CN207826541U - Six degree of freedom based on displacement paddle controls eight-rotary wing aircraft entirely - Google Patents
Six degree of freedom based on displacement paddle controls eight-rotary wing aircraft entirely Download PDFInfo
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- CN207826541U CN207826541U CN201820214825.7U CN201820214825U CN207826541U CN 207826541 U CN207826541 U CN 207826541U CN 201820214825 U CN201820214825 U CN 201820214825U CN 207826541 U CN207826541 U CN 207826541U
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- blade
- connecting rod
- clamp
- motor
- copper sheathing
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Abstract
The utility model discloses a kind of six degree of freedoms based on displacement paddle to control eight-rotary wing aircraft entirely, and variable-pitch propeller can perfectly realize the direction for changing thrust.Four variable-pitch propellers are added in the horizontal direction, pitch can arbitrarily be changed as desired, no longer need the rotating speed of change motor, generation thrust can be rotated to a direction simultaneously by blade by becoming two motors, simultaneously it may also be ensured that the maximum paddle effect of motor, displacement paddle can change pitch according to different aerial missions, can also set fixed pitch by feeding back automatic change in flight course and aircraft is made to reach maximum flight efficiency in aerial mission.Under the action of displacement paddle aircraft can preferably realize any direction take off, target tracking, stunt, original place adjustment posture, fixed point, special slope surface land etc. tasks, have very strong use value.
Description
Technical field
The utility model patent is related to unmanned vehicle technical field, especially for the solution for needing realization position and posture
Coupling controls and plays maximum paddle effect, provides a kind of six degree of freedom based on displacement paddle and controls eight-rotary wing aircraft entirely.
Background technology
Traditional quadrotor it is expected by the rotating speed of four motors of control to reach while control quadrotor position and angle
It cannot achieve, due to being controlled the limitation of input quantity number.The utility model patent is by adding four perpendicular to clamping plate face
Displacement paddle, solve the problems, such as aircraft drive lacking, displacement paddle can be awing according to flying speed and highly automated (or people
Work) change the propeller of blade angle, traditional blade can not change pitch, can only be according to designed dummy vehicle motor
Power customizes blade, but for general civilian or common manufacturer can not be special customization blade and customization blade low
So that the power of motor can not all reach maximum value under speed and high-speed flight, but displacement paddle is in the case where forward speed is small,
Variable pitch device reduces the blade angle of propeller, and engine is thus made to work under maximum (top) speed and maximum power state, thus
Propeller is set to generate maximum pulling force, in flat fly, pitch-changing mechanism can make pitch change to the height being adapted with this state of flight
Pitch, at this moment, propeller can obtain maximum available power from engine under maximum (top) speed.So displacement paddle flies any
Under scanning frequency degree, the maximum effective power of engine can be utilized.After displacement paddle, the altitude performance of airscrew engine
As soon as a curve is just synthesized with the altitude performance of engine, thus again without any due to propeller " becoming weight " or " lightening "
Additional power loss caused by and.So that aircraft is more flexible and high while realizing the independent control of position and posture
Effect.Such as in the automatic flight of unmanned plane, traditional quadrotor can not change of flight device self-view to adapt to special path
With hide obstacle.The utility model coordinates vertical propeller to accomplish posture and position the optimization of motor by displacement paddle
Individually control so that this patent aircraft can more perfectly be competent at the flight of some particular surroundings and hide obstacle task, such as
Across narrow space, in a limited space in by changing posture hide the obstacle in-flight encountered.Simultaneously in displacement
With the help of paddle, aircraft can change blade angle according to the speed of itself, the power of motor be maximized, to promote aircraft
Cruising ability, encountering severe flying condition, also can by change blade angle adapt to environment at this time improve aircraft from
The safety coefficient of body.
Utility model content
For the deficiency of traditional quadrotor, the utility model patent proposes a kind of six degree of freedom based on displacement paddle and controls entirely
Eight-rotary wing aircraft processed so that the position of aircraft can individually be controlled with posture, that is, ensureing will not be to appearance while position controls
State control has an impact, and to realize the decoupling of six degree of freedom and add variable-pitch propeller, makes aircraft in adjustment posture
It is more efficient with power distribution when position.
The technical solution adopted in the utility model is：
A kind of six degree of freedom based on displacement paddle controls eight-rotary wing aircraft entirely, including undercarriage, clamping plate, motor, steering engine,
Four horizon bars, two pairs of elevating screws and two pairs of bending moment propellers；
The undercarriage is fixed below clamping plate, using tripod structure；Horizon bar, which runs through, to be fixed on clamping plate, horizon bar
Both ends are connected with blade by blade fixed structure；
The motor is fixed on horizon bar both ends, and motor is connect with blade fixed structure, provides power；
In four horizon bars, mutually perpendicular two horizon bars are equipped with two pairs of elevating screws；Elevating screw four
Blade is identical as clamping plate horizontally disposed；Two other horizon bar is equipped with two pairs of bending moment propellers, four on bending moment propeller
Blade and the perpendicular arrangement of clamping plate；Bending moment propeller is equipped with steering engine.
Bending moment propeller includes mainly blade clamp structure, blade fixed structure, blade connecting rod, crossover clamp, U-shaped company
Bar；
Blade clamp structure is that blade is bolted structure among two clamping plates, and blade clamp structure passes through one
A trunnion axis is vertically connected with blade fixed structure, and blade clamp structure can be rotated around trunnion axis,
Blade clamp structure is fixedly connected with blade connecting rod, and blade connecting rod is three-stage swing arm, blade connecting rod and cross clamp
Board shaft connects, and blade link motion is driven under the action of crossover clamp upper and lower displacement, to drive blade clamp structure to rotate, makes
The blade being fixed on blade clamp structure changes corner cut, to change pitch；
Blade fixed structure upper and lower ends are installed with vertical rotation axis, by the rotation of vertical rotation axis, drive blade fixed knot
Structure and blade clamp structure are rotated centered on vertical rotation axis；Vertical rotation axis is connected to the motor；
Blade clamp structure passes through the square aperture of U-shaped connecting rod；
U-shaped connecting rod top is fixedly connected with crossover clamp；The upper copper sheathing of U-shaped connecting rod is abutted with lower copper sheathing；
It is connected with crossover clamp on the vertical rotation axis of blade fixed structure upper end；Blade fixed structure lower end and upper copper sheathing with
Lower copper sheathing is through socket；The shaft of blade fixed structure is connected to the motor；Lower copper sheathing is connected with steering engine；
Steering engine connecting rod drives lower copper sheathing to move up and down, and lower copper sheathing drives U-shaped connecting rod to move up and down by upper copper sheathing, realizes ten
Word clamping plate moves up and down, and crossover clamp drives the corner cut that connecting rod pulls blade clamp structure to change blade.
The utility model has the advantages that：
The utility model realizes that six degree of freedom controls novel eight-rotary wing aircraft entirely, includes four blades of traditional quadrotor
With the variable-pitch propeller and motor form perpendicular to clamping plate.The different thrusts that two sets of dynamical systems provide, pass through reasonably power
Distribution, to provide the thrust requirements needed for eight-rotary wing aircraft.The pitch of blade can be accurately controlled by steering engine, to
It controls blade and generates the direction of thrust and maximum paddle effect.Aircraft detects itself speed, local environment by external sensor
The information such as wind speed fly control and change propeller pitch angle according to feedback information, and its object is to make section have the best angle of attack, this is solely
Property values so that eight rotor is more stablized in certain special application fields and efficiently, such as automatic flight, target following is special
Skill flight etc..
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model aircraft.
Fig. 2 is the displacement paddle structure partial schematic diagram of the utility model aircraft.
Fig. 3 is the blade fixed structure schematic diagram of the utility model aircraft.
Fig. 4 is the U-shaped link mechanism schematic diagram of the utility model aircraft.
Fig. 5 is the displacement paddle structure overall schematic of the utility model aircraft.
Specific implementation mode
With reference to illustrate attached drawing 1-5 and embodiment to the utility model be further described.
A kind of six degree of freedom based on displacement paddle controls eight-rotary wing aircraft, including undercarriage 3, clamping plate 6, motor, rudder entirely
Machine, four horizon bars, 4, two pairs of elevating screws (blade for being equipped with a positive and a negative) and two pairs of bending moment propellers；
The undercarriage 3 is fixed on 6 lower section of clamping plate, using tripod structure；Horizon bar, which runs through, to be fixed on clamping plate 6, water
4 both ends of flat bar are connected with blade by blade fixed structure 12；
The motor 1 is fixed on horizon bar both ends, and motor 1 is connect with blade fixed structure 12, provides power；
In four horizon bars, mutually perpendicular two horizon bar both ends are equipped with two pairs of elevating screws, including elevating screws
Paddle 1, elevating screw 2 14, elevating screw 3 15, elevating screw 4 16；Four blades of elevating screw and folder
Plate 6 is identical horizontally disposed；Two other horizon bar is equipped with two pairs of bending moment propellers, including bending moment propeller 1, bending moment spiral shell
Paddle 2 18, bending moment propeller 3 19, bending moment propeller 4 20 are revolved, four blades on bending moment propeller and the perpendicular cloth of clamping plate
It sets；Bending moment propeller is equipped with steering engine.
Bending moment propeller includes mainly blade clamp structure 5, blade fixed structure 12, blade connecting rod 7, crossover clamp 6, U
Shape connecting rod 8；
Blade clamp structure 5 is that blade is bolted structure among two clamping plates, and blade clamp structure 5 passes through
One trunnion axis is vertically connected with blade fixed structure 12, and blade clamp structure 5 can be rotated around trunnion axis,
Blade clamp structure 5 is fixedly connected with blade connecting rod 7, blade connecting rod 7 be three-stage swing arm (transverse arm of swing arm with it is vertical
Arm axle connects), blade connecting rod 7 connects with 6 axis of crossover clamp, drives blade connecting rod 7 to transport under the action of 6 upper and lower displacement of crossover clamp
It is dynamic, to drive blade clamp structure 5 to rotate, so that the blade being fixed on blade clamp structure 5 is changed corner cut, to change paddle
Away from；
12 upper and lower ends of blade fixed structure are installed with vertical rotation axis 10, by the rotation of vertical rotation axis 10, drive blade
Fixed structure 12 and blade clamp structure 5 are rotated centered on vertical rotation axis 10；Vertical rotation axis 10 is connected to the motor；
Blade clamp structure 5 passes through the square aperture of U-shaped connecting rod 8；
8 top of U-shaped connecting rod is fixedly connected with crossover clamp 6；The upper copper sheathing 11 of U-shaped connecting rod 8 is abutted with lower copper sheathing 9；
It is connected with crossover clamp 6 on the vertical rotation axis 10 of 12 upper end of blade fixed structure；12 lower end of blade fixed structure with
Upper copper sheathing 11 is with lower copper sheathing 9 through socket；The shaft 10 of blade fixed structure 12 is connected to the motor；Lower copper sheathing 9 with steering engine phase
Even；
Steering engine connecting rod drives lower copper sheathing 9 to move up and down, and lower copper sheathing 9 drives U-shaped connecting rod 8 to move up and down by upper copper sheathing 11,
Realize that crossover clamp 6 moves up and down, crossover clamp 6 drives the corner cut that connecting rod 7 pulls blade clamp structure 5 to change blade.
Blade a positive and a negative arrangement of two pairs of elevating screws, direction of rotation that can be by motor and rotating speed, generate phase
Same or different directions torques, when generating same direction torque, aircraft can change its yaw under the action of closing torque
Angle, when the torque direction of generation is opposite, it is zero to close torque, and aircraft will not change yaw angle；When two electricity on same bar
When machine rotating speed difference, aircraft will produce inclination, changes pitching and roll angle, passes through the motor positive and inverse of two pairs of elevating screws
And rotating speed combination blade can be very good the posture of control aircraft.
Variable-pitch propeller can change pitch as required by servos control, can not only change the thrust of propeller generation,
It may also reach up highest paddle effect simultaneously, improve performance and the flight time of aircraft；When aircraft meeting while adjusting posture
The component for generating horizontal direction, to the position of meeting change of flight device, but the motor cooperation displacement paddle of horizontal direction can at this time
To generate the horizontal component generated when certain horizontal force offsets pose adjustment；And when horizontal component is the water that zero displacement paddle generates
It is flat to push dynamic aircraft and move horizontally, horizontal component is generated when aircraft changes posture, and the horizontal thrust that displacement paddle generates is big
When component, aircraft can keep posture at this time to move horizontally；And then reach the decoupling control of posture and position.
The posture that elevating screw 1, elevating screw 2 14, elevating screw 3 15, elevating screw 4 16 form
Dynamic structure is controlled, bending moment propeller 1, bending moment propeller 2 18, bending moment propeller 3 19, bending moment propeller 4 20 form
Horizontal position dynamic structure.
The course of work
What wherein elevating screw 1 and elevating screw 3 15 were installed is positive slurry blade, elevating screw 2 14 and liter
The anti-slurry blade of the installation of propeller 4 16 drops；Variable-pitch propeller can adjust pitch under the control of steering engine, to adjust bending moment spiral shell
It revolves paddle 1, bending moment propeller 2 18, bending moment propeller 3 19, bending moment propeller 4 20 and rotates the thrust generated, improve effect
The flexibility ratio of rate and aircraft.The rotating speed of the controller control motor of eight rotors, and lift is generated, horizontal position controls power knot
Structure can generate the horizontal force offset and generated by gesture stability, reach the decoupling control of posture, equally controlled when horizontal position
The power that structure generates is more than the component that gesture stability generates, and aircraft can keep some posture to carry out position movement.Due to
The characteristic of variable-pitch propeller so that bending moment propeller 1, bending moment propeller 2 18, bending moment propeller 3 19, bending moment propeller
4 20 can generate the horizontal force in the same direction by power distribution, rather than the difference for needing motor of traditional form turns
Speed, the resultant force of generation, while the pitch that can also adjust displacement paddle reach the highest paddle effect of blade, effectively raise motor
The flexibility of efficiency and aircraft.By the power distribution of two dynamic structures, reach motor generation lift and torque,
Direction is controllable.
Embodiment 1
High paddle effect moves horizontally, and gesture stability dynamic structure provides the lift that can offset aircraft gravity, that is, lifts spiral shell
What rotation paddle 1 and elevating screw 3 15 were installed is positive slurry blade, the motor of elevating screw 2 14 and elevating screw 4 16
Rotating speed is equal in magnitude, and elevating screw 1 is identical, equal in magnitude with the rotation direction of elevating screw 3 15, elevating screw
2 14 is identical, equal in magnitude with 4 16 rotation direction of elevating screw, and the resultant force for the torque that each group slurry generates is zero, makes aircraft
It hovers in the air, the thrust that horizontal direction is provided then is starched by displacement, realizes moving horizontally for any direction.In flight course
In can adjust pitch, adapt to varying environment, motor made to always work at maximal efficiency.
Embodiment 2
Permanent attitude motion, when gesture stability dynamic structure picture tradition quadrotor control attitude of flight vehicle when, due to posture with
The coupled relation of position will produce corresponding position movement, opposite horizontal force be provided by variable-pitch propeller at this time, when opposite
Power just offset gesture stability dynamic structure generation horizontal component when, aircraft does not move and keeps current pose, works as change
When being more than the horizontal component generated by pose adjustment away from the power that slurry generates, aircraft can keep this posture arbitrarily to move.
The foregoing is merely the embodiments of the utility model patent, are not intended to limit the range of the utility model patent,
Every equivalent structure made by the utility model patent description is applied directly or indirectly in other the relevant technologies neck
Domain is similarly included in the utility model patent protection domain.
Claims (2)
1. a kind of six degree of freedom based on displacement paddle controls eight-rotary wing aircraft entirely, it is characterised in that：
Including undercarriage, clamping plate, motor, steering engine, four horizon bars, two pairs of elevating screws and two pairs of bending moment propellers；
The undercarriage is fixed below clamping plate, using tripod structure；Horizon bar, which runs through, to be fixed on clamping plate, horizon bar both ends
It is connected with blade by blade fixed structure；
The motor is fixed on horizon bar both ends, and motor is connect with blade fixed structure, provides power；
In four horizon bars, mutually perpendicular two horizon bars are equipped with two pairs of elevating screws；Four blades of elevating screw
It is identical as clamping plate horizontally disposed；Two other horizon bar is equipped with two pairs of bending moment propellers, four blades on bending moment propeller
With the perpendicular arrangement of clamping plate；Bending moment propeller is equipped with steering engine.
2. the six degree of freedom according to claim 1 based on displacement paddle controls eight-rotary wing aircraft entirely, it is characterised in that：
Bending moment propeller includes mainly blade clamp structure, blade fixed structure, blade connecting rod, crossover clamp, U-shaped connecting rod；
Blade clamp structure is that blade is bolted structure among two clamping plates, and blade clamp structure passes through a water
Flat axis is vertically connected with blade fixed structure, and blade clamp structure can be rotated around trunnion axis,
Blade clamp structure is fixedly connected with blade connecting rod, and blade connecting rod is three-stage swing arm, blade connecting rod and cross clamp board shaft
It connects, blade link motion is driven under the action of crossover clamp upper and lower displacement, to drive blade clamp structure to rotate, make fixation
Blade on blade clamp structure changes corner cut, to change pitch；
Blade fixed structure upper and lower ends are installed with vertical rotation axis, by the rotation of vertical rotation axis, drive blade fixed structure and
Blade clamp structure is rotated centered on vertical rotation axis；Vertical rotation axis is connected to the motor；
Blade clamp structure passes through the square aperture of U-shaped connecting rod；
U-shaped connecting rod top is fixedly connected with crossover clamp；The upper copper sheathing of U-shaped connecting rod is abutted with lower copper sheathing；
It is connected with crossover clamp on the vertical rotation axis of blade fixed structure upper end；Blade fixed structure lower end and upper copper sheathing and lower copper
Set is through socket；The shaft of blade fixed structure is connected to the motor；Lower copper sheathing is connected with steering engine；
Steering engine connecting rod drives lower copper sheathing to move up and down, and lower copper sheathing drives U-shaped connecting rod to move up and down by upper copper sheathing, realizes cross clamp
Plate moves up and down, and crossover clamp drives the corner cut that connecting rod pulls blade clamp structure to change blade.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820214825.7U CN207826541U (en) | 2018-02-07 | 2018-02-07 | Six degree of freedom based on displacement paddle controls eight-rotary wing aircraft entirely |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820214825.7U CN207826541U (en) | 2018-02-07 | 2018-02-07 | Six degree of freedom based on displacement paddle controls eight-rotary wing aircraft entirely |
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| Publication Number | Publication Date |
|---|---|
| CN207826541U true CN207826541U (en) | 2018-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820214825.7U Expired - Fee Related CN207826541U (en) | 2018-02-07 | 2018-02-07 | Six degree of freedom based on displacement paddle controls eight-rotary wing aircraft entirely |
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| Country | Link |
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| CN (1) | CN207826541U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108372927A (en) * | 2018-02-07 | 2018-08-07 | 渤海大学 | Six degree of freedom based on displacement paddle controls eight-rotary wing aircraft entirely |
| CN112660397A (en) * | 2020-12-30 | 2021-04-16 | 涵涡智航科技(玉溪)有限公司 | Multi-rotor omnidirectional aircraft and control method thereof |
-
2018
- 2018-02-07 CN CN201820214825.7U patent/CN207826541U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108372927A (en) * | 2018-02-07 | 2018-08-07 | 渤海大学 | Six degree of freedom based on displacement paddle controls eight-rotary wing aircraft entirely |
| CN112660397A (en) * | 2020-12-30 | 2021-04-16 | 涵涡智航科技(玉溪)有限公司 | Multi-rotor omnidirectional aircraft and control method thereof |
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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: 20180907 Termination date: 20190207 |