CN208036614U - A kind of omnidirectional's aircraft - Google Patents
A kind of omnidirectional's aircraft Download PDFInfo
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- CN208036614U CN208036614U CN201820416757.2U CN201820416757U CN208036614U CN 208036614 U CN208036614 U CN 208036614U CN 201820416757 U CN201820416757 U CN 201820416757U CN 208036614 U CN208036614 U CN 208036614U
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- aircraft
- power plant
- connecting rod
- drive shaft
- omnidirectional
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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Abstract
The utility model provides a kind of omnidirectional's aircraft, including flight control modules, the first wireless communication module, sensor and rack（1）, rack（1）On be provided with the first power plant（3）, the first power plant（3）, the first wireless communication module and sensor be electrically connected with flight control modules, the first power plant（3）Pass through link mechanism and drive shaft（5）Connection, drive shaft（5）On be connected with propeller（2）；Second wireless communication module of the first wireless communication module and mobile terminal is wirelessly connected, the telecommand sent by second wireless communication module for receiving the mobile terminal, and the telecommand is sent to the control module；Sensor, the flight parameter current for obtaining the aircraft；Flight control modules are according to the current flight parameter of the aircraft that the telecommand and the sensor obtain, and by driving the first power plant（3）Control the working condition of the aircraft.
Description
Technical field
The utility model is related to vehicle technology fields, and in particular to a kind of omnidirectional's aircraft.
Background technology
Present unmanned plane market has been enter into growth stage, intensified competition, division in product, service-enriched.Make aircraft at present
Big companies or enterprise are more universal, and the shape of aircraft and control method are following two nothing more than：A. bionics is utilized
Principle imitates the flight of birds and the aerofoil profile aircraft that makes, the rotary wind type unmanned plane that b. is derived by helicopter principle（Four
Axis, eight axis, more persons have 16 axis）, the former cost of manufacture is higher, predominantly military；Although the latter has goed deep into commercial market, and
And price can allow general public to receive, but the motor functions limitation such as dogled movement of this kind of aircraft is larger, flight control
System etc. is more difficult.To solve above-mentioned problem, inventor, which designs, proposes that a kind of flexible motion function is larger, comprehensive can freely move
Dynamic, it can overcome the above problem, realize flight stability, control the functions such as operation is simple.
Utility model content
The technical problems to be solved in the utility model is that existing military spacecraft cost of manufacture is higher；Civil aircraft
The motor functions limitation such as dogled movement it is larger, flight control etc. is more difficult.
In order to solve the above technical problems, the utility model uses following technical scheme：A kind of omnidirectional's aircraft, including flight
Control module, the first wireless communication module, sensor and rack（1）, rack（1）On be provided with the first power plant（3）, first
Power plant（3）, the first wireless communication module and sensor be electrically connected with flight control modules, the first power plant（3）It is logical
Cross link mechanism and drive shaft（5）Connection, drive shaft（5）On be connected with propeller（2）；
Second wireless communication module of the first wireless communication module and mobile terminal is wirelessly connected, for receiving the movement
The telecommand that terminal is sent by second wireless communication module, and the telecommand is sent to the control mould
Block；
Sensor, the flight parameter current for obtaining the aircraft；
Flight control modules are joined according to the current flight of the aircraft that the telecommand and the sensor obtain
Number, and by driving the first power plant（3）Control the working condition of the aircraft.
Link mechanism includes：Swing arm（41）, connecting rod（42）With the first axis pin, connecting rod（42）Pass through swing arm（41）
With the first power plant（3）Connection；Swing arm（41）With the first power plant（3）Connection, swing arm（41）Upper setting bar shaped is slided
Hole（411）, connecting rod（42）Middle part is provided with the first pin shaft hole（421）, the first axis pin is across the first pin shaft hole（421）And bar shaped
Slide opening（411）；
Link mechanism further includes：It cranks arm（43）With the second axis pin（44）, connecting rod（42）By cranking arm（43）With drive shaft
（5）Connection；It cranks arm（43）It is arranged in drive shaft（5）On, it cranks arm（43）On be provided with the second pin shaft hole, connecting rod（42）End
It is provided with third pin shaft hole, the second axis pin（44）Across the second pin shaft hole and third pin shaft hole.
Drive shaft（5）Including two, connecting rod（42）Both ends by cranking arm（43）Respectively with two drive shafts（5）Even
It connects.
Connecting rod（42）First pin shaft hole at middle part（421）Including at least one and along connecting rod（42）Axially spaced-apart is set
It sets.
Swing arm（41）It is arranged two and is symmetrically distributed in connecting rod（42）Both sides.
Each drive shaft（5）On be respectively provided with two and crank arm（43）, each drive shaft（5）On two crank arm（43）It is symmetrical
It is distributed in connecting rod（42）Both sides.
Each drive shaft（5）Both ends be both provided with support ring（61）, support ring（61）On be provided with rotatable support
Bar（62）, supporting rod（62）Both ends and the second power plant（7）Connection；Supporting rod（62）On be provided with third power plant（8）,
Propeller（2）It is arranged in supporting rod（62）It is upper and with third power plant（8）Connection；Second power plant（7）With third power
Device（8）It is electrically connected with control system.
First power plant（3）For steering engine.
Second power plant（7）For steering engine, third power plant（8）For motor.
Sensor includes gyro sensor and acceleration transducer, and the current flight parameter of the aircraft includes flight
Device rotational angular velocity and Flight Acceleration；Wireless communication module is WiFi module or bluetooth module.
Compared with the existing technology, the technique effect of the utility model is：
1, it drives connecting rod to swing by the first power plant of central rack, realizes that front and back two groups of support rings synchronize rotation
Turn, to change back rake angle in face of propeller paddle, there are certain angles with fuselage in propeller paddle face, when aircraft diving flight
Angle reduces aircraft windward so that aircraft resistance greatly reduces, and improves the mobility of aircraft.
2, it by the second power plant in support ring, realizes and changes propeller paddle face or so inclination angle so that spot hover
When aircraft frontal projected area it is small, it is lower by space limited degree for conventional aircraft.
3, by changing simultaneously front and back inclination angle and left and right inclination angle, aircraft all-around mobile is realized.
Description of the drawings
Fig. 1 is the stereogram of omnidirectional's aircraft of the utility model；
Fig. 2 is the stereogram of the link mechanism of the utility model.
In figure, 1, rack, 2, propeller, the 3, first power plant, 41, swing arm, 411, bar shaped slide opening, 42, connecting rod,
421, the first pin shaft hole, 43, crank arm, the 44, second axis pin, 5, drive shaft, 51, bearing, 52, bearing spider, 61, support ring, 62,
Supporting rod, the 7, second power plant, 8, third power plant.
Specific implementation mode
As shown in Figs. 1-2, a kind of omnidirectional's aircraft, including flight control modules, the first wireless communication module, sensor and
Rack 1 is provided with the first power plant 3, the first power plant 3, the first wireless communication module and sensing in rack 1
Device is electrically connected with flight control modules, and the first power plant 3 is connect by link mechanism with drive shaft 5, is connected in drive shaft 5
There is propeller 2.Drive shaft 5 is carbon fiber pipe, and drive shaft 5 is arranged on bearing 51, and bearing 51 is arranged on bearing spider 52, axis
Bearing 52 is held to be arranged in rack 1.
Second wireless communication module of the first wireless communication module and mobile terminal is wirelessly connected, for receiving the movement
The telecommand that terminal is sent by second wireless communication module, and the telecommand is sent to flight control mould
Block；
Sensor, the flight parameter current for obtaining aircraft；Sensor includes that gyro sensor and acceleration pass
Sensor, the current flight parameter of aircraft include aircraft rotational angular velocity and Flight Acceleration, wireless communication module WiFi
Module or bluetooth module；
Flight control modules, the flight parameter current for the aircraft according to telecommand and sensor acquisition, and lead to
Cross the working condition of the first power plant control aircraft.
Link mechanism includes：Swing arm 41, connecting rod 42 and the first axis pin, connecting rod 42 are dynamic by swing arm 41 and first
Power apparatus 3 connects；Swing arm 41 is connect with the first power plant 3, setting bar shaped slide opening 411 on swing arm 41, in connecting rod 42
Portion is provided with the first pin shaft hole 421, and the first axis pin passes through the first pin shaft hole 421 and bar shaped slide opening 411；Swing arm 41 is arranged two
And 42 both sides of connecting rod are symmetrically distributed in, 42 stress equalization of connecting rod can be made.
Link mechanism further includes：It cranks arm 43 and second axis pin 44, connecting rod 42 43 is connect by cranking arm with drive shaft 5；It is bent
Arm 43 is arranged in drive shaft 5, cranks arm and is provided with the second pin shaft hole on 43, and the end set of connecting rod 42 has third pin shaft hole,
Second axis pin 44 passes through the second pin shaft hole and third pin shaft hole.First power plant 3 is steering engine.It is respectively provided in each drive shaft 5
Two are cranked arm 43, are cranked arm for two in each drive shaft 5 and 43 are symmetrically distributed in 42 both sides of connecting rod, can make 42 stress of connecting rod
It is balanced.
First pin shaft hole 421 at 42 middle part of connecting rod includes at least one and is arranged along 42 axially spaced-apart of connecting rod, can root
First axis pin is inserted in the first different pin shaft holes 421 according to the length of swing arm 41 and bar shaped slide opening 411, to adjust connecting rod
42 motion range.
Drive shaft 5 includes two, and the both ends of connecting rod 42 43 are connect with two drive shafts 5 respectively by cranking arm.It is each to drive
The both ends of moving axis 5 are both provided with support ring 61, are provided with rotatable supporting rod 62 in support ring 61,62 both ends of supporting rod and the
Two power plants 7 connect, and the second power plant 7 is steering engine；Third power plant 8 is provided on supporting rod 62, propeller 2 is arranged
It is connect on supporting rod 62 and with third power plant 8, third power plant 8 is motor, and third power plant 8 drives spiral
Paddle 2 rotates.Second power plant 7 and third power plant 8 are electrically connected with control system.
In conclusion the aircraft is mainly made of two parts of machinery and electrical control, wherein mechanical part is as winged
The executing agency of row function mainly completes the larger flight class action of all difficulties degree and function.The aircraft can realize full freedom
Degree flight, widely used 32 microcontroller on the market can be used in its control system, while the inside of device is furnished with ten thousand
To gyroscope, gyroscope is connected with aircraft exterior shell structure.When aircraft is by external environment, such as big wind effect, fly
Acceleration transducer inside row device makes information output in time by incuding the state change of gyroscope, and control is electronic
Machine rotating speed ensures the flight stability of aircraft.
The aircraft operation principle of the utility model is as follows：
Flight control modules pass through driving according to the current flight parameter of the aircraft that telecommand and sensor obtain
First power plant 3, the second power plant 7 and third power plant 8 control the working condition of aircraft.First power plant 3
Driving swing arm 41 is swung clockwise or counterclockwise, when swing arm 41 is swung, drives connecting rod 42 to swing by the first axis pin, even
It is rotated synchronously by 43 drive, two drive shafts 5 of cranking arm when extension bar 42 is swung.When drive shaft 5 rotates, 5 both ends of drive shaft are driven
Support ring 61 rotates, and supporting rod 62 and 2 unitary rotation of propeller is driven when support ring 61 rotates, to change 2 paddle face of propeller
Front and back inclination angle.
Second power plant 7 drives supporting rod 62 to rotate, and the rotation of support ring 61 drives 2 unitary rotation of propeller, to change
Become 2 paddle face of propeller or so inclination angle.
There are two types of operating modes for the aircraft of the utility model：
1, hovering pattern：It keeps realizing spot hover in propeller plan horizontal direction after changing left and right inclination angle, when hovering
Aircraft frontal projected area is small, lower by space limited degree for conventional aircraft.
2, offline mode：It keeps realizing rapid flight in aircraft fuselage horizontal direction after changing front and back inclination angle, due to spiral shell
Revolving paddle paddle face, there are angles with fuselage, and when aircraft diving flight, angle reduces aircraft windward so that aircraft resistance is significantly
Reduce, improves the mobility of aircraft.
3, yaw mode：Change the angle in propeller paddle face and fuselage, generates the thrust towards specific direction, it is more convenient
Adjustment flight attitude, adapt to more complicated flight environment of vehicle.
This aircraft flexibility ratio is high, and structure design breaks conventional aircraft design concept, the comprehensive control of 3 D stereo
System, greatly improves the flying quality of aircraft, and development prospect is still very extensive.According to reality, aircraft at present
Achievable aerial mission range is more narrow, and tasks in areas has limitation, and the aircraft of the utility model can replace people
Work completes more highly difficult and higher risk coefficient task, guarantees personal safety, and has larger application value and development prospect.
Market prospects：Streetscape shooting, adverse circumstances electric inspection process, traffic monitoring, environmental protection, really weighs problem, agriculture at monitoring cruising
Industry insurance, express delivery from far-off regions, the shooting of highly difficult movie and television play, Post disaster relief, urban planning, exploitation of mineral resources, forest fire protection
Monitoring, frontier defense monitoring, military surveillance and alert fire fighting monitoring, flood-control and drought relief etc..
Economic benefit：It is alternative to be manually easily accomplished time-consuming and laborious work, to improve economic benefit, reduce people
Member's waste；Can complete manually can not unlabored work, for example complete the work such as search and rescue, detection of small space.
Aircraft physical model manufacturing process is as follows：
1.1 the design phase
A) according to project schematic diagram, three-dimensional modeling is carried out using 3 d modeling software, primarily determines each section of aircraft
Structure and size.
B) stress is carried out to threedimensional model using analysis software and mechanical dynamic system is analyzed, and according to model result to mould
Type optimizes.
C) fail-safe analysis is carried out to model according to optimum results.
D) animation simulation is carried out to model, simulates practical operation situation, primarily determines design scheme.
E) engineering drawing is gone out according to the result of design, and the Rational Marking is carried out to drawing according to relevant criterion.
1.2 physical model production phases
According to the engineering drawing that the design phase makes, the realistic model stage is made.Our main tasks of the stage are to carry out mould
The making of type simultaneously the problems in finds manufacturing process, to improve in time.
1.3 model test stages
It is tested according to the model of making, our main task is record experimental data, timely finds the flight
Device problem in practical flight, and to carrying out force analysis in flight balance of the aircraft in real process, use
More the mechanical knowledge of system ensures the normal flight of aircraft.
The improvement of 1.4 aircraft and improve the stage
Experimental result is improved model, designs and manufactures second model.The master of this operating room of stage
It is to be carried out to the design of aircraft according to the problem in the experimental stage perfect to want task, and produces newest work drawing
With newest model.
The calculating process of 2.1 control algolithms：（1）The best pid parameter of different angle is obtained with many experiments by calculating,
These data are subjected to the function F that processing fits P, I, D about inclination angle（P,I,D）=G（α, β）, realize aircraft from steady.
（2）In the switching for flying supplement gyroscope inclination data implementation pattern inside control.
2.2 adjustment method：By the real-time monitoring of host computer procedure and feedback, unmanned plane can be continuously got
State finally fits two of KP, KI, KD value under different conditions by recording value of the unmanned plane under different conditions
The residual quantity of secondary curve and three-axis gyroscope data finally debugs out a new flight control system.
The above are merely preferred embodiments of the present invention, it is noted that for those skilled in the art,
Under the premise of not departing from the utility model general idea, several changes and improvements can also be made, these should also be considered as this reality
With novel protection domain.
Claims (8)
1. a kind of omnidirectional's aircraft, which is characterized in that including flight control modules, the first wireless communication module, sensor and machine
Frame（1）, rack（1）On be provided with the first power plant（3）, the first power plant（3）, the first wireless communication module and sensor
It is electrically connected with flight control modules, the first power plant（3）Pass through link mechanism and drive shaft（5）Connection, drive shaft（5）On
It is connected with propeller（2）；Link mechanism includes：Swing arm（41）, connecting rod（42）With the first axis pin, connecting rod（42）Pass through pendulum
Swing arm（41）With the first power plant（3）Connection；Swing arm（41）With the first power plant（3）Connection, swing arm（41）On set
Set bar shaped slide opening（411）, connecting rod（42）Middle part is provided with the first pin shaft hole（421）, the first axis pin is across the first pin shaft hole
（421）With bar shaped slide opening（411）；Link mechanism further includes：It cranks arm（43）With the second axis pin（44）, connecting rod（42）By cranking arm
（43）With drive shaft（5）Connection；It cranks arm（43）It is arranged in drive shaft（5）On, it cranks arm（43）On be provided with the second pin shaft hole, connect
Bar（42）End set have third pin shaft hole, the second axis pin（44）Across the second pin shaft hole and third pin shaft hole；Drive shaft（5）
Including two, connecting rod（42）Both ends by cranking arm（43）Respectively with two drive shafts（5）Connection；
Second wireless communication module of first wireless communication module and mobile terminal is wirelessly connected, for receiving the movement
The telecommand that terminal is sent by second wireless communication module, and the telecommand is sent to the control mould
Block；
The sensor, the flight parameter current for obtaining the aircraft；
The flight control modules are joined according to the current flight of the aircraft that the telecommand and the sensor obtain
Number, and by driving the first power plant（3）Control the working condition of the aircraft.
2. omnidirectional's aircraft according to claim 1, which is characterized in that connecting rod（42）First pin shaft hole at middle part
（421）Including at least one and along connecting rod（42）Axially spaced-apart is arranged.
3. omnidirectional's aircraft according to claim 1, which is characterized in that swing arm（41）It is arranged two and is symmetrically distributed in
Connecting rod（42）Both sides.
4. omnidirectional's aircraft according to claim 1, which is characterized in that each drive shaft（5）On be respectively provided with two and crank arm
（43）, each drive shaft（5）On two crank arm（43）It is symmetrically distributed in connecting rod（42）Both sides.
5. omnidirectional's aircraft according to claim 1, which is characterized in that each drive shaft（5）Both ends be both provided with branch
Pushing out ring（61）, support ring（61）On be provided with rotatable supporting rod（62）, supporting rod（62）Both ends and the second power plant（7）
Connection；Supporting rod（62）On be provided with third power plant（8）, propeller（2）It is arranged in supporting rod（62）It is upper and dynamic with third
Power apparatus（8）Connection；Second power plant（7）With third power plant（8）It is electrically connected with control system.
6. omnidirectional's aircraft according to claim 1, which is characterized in that the first power plant（3）For steering engine.
7. omnidirectional's aircraft according to claim 5, which is characterized in that the second power plant（7）For steering engine, third power
Device（8）For motor.
8. omnidirectional's aircraft according to claim 1, which is characterized in that the sensor includes gyro sensor and adds
Velocity sensor, the current flight parameter of the aircraft include aircraft rotational angular velocity and Flight Acceleration；Wireless telecommunications
Module is WiFi module or bluetooth module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820416757.2U CN208036614U (en) | 2018-03-27 | 2018-03-27 | A kind of omnidirectional's aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820416757.2U CN208036614U (en) | 2018-03-27 | 2018-03-27 | A kind of omnidirectional's aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208036614U true CN208036614U (en) | 2018-11-02 |
Family
ID=63945256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820416757.2U Active CN208036614U (en) | 2018-03-27 | 2018-03-27 | A kind of omnidirectional's aircraft |
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| Country | Link |
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| CN (1) | CN208036614U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108313291A (en) * | 2018-03-27 | 2018-07-24 | 郑州大学 | A kind of omnidirectional's aircraft |
| CN111003173A (en) * | 2019-12-26 | 2020-04-14 | 李明春 | High-mobility rotor-free unmanned aerial vehicle |
-
2018
- 2018-03-27 CN CN201820416757.2U patent/CN208036614U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108313291A (en) * | 2018-03-27 | 2018-07-24 | 郑州大学 | A kind of omnidirectional's aircraft |
| CN111003173A (en) * | 2019-12-26 | 2020-04-14 | 李明春 | High-mobility rotor-free unmanned aerial vehicle |
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