CN207191416U - Coaxial eight rotor flying robots that vert of variable-angle - Google Patents
Coaxial eight rotor flying robots that vert of variable-angle Download PDFInfo
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- CN207191416U CN207191416U CN201721169009.0U CN201721169009U CN207191416U CN 207191416 U CN207191416 U CN 207191416U CN 201721169009 U CN201721169009 U CN 201721169009U CN 207191416 U CN207191416 U CN 207191416U
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- rotor
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Abstract
It the utility model is related to a kind of coaxial eight rotor flying robots that vert of variable-angle, including body, protruding four support arms of surrounding of the body, the end of each support arm is connected with a pair of coaxial tilting rotors pair through angle demodulator, coaxial tilting rotor described in each pair is to including coaxial upper rotor and lower rotor, the coaxial upper rotor is identical with the rotating speed of lower rotor, it is opposite to turn to, the rotating speed of the adjacent upper rotor of any two is identical, turns on the contrary, the rotating speed of the adjacent lower rotor of any two is identical, it is opposite to turn to.The utility model is simple in construction, compact, reasonable, and operation is easy, easy to use, has excellent mobility and controllability, all has broad application prospects in every field.
Description
Technical field
It the utility model is related to a kind of coaxial eight rotor flying robots that vert of variable-angle.
Background technology
In recent years, with the development of aeronautical technology, rotor flying robot technology is also more and more ripe, in every field all
Extensive utilization is obtained.Because four rotor flying robots are compared with other more rotor flying robots, have it is compact-sized,
Small volume, low cost and other advantages, therefore the more rotor flying robots of Most current are studied with four rotor flying robots
Based on.But four rotor flying robots, due to there was only four motors, rotor is entirely located in same plane, causes its lift and weight
Ratio is small, and load capacity is low, less stable, and mobility is limited.
Utility model content
In view of the deficiencies in the prior art, it is coaxial that technical problem to be solved in the utility model is to provide a kind of variable-angle
Vert eight rotor flying robots, not only reasonable in design, and efficiently convenient.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is：A kind of coaxial eight rotations of verting of variable-angle
Rotor flying robot, including body, protruding four support arms of surrounding of the body, the end of each support arm are equal
A pair of coaxial tilting rotors pair are connected with through angle demodulator, coaxial tilting rotor described in each pair is to including coaxial upper rotor
With lower rotor, the coaxial upper rotor is identical with the rotating speed of lower rotor, steering is on the contrary, the adjacent upper rotor of any two
Rotating speed it is identical, turn on the contrary, the rotating speed of the adjacent lower rotor of any two is identical, it is opposite to turn to.
Preferably, the upper rotor of coaxial tilting rotor centering described in each pair is parallel to each other with lower rotor, coaxial described in each pair
The rotational plane of the rotational plane of the upper rotor of tilting rotor centering and lower rotor is parallel to each other, coaxial tilting rotor described in each pair
The upper rotor of centering is with lower rotor around same central axis.
Preferably, each upper rotor is obliquely installed with lower rotor, between the adjacent upper rotor of any two
Angle be α, the span of angle α is 90 ° ~ 135 °, and the adjacent upper rotor of any two is distributed or fallen in positive eight word
Eight words are distributed, and the distribution of positive eight word is set with eight word layout pitch.
Preferably, each upper rotor is corresponding with a upper motor and is driven by it rotating, each lower rotor
It is corresponding with a lower motor and is driven by it rotating, the upper motor of coaxial tilting rotor centering described in each pair is placed in lower motor
In motor cover and it is folded between corresponding upper rotor and lower rotor.
Preferably, the angle between the adjacent support arm of any two is 90 °.
Preferably, the angle demodulator includes the inner tube and outer tube of mutually nested setting, between said inner tube and outer tube are
Gap coordinates, and said inner tube is connected with support arm, and the outer tube is with coaxial tilting rotor to being connected.
Preferably, ring offers at least one circle adjustment hole group along its length in the side wall of the outer tube, often encloses institute
State adjustment hole group and include several spaced adjustment holes, all adjustment holes, which misplace, on the outer tube length direction sets
Put, the inner chamber of said inner tube is provided with flexure strip, and the head end of the flexure strip is fixedly connected through rivet with inner tube, the flexure strip
End be provided with spacing preiection to be engaged with adjustment hole, the inner chamber of said inner tube is additionally provided with to by spacing preiection
It is pressed into the back-moving spring of adjustment hole.
Preferably, it is provided with crane below the body.
Preferably, control unit, sensor and power supply are provided with the body.
Compared with prior art, the utility model has the advantages that：
（1）Coaxial design in the utility model remains that the rotor flying robot of plane four is compact-sized and small volume
Advantage, but under the conditions of with identical floor space, coaxial eight rotor flying robots that vert add four in structure
Motor, improve the driveability and load capacity of complete machine；
（2）Upper rotor in the utility model is obliquely installed with lower rotor, obtains coaxial, positive eight word and eight words
Cell layout, above-mentioned three kinds of cell layouts are cooperated, and direction of rotation is overcome pneumatic on the contrary, the conjunction moment of torsion to body is zero
The harmful effect that interference fringe comes；
（3）Angle demodulator in the present invention can change the inclination angle of coaxial tilting rotor pair, it is possible to achieve various flights
The control of posture, the harmful effect that aerodynamic interference is brought is overcome, obtains good aeroperformance；
（4）The utility model is simple in construction, compact, reasonable, and operation is easy, easy to use, have excellent mobility and
Controllability, all have broad application prospects in every field.
The utility model is described in more detail with reference to the accompanying drawings and detailed description.
Brief description of the drawings
Fig. 1 is the organigram of the utility model embodiment.
Fig. 2 is the organigram of the utility model embodiment.
Fig. 3 is the organigram of the utility model embodiment.
Fig. 4 is the co-axial rotor of the utility model embodiment to cell layout's schematic diagram.
Fig. 5 is the positive eight words tilting rotor of the utility model embodiment to cell layout's schematic diagram.
Fig. 6 is the eight word tilting rotors of the utility model embodiment to cell layout's schematic diagram.
Fig. 7 is the organigram of the utility model embodiment angle demodulator.
Fig. 8 is the organigram of the utility model embodiment homophony knothole group.
Fig. 9 is the organigram of the utility model embodiment pair adjustment hole group.
In figure：1- bodies, 2- support arms, 3- angle demodulators, 301- inner tubes, 302- outer tubes, 303- homophony knothole groups,
304- pair adjustment hole groups, 305- flexure strips, 306- rivets, 307- spacing preiections, 308- back-moving springs, the upper rotors of 4-, 5- backspins
The wing, 6- motor covers, 7- cranes.
Embodiment
For features described above and advantage of the present utility model can be become apparent, special embodiment below, and coordinate accompanying drawing,
It is described in detail below.
As shown in Fig. 1 ~ 9, a kind of coaxial eight rotor flying robots that vert of variable-angle, including body 1, the body 1
Protruding four support arms 2 of surrounding, the end of each support arm 2 through angle demodulator 3 be connected with a pair it is coaxial
Tilting rotor pair, coaxial tilting rotor described in each pair is to including coaxial upper rotor 4 and lower rotor 5, the coaxial upper rotation
The wing 4 is identical with the rotating speed of lower rotor 5, turn on the contrary, the rotating speed of the adjacent upper rotor 4 of any two is identical, turn on the contrary,
The rotating speed of the adjacent lower rotor 5 of any two is identical, it is opposite to turn to.
In the utility model embodiment, the upper rotor 4 of coaxial tilting rotor centering described in each pair is mutually flat with lower rotor 5
OK, the rotational plane of the rotational plane of the upper rotor 4 of coaxial tilting rotor centering and lower rotor 5 is parallel to each other described in each pair, often
To the upper rotor 4 and lower rotor 5 of the coaxial tilting rotor centering around same central axis, it is preferred that the central shaft
It is perpendicular with support arm 2.
In the utility model embodiment, each upper rotor 4 is obliquely installed with lower rotor 5, each upper rotation
The wing 4 is wing using high lift-drag ratio with lower rotor 5, and the angle between the adjacent upper rotor 4 of any two is α, angle α
Span is 90 ° ~ 135 °, and the value of the angle α between the adjacent upper rotor 4 of any two is equal；Pass through change
The inclination angle of coaxial tilting rotor pair, so as to change angle α, it is possible to achieve motion is full decoupled with posture, obtains different configurations
Unit items aeroperformance, this provides convenience for the design of tilting rotor system aerodynamic arrangement；Each upper rotor 4 is with
Rotor 5 is obliquely installed, realize flying robot's posture rotate and translational motion independent control, it is multiple it is described on motor
Still can continue executing with task or safe falling with the situation of lower motor failure, be obviously improved system reliability and
The adjacent upper rotor 4 of drive mechanism fault redundance ability any two is distributed in positive eight word or eight words are distributed, and positive eight
Word is distributed to be set with eight word layout pitch, as shown in Figure 1；Coaxial tilting rotor carries to increasing lift and weight ratio
High load capacity, strengthens the stability of a system；Positive eight word distribution in, two adjacent upper rotors 4 or two it is adjacent
The rotating speed of lower rotor 5 it is identical, oppositely oriented, inwards rotate, this configuration to become a mandarin and go out rheology and obtain more to concentrate,
Pulling force is further strengthened by interference air-flow；Eight words distribution in, two adjacent upper rotors 4 or two it is adjacent under
The rotating speed of rotor 5 is identical, oppositely oriented, and side rotates outwardly, and this configuration reduces air-flow rushing to upper rotor 4 or lower rotor 5
Hit, reduce resistance, increase and become a mandarin.
In the utility model embodiment, each upper rotor 4 is corresponding with a upper motor and is driven by it rotating,
Each lower rotor 5 is corresponding with a lower motor and is driven by it rotating, and coaxial tilting rotor centering is upper described in each pair
Motor is placed in motor cover 6 and is folded between corresponding upper rotor 4 and lower rotor 5 with lower motor.
In the utility model embodiment, the angle between the adjacent support arm 2 of any two is 90 °.
In the utility model embodiment, the angle demodulator 3 includes the inner tube 301 and outer tube of mutually nested setting
302, said inner tube 301 coordinates with outer tube 302 for gap, and said inner tube 301 is connected with support arm 2, and the outer tube 302 is together
Axle tilting rotor is to being connected.
In the utility model embodiment, ring offers at least one along its length in the side wall of the outer tube 302
Adjustment hole group is enclosed, the adjustment hole group is often enclosed and includes several spaced adjustment holes, on the length direction of outer tube 302
All adjustment holes shift to install, and the inner chamber of said inner tube 301 is provided with flexure strip 305, and the head end of the flexure strip 305 is through riveting
Nail 306 is fixedly connected with inner tube 301, and the end of the flexure strip 305 is provided with the spacing preiection to be engaged with adjustment hole
307, the inner chamber of said inner tube 301 is additionally provided with spacing preiection 307 to be pressed into the back-moving spring 308 of adjustment hole；Preferably,
The number of the flexure strip 305 is 2, and the back-moving spring 308 is arranged between two flexure strips 305；Preferably, the tune
The number of turns of knothole group is 2 circles, respectively homophony knothole group 303 and secondary adjustment hole group 304, and the homophony knothole group 303 is corresponding to be led
Graduated ring, the corresponding secondary graduated ring of the secondary adjustment hole group 304, the homophony knothole group 303 and secondary adjustment hole group 304 be all every
30 degree of angles are distributed an adjustment hole, often enclose totally 12 adjustment holes, pass through the homophony knothole group 303 and secondary adjustment hole group 304
Cooperate to obtain and rotate 15 degree of minimum division value, the number of secondary adjustment hole group 304 can also be increased as needed；In use,
The spacing preiection 307 is pressed into, relative to said inner tube 301 rotate or outer telescopic tube 302 to precalculated position after, unclamp the limit
Position projection 307, the flexure strip 305 is resetted in the presence of back-moving spring 308, and the spacing preiection 307 is pressed into phase again
In corresponding adjustment hole, it is ensured that it is spacing stuck after the rotation of the outer tube 302 regulation angle, so as to reach coaxial tilting rotor pair
Expected inclination angle, so as to change angle α, lift the every aeroperformance and stability of complete machine.
In the utility model embodiment, the lower section of the body 1 is provided with crane 7.
In the utility model embodiment, control unit, sensor and power supply are provided with the body 1.
Method of work of the present utility model, is comprised the steps of：All upper rotors 4 and lower rotor 5 while the band that works
The coaxial eight rotor flying robots flight of verting of dynamic variable-angle, all upper rotors 4 and lower rotor 5 while the band that is stopped
The coaxial eight rotor flying robots landing of verting of dynamic variable-angle.
The utility model is not limited to above-mentioned preferred forms, and anyone can obtain under enlightenment of the present utility model
Go out coaxial eight rotor flying robots that vert of other various forms of variable-angles.It is all according to present utility model application the scope of the claims institute
The equivalent changes and modifications done, it should all belong to covering scope of the present utility model.
Claims (9)
- A kind of 1. coaxial eight rotor flying robots that vert of variable-angle, it is characterised in that：Including body, the surrounding of the body Protruding four support arms, the end of each support arm are connected with a pair of coaxial tilting rotors through angle demodulator Right, coaxial tilting rotor described in each pair is to including coaxial upper rotor and lower rotor, the coaxial upper rotor and lower rotor Rotating speed it is identical, turn on the contrary, the rotating speed of the adjacent upper rotor of any two is identical, turns on the contrary, any two is adjacent The lower rotor rotating speed it is identical, turn to it is opposite.
- 2. coaxial eight rotor flying robots that vert of variable-angle according to claim 1, it is characterised in that：Described in each pair The upper rotor of coaxial tilting rotor centering is parallel to each other with lower rotor, and the upper rotor of coaxial tilting rotor centering described in each pair turns Dynamic plane is parallel to each other with the rotational plane of lower rotor, the upper rotor of coaxial tilting rotor centering described in each pair and lower rotor around Same central axis.
- 3. coaxial eight rotor flying robots that vert of variable-angle according to claim 2, it is characterised in that：It is each described Upper rotor is obliquely installed with lower rotor, and the angle between the adjacent upper rotor of any two is α, the value model of angle α Enclose for 90 ° ~ 135 °, the adjacent upper rotor of any two is distributed in positive eight word or eight words are distributed, and the distribution of positive eight word with Eight word layout pitch are set.
- 4. coaxial eight rotor flying robots that vert of variable-angle according to claim 1, it is characterised in that：It is each described Upper rotor is corresponding with a upper motor and is driven by it rotating, and each lower rotor is corresponding with a lower motor and by it Driving rotates, and the upper motor of coaxial tilting rotor centering described in each pair is placed in motor cover and is folded in corresponding with lower motor Between upper rotor and lower rotor.
- 5. coaxial eight rotor flying robots that vert of variable-angle according to claim 1, it is characterised in that：Any two Angle between the adjacent support arm is 90 °.
- 6. coaxial eight rotor flying robots that vert of variable-angle according to claim 1, it is characterised in that：The angle Adjuster includes the inner tube and outer tube of mutually nested setting, and said inner tube coordinates with outer tube for gap, said inner tube and support arm It is connected, the outer tube is with coaxial tilting rotor to being connected.
- 7. coaxial eight rotor flying robots that vert of variable-angle according to claim 6, it is characterised in that：The outer tube Side wall on along its length ring offer at least one circle adjustment hole group, often enclose the adjustment hole group and include several Shifted to install every all adjustment holes on the adjustment hole of setting, the outer tube length direction, the inner chamber of said inner tube is provided with bullet Property piece, the head end of the flexure strip are fixedly connected through rivet with inner tube, the end of the flexure strip be provided with to adjustment hole The spacing preiection being engaged, the inner chamber of said inner tube are additionally provided with spacing preiection to be pressed into the back-moving spring of adjustment hole.
- 8. coaxial eight rotor flying robots that vert of variable-angle according to claim 1, it is characterised in that：The body Lower section be provided with crane.
- 9. coaxial eight rotor flying robots that vert of variable-angle according to claim 1, it is characterised in that：The body Inside it is provided with control unit, sensor and power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721169009.0U CN207191416U (en) | 2017-09-13 | 2017-09-13 | Coaxial eight rotor flying robots that vert of variable-angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721169009.0U CN207191416U (en) | 2017-09-13 | 2017-09-13 | Coaxial eight rotor flying robots that vert of variable-angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207191416U true CN207191416U (en) | 2018-04-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721169009.0U Expired - Fee Related CN207191416U (en) | 2017-09-13 | 2017-09-13 | Coaxial eight rotor flying robots that vert of variable-angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207191416U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020161607A1 (en) * | 2019-02-05 | 2020-08-13 | Voliro Ag | Aerial vehicle |
| CN113086195A (en) * | 2021-04-19 | 2021-07-09 | 哈尔滨职业技术学院 | High-voltage line damage detection unmanned aerial vehicle |
-
2017
- 2017-09-13 CN CN201721169009.0U patent/CN207191416U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020161607A1 (en) * | 2019-02-05 | 2020-08-13 | Voliro Ag | Aerial vehicle |
| CN113086195A (en) * | 2021-04-19 | 2021-07-09 | 哈尔滨职业技术学院 | High-voltage line damage detection unmanned aerial vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20180406 Termination date: 20200913 |