989U CN 201720661007 U CN201720661007 U CN 201720661007U CN 206856989 U CN206856989 U CN 206856989U
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Abstract
The utility model discloses adjustable-piston quadrotor.What the pitch of existing unmanned plane was to determine, be not possess strong adaptability when facing the severe flight environment of vehicle such as strong wind.The utility model includes carrier board and rotor deformation arm.Rotor deformation arm includes fixed arm, cursor, rotor motor, rotor, motor base and roll adjustment actuator.Fixed arm and the inner of cursor form revolute pair, and cursor is driven by roll adjustment actuator.The outer end of cursor and the bottom of motor base are fixed.Rotor motor is fixed on the top of motor base.Rotor and the output shaft of rotor motor are fixed.Two pieces of carrier boards be arranged in parallel up and down, and rectangular shape.Rotor deformation arm shares four.The fixed arm bottom surface of four rotor deformation arms is fixed respectively with four angles positioned at lower carrier plate top surface.The utility model can automatically adjust pitch, and big pitch is used when wind speed is larger, strengthen stability；Small pitch is used when wind speed is smaller, increases flying speed.
Description
Technical field
The utility model belongs to unmanned air vehicle technique field, and in particular to a kind of adjustable-piston quadrotor.
Background technology
28 divide 04 second during 12 days 14 May in 2008, to be total to using Wenchuan County in Sichuan Province Ying Xiu towns as there occurs the Chinese people in earthquake centre
Influence the one earthquake of maximum since the establishment of the nation certainly with state.But the exactly such one epic level violent earthquake for having affected hundreds of millions compatriots
Earthquake centre disaster-stricken situation but after individual hour more than 40, just understood for the first time by rescue worker.Shortage can rapidly enter by
The means at calamity center, it is the main reason for causing this time information barrier to lack effective detecting means.And unmanned plane is
A kind of effective disaster spot detecting mode.But what the pitch of existing unmanned plane was to determine, when facing strong wind etc.
Do not possess strong adaptability during severe flight environment of vehicle.Therefore, designing unmanned plane that is a kind of while having pitch regulatory function can
Greatly improve the search efficiency and search and rescue success rate for trapped personnel after calamity.Trapped personnel is effectively served in, helps their energy
It is enough to depart from stranded situation as early as possible.
The content of the invention
The purpose of this utility model is to provide a kind of adjustable-piston quadrotor.
The utility model includes carrier board (5) and rotor deformation arm.Rotor deformation arm includes fixed arm (1), cursor
(2), rotor motor (3), rotor (4), motor base (6) and roll adjustment actuator.
Described fixed arm (1) forms revolute pair with the inner of cursor (2), and cursor (2) is driven by roll adjustment actuator.
The outer end of cursor (2) and the bottom of motor base (6) are fixed.Rotor motor (3) is fixed on the top of motor base (6).Rotation
The output shaft axis of wing motor (3) forms the parallelism of common axes of revolute pair with fixed arm (1), cursor (2).Described rotation
The wing (4) is made up of flap ring, wheel hub and n piece blades, 3≤n≤10；Wheel hub and the output shaft of rotor motor (3) are fixed.N piece leaves
The inner of piece is fixed with wheel hub outer circumference surface, and inwall of the outer end with flap ring is fixed.Circumference of the n pieces blade along wheel hub is
Cloth.
Two pieces of carrier boards (5) be arranged in parallel up and down, and rectangular shape.Rotor deformation arm shares four.Four rotary wing changings
Fixed arm (1) top surface of shape arm is fixed respectively with four angles positioned at upper carrier plate (5) bottom surface.Four rotors deform consolidating for arm
Fixed arm (1) bottom surface is fixed respectively with four angles positioned at lower carrier plate (5) top surface.The output shaft axle of four rotor motors (3)
Line with the plane perpendicular positioned at lower carrier plate (5).
Roll adjustment actuator includes distance-adjusting motor, first bevel gear and second bevel gear.First bevel gear and distance-adjusting motor
Output shaft is fixed；Described distance-adjusting motor is fixed in fixed arm (1).Second bevel gear is fixed on cursor (2)；Second cone
The common axis that the axis of gear forms revolute pair with fixed arm (1), cursor (2) overlaps；First bevel gear and the second cone
Gear engages.
Present invention additionally comprises camera, gyroscope and controller.Described gyroscope and controller is each attached to wherein one
On block carrier board (5).Described camera is fixed on the bottom surface of lower carrier plate (5).Described camera and gyroscope with
Controller is connected.
The utility model has an advantageous effect in that：
1st, the utility model can automatically adjust pitch, and big pitch is used in the case where wind speed is larger, strengthen stability；
Small pitch is used in the case of wind speed is less, increases flying speed.
2nd, the utility model flight flexibility ratio is high, and control is simple, requires low to landing condition, can hover.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in figure 1, adjustable-piston quadrotor, including carrier board 5, rotor deformation arm, camera, gyroscope and
Controller.Rotor deformation arm includes fixed arm 1, cursor 2, rotor motor 3, rotor 4, motor base 6, first bevel gear, the
Two bevel gears and distance-adjusting motor.
As shown in figure 1, fixed arm 1 forms revolute pair with the inner of cursor 2.The outer end of cursor 2 and motor base 6
Bottom is fixed.Rotor motor 3 is fixed on the top of motor base 6.The output shaft axis of rotor motor 3 and fixed arm 1, cursor
2 form the parallelism of common axes of revolute pair.Rotor 4 is made up of flap ring, wheel hub and six blades；Wheel hub and rotor motor 3
Output shaft fix.The inner of six blades is fixed with wheel hub outer circumference surface, and inwall of the outer end with flap ring is fixed.Six
Blade is uniform along the circumference of wheel hub.Distance-adjusting motor is fixed in fixed arm 1.The output shaft of first bevel gear and distance-adjusting motor is consolidated
It is fixed.Second bevel gear is fixed on cursor 2；The axis of second bevel gear forms revolute pair with fixed arm 1, cursor 2
Common axis overlaps；First bevel gear engages with second bevel gear.
As shown in figure 1, two pieces of carrier boards be arranged in parallel about 5, and rectangular shape.Rotor deformation arm shares four.Four
The top surface of fixed arm 1 of root rotor deformation arm is fixed respectively with four angles positioned at the bottom surface of upper carrier plate 5.Four rotors deform arm
The bottom surface of fixed arm 1 with being fixed respectively positioned at four angles of the top surface of lower carrier plate 5.Four rotor deformation arms are respectively left front rotation
Rotor deformation arm behind rotor deformation arm, left back rotor deformation arm and the right side before wing deformation arm, the right side.The output shaft of four rotor motors 3
Axis with the plane perpendicular positioned at lower carrier plate 5.Gyroscope and controller are each attached on one of carrier board 5.Take the photograph
As head is fixed on the bottom surface of lower carrier plate 5.Camera and gyroscope are connected with controller.
The operation principle of the adjustable-piston quadrotor is as follows：
The angle γ of the top surface of carrier board 5 and horizontal plane where gyroscope detects gyroscope；If 10 ° of γ ＞, four rotations
Distance-adjusting motor rotates in wing deformation arm；So that rotor motor output shaft axis deforms with rotor before the right side in left front rotor deformation arm
The spacing increase of rotor motor output shaft axis in arm, left back rotor deform rotor motor output shaft axis and rotor behind the right side in arm
The spacing increase of rotor motor output shaft axis in arm is deformed, now flight stability strengthens, and γ reduces, until 5 ° of ＜ γ ＜
10°.If 5 ° of γ ＜, distance-adjusting motor rotates in four rotor deformation arms；So that rotor motor is defeated in left front rotor deformation arm
The spacing that shaft axis deforms rotor motor output shaft axis in arm with rotor before the right side reduces, rotor electricity in left back rotor deformation arm
The spacing that machine output shaft axis deforms rotor motor output shaft axis in arm with rotor behind the right side reduces, and flying speed increase, γ increases
Greatly, until 5 ° of 10 ° of ＜ γ ＜.
Claims (3)
1. adjustable-piston quadrotor, including carrier board (5) and rotor deformation arm；Rotor deformation arm include fixed arm (1),
Cursor (2), rotor motor (3), rotor (4), motor base (6) and roll adjustment actuator；It is characterized in that：Described fixed arm
(1) revolute pair is formed with the inner of cursor (2), cursor (2) is driven by roll adjustment actuator；The outer end of cursor (2) and electricity
The bottom of machine base (6) is fixed；Rotor motor (3) is fixed on the top of motor base (6)；The output shaft axle of rotor motor (3)
Line forms the parallelism of common axes of revolute pair with fixed arm (1), cursor (2)；Described rotor (4) is by flap ring, wheel hub
Formed with n pieces blade, 3≤n≤10；Wheel hub and the output shaft of rotor motor (3) are fixed；N piece blades it is inner with outside wheel hub
Periphery is fixed, and inwall of the outer end with flap ring is fixed；N pieces blade is uniform along the circumference of wheel hub；
Two pieces of carrier boards (5) be arranged in parallel up and down, and rectangular shape；Rotor deformation arm shares four；Four rotors deform arm
Fixed arm (1) top surface with being fixed respectively positioned at four angles of upper carrier plate (5) bottom surface；The fixed arm of four rotor deformation arms
(1) bottom surface is fixed respectively with four angles positioned at lower carrier plate (5) top surface；The output shaft axis of four rotor motors (3) is equal
With the plane perpendicular positioned at lower carrier plate (5).
2. adjustable-piston quadrotor according to claim 1, it is characterised in that：Roll adjustment actuator includes roll adjustment electricity
Machine, first bevel gear and second bevel gear；The output shaft of first bevel gear and distance-adjusting motor is fixed；Described distance-adjusting motor is fixed
In fixed arm (1)；Second bevel gear is fixed on cursor (2)；The axis of second bevel gear and fixed arm (1), cursor
(2) common axis for forming revolute pair overlaps；First bevel gear engages with second bevel gear.
3. adjustable-piston quadrotor according to claim 1, it is characterised in that：Also include camera, gyroscope
And controller；Described gyroscope and controller is each attached on one of carrier board (5)；Described camera is fixed on down
The bottom surface of portion's carrier board (5)；Described camera and gyroscope is connected with controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720661007.7U CN206856989U (en) | 2017-06-08 | 2017-06-08 | Adjustable-piston quadrotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720661007.7U CN206856989U (en) | 2017-06-08 | 2017-06-08 | Adjustable-piston quadrotor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206856989U true CN206856989U (en) | 2018-01-09 |
Family
ID=60830775
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720661007.7U Active CN206856989U (en) | 2017-06-08 | 2017-06-08 | Adjustable-piston quadrotor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206856989U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108319282A (en) * | 2018-02-07 | 2018-07-24 | 衢州职业技术学院 | The control method and control device of multi-rotor aerocraft |
| CN110758035A (en) * | 2019-11-08 | 2020-02-07 | 杭州师范大学钱江学院 | Road-air dual-purpose unmanned aerial vehicle with stair climbing function and operation method thereof |
-
2017
- 2017-06-08 CN CN201720661007.7U patent/CN206856989U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108319282A (en) * | 2018-02-07 | 2018-07-24 | 衢州职业技术学院 | The control method and control device of multi-rotor aerocraft |
| CN108319282B (en) * | 2018-02-07 | 2020-11-24 | 衢州职业技术学院 | Control method and control device for multi-rotor aircraft |
| CN110758035A (en) * | 2019-11-08 | 2020-02-07 | 杭州师范大学钱江学院 | Road-air dual-purpose unmanned aerial vehicle with stair climbing function and operation method thereof |
| CN110758035B (en) * | 2019-11-08 | 2020-10-27 | 杭州师范大学钱江学院 | Road-air dual-purpose unmanned aerial vehicle with stair climbing function and operation method thereof |
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