CN207328830U - A kind of collapsible adjustable rotor aircraft - Google Patents
A kind of collapsible adjustable rotor aircraft Download PDFInfo
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- CN207328830U CN207328830U CN201721321495.3U CN201721321495U CN207328830U CN 207328830 U CN207328830 U CN 207328830U CN 201721321495 U CN201721321495 U CN 201721321495U CN 207328830 U CN207328830 U CN 207328830U
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Abstract
A kind of collapsible adjustable rotor aircraft category vehicle technology field, the utility model is made of wing I, fuselage, wing II, collapsible adjustable rotor aircraft is the bilateral symmetry on the basis of the longitudinal section of center, I right end of wing is fixed in through rivet on the left of the wing mount plate of fuselage, and wing II is fixed on the right of fuselage；It is connected with wing I and wing II and sends a telegraph muscle, and at the wing tip away from wing I and wing II 30% 70%.Under utility model works state when running into barrier, it can independently change direction of vibration, avoiding barrier or the deceleration of wing, ensure smoothly flight, and easy to recycling and carry.
Description
Technical field
A kind of the utility model category vehicle technology field, and in particular to collapsible adjustable rotor aircraft.
Background technology
Flapping-wing MAV is the minute vehicle of a kind of imitative insect or Bird Flight, because its is small, light weight, hidden
Property it is good the advantages that, applied to scout, search etc., thus as a variety of ambits research hotspot.
At present, among the research of flapping-wing MAV, microreactor technology is mainly to be flown with fixed track, it is impossible to autonomous
Change movement locus so as to avoiding barrier.Therefore the change for realizing collapsible adjustable rotor aircraft movement locus is nowadays urgently
Problem to be solved.
The content of the invention
The purpose of this utility model is to provide one kind when running into barrier, can independently change wing direction of vibration,
Avoiding barrier or deceleration, ensure smoothly flight, the collapsible adjustable rotor aircraft easy to recycle and carry.
The utility model is made of I A of wing, fuselage B, II C of wing, and collapsible adjustable rotor aircraft is to indulge to cut with center
Bilateral symmetry on the basis of face, I A right ends of wing are fixed in the left side of wing mount plate 2 of fuselage B, II C of wing through rivet 3
It is fixed on the right of fuselage B；It is connected with II C of I A of wing and wing and sends a telegraph muscle 1, and away from the wing tip of II C of I A of wing and wing
At 30%-70%.
The circumference of II C of I A of wing and wing is mutually symmetrical with, and the circumference of wherein I A of wing is
Mnopqrst lines, circumference curve by m-n sections of curves, n-o sections of curves, o-p sections of straight lines, p-q sections of straight lines, q-r sections of straight lines,
R-s sections of curves, s-t sections of curves, t-m sections of curves are formed, wherein：
M-n sections of curvilinear equations are：
Y=-0.0049x2+1.4473x+45.219
71.9792≤x≤206.4998
N-o sections of curvilinear equations are：
Y=-0.3273x2+135.05x-13799
206.4998≤x≤212.6083
O-p sections of linear equations are：
X=14
P-q sections of linear equations are：
Y=5
Q-r sections of linear equations are：
X=14
R-s sections of curvilinear equations are：
Y=0.2985x2-123.3x+12832
205.1437≤x≤212.6083
S-t sections of curvilinear equations are：
Y=0.0018x2-0.5177x+128.39
62.2545≤x≤205.1437
T-m sections of curvilinear equations are：
X=0.076y2-17.353y+1049.8
103.2308≤y≤127.1493
I A thickness w of wing is 0.2mm-0.5mm, and material is thermoplastic polyurethane elastomer rubber.
The fuselage B, by taking left side as an example, by adjuster D, rack E, bionic compound eyes 5, wing control panel 6, fixed plate I
7th, adjuster control panel 8, fixed plate II 9, battery 10, bolt II 11, gear II 12, motor 13, angular transducer 14, gear III
15th, nut 16, bolt III 17, I V18 of bolt, gear I 19, fixed plate III 20, circuit I 21 and circuit II 22 form, wherein rack
E is U-shaped structure, and the left plate of rack E is equipped with hole I 23, hole II 24, hole III 25, hole IV 26, hole I 23, hole III 25 and hole IV 26
Arranged in isosceles triangle.
Adjuster D is made of gear I 19 and fixed plate III 20, its middle gear I 19 carries inner conical surface, and fixed plate III 20 carries
Male cone (strobilus masculinus), the inner conical surface of gear I 19 and the male cone (strobilus masculinus) clearance fit of fixed plate III 20.
III 20 right end of fixed plate of adjuster D is fixed on the left of rack E through I V18 of bolt.
Battery 10, fixed plate II 9 and fixed plate I 7 are fixed between two walls of rack E successively from back to front through bolt II 11；Machine
Wing control panel 6 is fixed in fixed plate I 7；Adjuster control panel 8 is fixed in fixed plate II 9；Bionic compound eyes 5 are through 16 He of nut
Bolt III 17 is fixed in the hole II 24 of rack E.
2 right end of wing mount plate is fixed in I 19 plane of gear of adjuster D through bolt I 4.
Wing control circuit I 21 is fixed in wing control panel 6 through wing mount plate 2, adjuster D, rack E.
II 22 one end of circuit is fixed in adjuster control panel 8, circuit II 22 also respectively with bionic compound eyes 5, motor 13 and angle
Spend the circuit connection of sensor 14.
Hole I 23 is the routing hole of circuit I 21.
Angular transducer 14 is fixed in hole IV 26, affixed 13 base of motor in hole III 25, and the output terminal of motor 13 is affixed with teeth
II 12 are taken turns, the output terminal of angular transducer 14 is connected with gear III 15, and gear II 12 and gear III 15 are nibbled with gear I 19 respectively
Close.
Rack E materials are high density polyethylene (HDPE).
The wing mount plate 2, rack E, the material of gear I 19 and fixed plate III 20 are high density polyethylene (HDPE).
The material for sending a telegraph muscle 1 is memory material, changes the form of electric muscle 1 by control electric signal.
The bionic compound eyes 5 are collection shooting and infrared sensing integrated device, its angle of visibility is 360 °.
The utility model hide obstacle principle and the course of work it is as follows：
Before collapsible adjustable rotor aircraft takes off, single-chip computer control system sends electric signal, and wing control panel 6 passes through electricity
Muscle 1, I A of wing and II C of wing expansion are sent a telegraph in signal control.Changed by the rule of signal frequency, muscle 1 is sent a telegraph in control
Motion state so that I A of wing and II C of wing are fluttered, and complete to take off.Change collapsible adjustable rotor aircraft movement locus
When, direction that I A of wing and II C of wing is fluttered is different, therefore I A of wing and II C of wing controls the side that it flutters by adjuster D
To.Therefore, adjuster control panel 8 need to control both sides motor 13 respectively, therefore the gear II 12 of 13 output terminal of motor is rotated to drive and adjusted
The gear I 19 for saving device D is rotated along its axis；Both sides angular transducer 14 measures the rotation of the gear I 19 of both sides adjuster D respectively
Angle, during calculating angle to be achieved, gives adjuster control panel 8 to feed back electric signal, motor 13 stops operating, I A of wing and wing II
C keeps frequency of fluttering consistent.Similarly, after treating cut-through thing, the gear I 19 for controlling to adjust device D rotates so that I A of wing and
II C of wing in same direction flutter by stabilization, and collapsible adjustable rotor aircraft continues to fly.
In flight course, bionic compound eyes 5 carry out investigations front, and during avoiding barrier, bionic compound eyes 5 are detectable and obstacle
The width of the distance between thing and barrier, and electric signal is fed back into adjuster control panel 8, adjuster control panel 8 controls electricity
The gear II 12 of 13 output terminal of machine rotates, and drives the gear I 19 of adjuster D to rotate.Adjuster control panel 8 calculates adjuster
The angle rotated needed for the gear I 19 of D, the rotation angle of the gear I 19 of device D is controlled to adjust by angular transducer 14, to be achieved
During required angle, angular transducer 14 feeds back electric signal to adjuster control panel 8, and motor 13 stops operating, and passes through adjuster tune
The direction of fluttering of II C of I A of wing and wing is saved, thus changes the flight path of collapsible adjustable rotor aircraft, to avoid barrier
Hinder thing.
When slowing down or landing, adjuster control panel 8 gives the electric signal of two motors 13 at the same time, and motor 13 drives adjuster
D, makes the gear I 19 of adjuster D be rotated along axis, and rotation angle is identical, and angular transducer 14 measures it and rotates to design angle,
Electric signal is fed back to adjuster control panel 8, motor 13 stops operating, and I A of wing keeps vibration frequency consistent with II C of wing, realizes
Slow down, until last stable landing.
Under the control of single-chip computer control system, each component can accurately respond the utility model, and efficiently accomplish winged
The change of movement locus in row, ensures smoothly flight and landing.
Brief description of the drawings
Fig. 1 is the top view of collapsible adjustable rotor aircraft
Fig. 2 is the front view of collapsible adjustable rotor aircraft
Fig. 3 is the front view of collapsible adjustable rotor aircraft left-half
Fig. 4 is the top view of collapsible adjustable rotor aircraft left-half
Fig. 5 is the front view of rack
Fig. 6 is the left view of rack
Fig. 7 is the top view of rack
Fig. 8 is the left view of collapsible adjustable rotor aircraft left-half
Fig. 9 is e meaning enlarged drawings in Fig. 3
Figure 10 is f meaning enlarged drawings in Fig. 4
Figure 11 is g meaning enlarged drawings in Fig. 8
Figure 12 is the partial enlarged view of collapsible adjustable rotor aircraft
Figure 13 is the sectional view of adjuster
Figure 14 is the sectional view of gear I
Figure 15 is the front view of gear I
Figure 16 is the sectional view of fixed plate III
Figure 17 is the front view of fixed plate III
Figure 18 is the profile diagram of wing I
Figure 19 is collapsible adjustable rotor aircraft control system block diagram
Wherein：A. I B. fuselage C. wings of wing, II D. adjuster E. racks 1. send a telegraph 2. wing mount plate of muscle
3. I 8. adjuster control panel of rivet 4. bolt, I 5. bionic compound eyes, 6. wing control panel, 7. fixed plate, 9. fixed plate II
10. III 16. nut of battery 11. bolt, II 12. gear, II 13. motor, 14. angular transducer, 15. gear, 17. bolt III
18. I 24. hole of bolt IV 19. gear, I 20. fixed plate, III 21. circuit, I 22. circuit, II 23. holes, II 25. hole III 26.
Hole IV
Embodiment
The utility model is further described below in conjunction with the accompanying drawings：
As shown in Figure 1 and Figure 2, the utility model is made of I A of wing, fuselage B, II C of wing, collapsible adjustable wing flight
Device is the bilateral symmetry on the basis of the longitudinal section of center, and I A right ends of wing are fixed in the wing mount plate of fuselage B through rivet 3
2 left sides, II C of wing are fixed on the right of fuselage B.It is connected with II C of wing IA and wing and sends a telegraph muscle 1, and away from wing IA and machine
At the wing tip 30%-70% of II C of the wing.
As shown in Fig. 1, Figure 18, the circumference of II C of wing IA and wing is mutually symmetrical with, wherein the circumference of wing IA
For mnopqrst lines, circumference curve by m-n sections of curves, n-o sections of curves, o-p sections of straight lines, p-q sections of straight lines, q-r sections it is straight
Line, r-s section curve, s-t sections of curves, t-m sections of curves are formed, wherein：
M-n sections of curvilinear equations are：
Y=-0.0049x2+1.4473x+45.219
71.9792≤x≤206.4998
N-o sections of curvilinear equations are：
Y=-0.3273x2+135.05x-13799
206.4998≤x≤212.6083
O-p sections of linear equations are：
X=14
P-q sections of linear equations are：
Y=5
Q-r sections of linear equations are：
X=14
R-s sections of curvilinear equations are：
Y=0.2985x2-123.3x+12832
205.1437≤x≤212.6083
S-t sections of curvilinear equations are：
Y=0.0018x2-0.5177x+128.39
62.2545≤x≤205.1437
T-m sections of curvilinear equations are：
X=0.076y2-17.353y+1049.8
103.2308≤y≤127.1493
Wing IA thickness w is 0.2mm-0.5mm, and material is thermoplastic polyurethane elastomer rubber.
As shown in Fig. 3, Fig. 4, Fig. 8, Figure 11, Figure 12, fuselage B, by taking left side as an example, by adjuster D, rack E, bionic compound eyes
5th, wing control panel 6, fixed plate I 7, adjuster control panel 8, fixed plate II 9, battery 10, bolt II 11, gear II 12, motor
13rd, angular transducer 14, gear III 15, nut 16, bolt III 17, bolt IV18, gear I 19, fixed plate III 20, circuit I 21
Formed with circuit II 22.
As shown in Fig. 5, Fig. 6, Fig. 7, rack E is U-shaped structure, and the left plate of rack E is equipped with hole I 23, hole II 24, hole III
25th, hole IV 26, hole I 23, hole III 25 and hole IV 26 are arranged in isosceles triangle.
As shown in Figure 13, Figure 14, Figure 15, Figure 16, Figure 17, adjuster D is made of gear I 19 and fixed plate III 20, wherein
Gear I 19 carries inner conical surface, and fixed plate III 20 carries male cone (strobilus masculinus), between the inner conical surface of gear I 19 and the male cone (strobilus masculinus) of fixed plate III 20
Gap coordinates.
As shown in figure 11, III 20 right end of fixed plate of adjuster D is fixed on the left of rack E through bolt IV18.
As shown in figure 12, battery 10, fixed plate II 9 and fixed plate I 7 are fixed in rack successively from back to front through bolt II 11
Between two walls of E；Wing control panel 6 is fixed in fixed plate I 7；Adjuster control panel 8 is fixed in fixed plate II 9；Bionic compound eyes 5
The hole II 24 of rack E is fixed in through nut 16 and bolt III 17；2 right end of wing mount plate is fixed in adjuster D's through bolt I 4
I 19 plane of gear；Wing control circuit I 21 is fixed in wing control panel 6 through wing mount plate 2, adjuster D, rack E；Circuit
II 22 one end are fixed in adjuster control panel 8, circuit II 22 also respectively with bionic compound eyes 5, motor 13 and angular transducer 14
Circuit connects；Hole I 23 is the routing hole of circuit I 21.
As shown in figure 8, angular transducer 14 is fixed in hole IV 26, affixed 13 base of motor in hole III 25, the output of motor 13
End is connected with gear II 12, and the output terminal of angular transducer 14 is connected with gear III 15, gear II 12 and gear III 15 respectively with
Gear I 19 engages.
As shown in Fig. 6, Fig. 8, the centre-to-centre spacing a in hole III 23 and hole IV 24 and hole I 21 is by angular transducer 13 and motor 12
Position after gear is engaged with gear 17 determines.Distance b is 7mm-8mm, and distance c is 20mm-24mm, and distance d is 1mm-2mm,
Thickness t is 2mm-4mm, and rack E materials are high density polyethylene (HDPE).
As shown in Figure 3, Figure 4, the material of wing mount plate 2, rack E, gear I 19 and fixed plate III 20 is high-density polyethylene
Alkene；The material of electric muscle 1 is memory material, changes the form of electric muscle 1 by control electric signal；Bionic compound eyes 5 for collection shooting and
Infrared sensing integrated device, its angle of visibility are 360 °.
Claims (6)
1. a kind of collapsible adjustable rotor aircraft, it is characterised in that be made of, roll over wing I (A), fuselage (B), wing II (C)
It is the bilateral symmetry on the basis of the longitudinal section of center that stacked, which adjusts rotor aircraft, and (A) right end of wing I is solid through rivet (3)
It is connected on the left of the wing mount plate (2) of fuselage (B), wing II (C) is fixed on the right of fuselage (B)；Wing I (A) and wing II (C)
Inside it is connected with and sends a telegraph muscle (1), and at the wing tip 30%-70% away from wing I (A) and wing II (C).
2. the collapsible adjustable rotor aircraft as described in claim 1, it is characterised in that the wing I (A) and wing II
(C) circumference is mutually symmetrical with, and wherein the circumference of wing I (A) is mnopqrst lines, and circumference curve is by m-n
Section curve, n-o sections of curves, o-p sections of straight lines, p-q sections of straight lines, q-r sections of straight lines, r-s sections of curves, s-t sections of curves, t-m sections of curves
Form, wherein：
M-n sections of curvilinear equations are：
Y=-0.0049x2+1.4473x+45.219
71.9792≤x≤206.4998
N-o sections of curvilinear equations are：
Y=-0.3273x2+135.05x-13799
206.4998≤x≤212.6083
O-p sections of linear equations are：
X=14
P-q sections of linear equations are：
Y=5
Q-r sections of linear equations are：
X=14
R-s sections of curvilinear equations are：
Y=0.2985x2-123.3x+12832
205.1437≤x≤212.6083
S-t sections of curvilinear equations are：
Y=0.0018x2-0.5177x+128.39
62.2545≤x≤205.1437
T-m sections of curvilinear equations are：
X=0.076y2-17.353y+1049.8
103.2308≤y≤127.1493
(A) thickness of wing I w is 0.2mm-0.5mm, and material is thermoplastic polyurethane elastomer rubber.
3. the collapsible adjustable rotor aircraft as described in claim 1, it is characterised in that the fuselage (B), using left side as
Example, by adjuster (D), rack (E), bionic compound eyes (5), wing control panel (6), fixed plate I (7), adjuster control panel (8),
Fixed plate II (9), battery (10), bolt II (11), gear II (12), motor (13), angular transducer (14), gear III
(15), nut (16), bolt III (17), I V of bolt (18), gear I (19), fixed plate III (20), circuit I (21) and circuit II
(22) form, wherein rack (E) be U-shaped structure, the left plate of rack (E) equipped with hole I (23), hole II (24), hole III (25),
Hole IV (26), hole I (23), hole III (25) and hole IV (26) are arranged in isosceles triangle；Adjuster (D) is by gear I (19) and admittedly
Fixed board III (20) forms, its middle gear I (19) carries inner conical surface, and fixed plate III (20) carries male cone (strobilus masculinus), the inner cone of gear I (19)
Face and the male cone (strobilus masculinus) clearance fit of fixed plate III (20)；Fixed plate III (20) right end of adjuster (D) is affixed through I V of bolt (18)
On the left of rack (E)；Battery (10), fixed plate II (9) and fixed plate I (7) are fixed in successively from back to front through bolt II (11)
Between two wall of rack (E)；Wing control panel (6) is fixed in fixed plate I (7)；Adjuster control panel (8) is fixed in fixed plate II
(9) on；Bionic compound eyes (5) are fixed in the hole II (24) of rack (E) through nut (16) and bolt III (17)；Wing mount plate (2)
Right end is fixed in gear I (19) plane of adjuster (D) through bolt I (4)；Wing control circuit I (21) is through wing mount plate
(2), adjuster (D), rack (E) are fixed in wing control panel (6)；Circuit II (22) one end is fixed in adjuster control panel (8),
Circuit of the circuit II (22) also respectively with bionic compound eyes (5), motor (13) and angular transducer (14) is connected；Hole I (23) is line
The routing hole on road I (21)；Angular transducer (14) is fixed in hole IV (26), hole III (25) affixed motor (13) base, motor
(13) output terminal is connected with gear II (12), and the output terminal of angular transducer (14) is connected with gear III (15), gear II
(12) engaged respectively with gear I (19) with gear III (15)；Rack (E) material is high density polyethylene (HDPE).
4. it is used for collapsible adjustable rotor aircraft as described in claim 1, it is characterised in that the muscle (1) of sending a telegraph
Material is memory material, changes the form of electric muscle (1) by control electric signal.
5. the collapsible adjustable rotor aircraft as described in claim 1 and 3, it is characterised in that the wing mount plate (2),
The material of rack (E), gear I (19) and fixed plate III (20) is high density polyethylene (HDPE).
6. it is used for collapsible adjustable rotor aircraft as described in claim 3, it is characterised in that the bionic compound eyes (5) are
Collection shooting and infrared sensing integrated device, its angle of visibility are 360 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721321495.3U CN207328830U (en) | 2017-10-13 | 2017-10-13 | A kind of collapsible adjustable rotor aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721321495.3U CN207328830U (en) | 2017-10-13 | 2017-10-13 | A kind of collapsible adjustable rotor aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207328830U true CN207328830U (en) | 2018-05-08 |
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ID=62368499
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107618663A (en) * | 2017-10-13 | 2018-01-23 | 吉林大学 | A kind of collapsible adjustable rotor aircraft |
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2017
- 2017-10-13 CN CN201721321495.3U patent/CN207328830U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107618663A (en) * | 2017-10-13 | 2018-01-23 | 吉林大学 | A kind of collapsible adjustable rotor aircraft |
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