CN209833989U - Four-rotor aircraft with improved structure - Google Patents
Four-rotor aircraft with improved structure Download PDFInfo
- Publication number
- CN209833989U CN209833989U CN201920394377.8U CN201920394377U CN209833989U CN 209833989 U CN209833989 U CN 209833989U CN 201920394377 U CN201920394377 U CN 201920394377U CN 209833989 U CN209833989 U CN 209833989U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- link
- aircraft
- rotor
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The utility model provides a four rotor crafts of improvement structure belongs to aircraft technical field. The utility model discloses an aircraft body and four flying device, flying device includes the rotor, motor one, deformation support and coupling mechanism, deformation support includes parallelogram structure one and parallelogram structure two, parallelogram structure one includes connecting rod one, connecting rod two, connecting rod three and connecting rod four, motor one sets up on the aircraft body, the output shaft of motor one is rotated with the one end of connecting rod one and is connected, the last side of aircraft body is equipped with the fixed column perpendicularly, the top of fixed column links firmly with the middle part of connecting rod one, the other end of connecting rod one in proper order with connecting rod two, connecting rod three is articulated with the one end of connecting rod four, the other end of connecting rod four links firmly with the output shaft of motor one, coupling mechanism can adjust the distance between rotor and the aircraft body through the rotation of motor one. The utility model discloses can adjust the distance between the rotor as required, improve the flight effect of aircraft.
Description
Technical Field
The utility model belongs to the technical field of the aircraft, a four rotor crafts of improvement structure is related to.
Background
With the continuous development of science and technology, aircrafts are more and more popular. The four-rotor aircraft belongs to one kind of aircraft, and four-rotor aircraft is driven by four groups of motors, has flight steadily, hover, side and fly backward etc. characteristics. Four rotor crafts adopt four rotors as the direct power source of flight, and four rotors symmetric distribution are in same high plane around the organism, about four directions, and four rotors are in same altitude plane, and the structure and the radius of four rotors are all the same, two rotor counter-clockwise rotations, two other rotor clockwise rotations, and the support end at the aircraft is installed to four motor symmetries, and flight control computer and external equipment are laid to support intermediate space.
The four-rotor aircraft changes the rotating speed of the rotor by adjusting the rotating speeds of the four motors, so that the change of the lift force is realized, and the attitude and the position of the aircraft are controlled. The further the four rotors are from each other during flight, the more stable the aircraft is, and if the length of the bracket is lengthened, the flexibility of the aircraft is reduced.
Disclosure of Invention
The utility model aims at having the above-mentioned problem to current technique, provided a four rotor crafts of improvement structure, the utility model aims to solve the technical problem that: how to make the distance between the rotor can adjust as required in a flexible way, improve the flight effect of aircraft.
The purpose of the utility model can be realized by the following technical proposal: a four-rotor aircraft with an improved structure comprises an aircraft body and four flying devices, wherein the four flying devices are respectively arranged on the periphery of the aircraft body, two adjacent flying devices are symmetrically arranged, each flying device comprises a rotor, a first motor, a deformation bracket and a connecting mechanism, the deformation bracket comprises a first parallelogram structure and a fifth connecting rod, a sixth connecting rod, a seventh connecting rod and an eighth connecting rod which are sequentially hinged with each other end to form a second parallelogram structure, the first parallelogram structure comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the first motor is arranged on the upper side surface of the aircraft body, the end part of an output shaft of the first motor is rotatably connected with one end of the first connecting rod, a fixed column is vertically arranged on the upper side surface of the aircraft body, the top of the fixed column is fixedly connected with the middle part of the first connecting rod, the other end of the first connecting rod is hinged with one, the other end of the second connecting rod is hinged to one end of the third connecting rod through a second hinged shaft, the other end of the third connecting rod is hinged to one end of the fourth connecting rod through a fourth hinged shaft, the other end of the fourth connecting rod is fixedly connected with an output shaft of the first motor, the second motor is fixedly arranged on the seventh connecting rod, the rotor is fixedly connected to the output shaft of the second motor, the first parallelogram structure and the second parallelogram structure are connected together through a connecting mechanism, and the connecting mechanism can enable the positions of the first parallelogram structure and the second parallelogram structure to change through rotation of the first motor to adjust the distance between the rotor and the aircraft body.
When the four-rotor aircraft encounters unstable airflow, the first motor is started to drive the fourth connecting rod to rotate in the direction away from the first connecting rod, the first parallelogram structure is deformed because the position of the first connecting rod is kept fixed, the second parallelogram structure is driven to deform through the connecting mechanism, the deformation support extends towards the outside of the aircraft body, the rotors are gradually away from the aircraft body, the distance between the rotors is increased, and the stability of the aircraft is improved; when the four-rotor aircraft needs to change the direction or advance in an accelerating manner, the first motor is started to drive the fourth connecting rod to rotate towards the first connecting rod, the first parallelogram structure is deformed because the position of the first connecting rod is kept fixed, the second parallelogram structure is driven to deform through the connecting mechanism, the deformation support is contracted towards the inside of the aircraft body, the rotor wings are gradually close to the aircraft body, and the flexibility of the aircraft is improved; in addition, when finishing the flight task, the motor drives four when rotating to vertical outside the aircraft body position of orientation of connecting rod, moves the rotor to the position that is closest to the aircraft body, has reduced the volume of aircraft, conveniently carries.
In the above four-rotor aircraft with an improved structure, one end of the fifth connecting rod is hinged to one end of the sixth connecting rod through the fifth hinge shaft, the other end of the sixth connecting rod is hinged to one end of the seventh connecting rod through the sixth hinge shaft, the other end of the seventh connecting rod is hinged to one end of the eighth connecting rod through the seventh hinge shaft, the other end of the eighth connecting rod is hinged to the other end of the fifth connecting rod through the eighth hinge shaft, the connecting mechanism comprises a ninth connecting rod, a first gear, a second gear and a connecting plate, the first gear is fixedly arranged on the fourth hinge shaft, the second gear is fixedly arranged on the eighth hinge shaft, one end of the connecting plate is rotatably arranged on the fourth hinge shaft, the other end of the connecting plate is rotatably arranged on the eighth hinge shaft, the first gear is arranged between the third connecting rod and the connecting plate, the second gear is arranged between the fifth connecting rod and the, the other end of the connecting rod nine is hinged to the middle of the connecting rod five through a hinge shaft nine, and the first gear and the second gear are always in a meshed state through a connecting plate.
Because two ends of the connecting rod nine are respectively hinged with the middle parts of the connecting rod three and the connecting rod five, the gear I on the hinged shaft four and the gear II on the hinged shaft eight are always meshed and connected under the action of the connecting plate, the connecting rod three, the connecting rod five and the connecting rod nine form a relatively stable triangular structure, the connecting rod five cannot rotate along with the rotation of the gear II, the connecting rod six rotates along with the rotation of the gear II, and under the matching action of the parallelogram structure I and the parallelogram structure II, the deformation support extends or contracts to change the distance between the rotor wings; in addition, the rotor wing always moves in the same plane, and the reverse rotation or the inclination can not occur.
In the four-rotor aircraft with the improved structure, a first limiting rod and a second limiting rod are vertically arranged on the upper side surface of the aircraft body, a first pressure sensor is arranged on the outer side of the first limiting rod, a second pressure sensor is arranged on the outer side of the second limiting rod, when a first motor drives a fourth connecting rod to rotate towards the first connecting rod, at least one position is arranged, the fourth connecting rod is parallel to an eighth connecting rod, and one side, close to the second connecting rod, of the fourth connecting rod is in contact with the first pressure sensor; when the first motor drives the fourth connecting rod to rotate towards the direction far away from the first connecting rod, at least one position is provided, the fourth connecting rod and the eighth connecting rod are in the same straight line, one side, far away from the second connecting rod, of the fourth connecting rod is in contact with the second pressure sensor, a cavity is arranged in the aircraft body, a controller and a storage battery are arranged in the cavity, and the first pressure sensor, the second pressure sensor and the first motor are all electrically connected with the storage battery through the controller.
When the first motor drives the fourth connecting rod to rotate towards the first connecting rod, and the fourth connecting rod rotates to be parallel to the eighth connecting rod, one side, close to the second connecting rod, of the fourth connecting rod is in contact with the first pressure sensor, the first pressure sensor sends a signal to the controller, and the controller closes the first motor to prevent the first parallelogram structure and the second parallelogram structure from colliding; when the first motor drives the fourth connecting rod to rotate towards the direction far away from the first connecting rod, the fourth connecting rod rotates to be in the same straight line with the eighth connecting rod, one side, far away from the second connecting rod, of the fourth connecting rod is in contact with the second pressure sensor, the second pressure sensor sends a signal to the controller, the first motor is closed by the controller, the distance between the rotor and the aircraft body is the largest, and the four connecting rods are prevented from continuing to rotate and colliding with adjacent deformation supports to cause damage to the four-rotor aircraft; in addition, when the first pressure sensor and the second pressure sensor have faults, the first limiting rod and the second limiting rod can further limit the fourth connecting rod to continue rotating, and the device is safe and reliable.
In foretell four rotor crafts of improvement structure, one side that connecting rod two was kept away from to connecting rod four is equipped with the electro-magnet, one side that connecting rod six was kept away from to connecting rod eight is equipped with iron plate, the electro-magnet passes through the controller and is connected with the battery electricity, when connecting rod four rotated to being parallel with connecting rod eight towards the direction of connecting rod one, the electro-magnet contacted with iron plate.
When the fourth connecting rod rotates to be parallel to the eighth connecting rod in the direction of the first connecting rod, the electromagnet is in contact with the iron plate at the moment, the electromagnet is started, the magnetic pole of the electromagnet is opposite to the magnetic pole of the iron plate, attraction force is generated, the eighth connecting rod is fixed on the fourth connecting rod, the deformation bracket is kept in a contraction state, the size of the four-rotor aircraft is reduced, the flexibility of the aircraft is improved, and the four-rotor aircraft is convenient to carry; when the aircraft meets unstable airflow, the electromagnet is closed, the first motor is started, the fourth connecting rod rotates towards the direction far away from the first connecting rod, the rotor wing is gradually far away from the aircraft body, and the stability of the aircraft is improved.
In the above improved structure of the four-rotor aircraft, the lengths of the second connecting rod and the fourth connecting rod are both greater than the lengths of the first connecting rod and the third connecting rod, and the lengths of the sixth connecting rod and the eighth connecting rod are both greater than the lengths of the fifth connecting rod and the seventh connecting rod.
The first connecting rod is a fixed rod, the fourth connecting rod is a rotating rod, and the length of the fourth connecting rod is greater than that of the first connecting rod, so that the deformation range of the first parallelogram structure can be increased; in addition, the distance between the rotor and the aircraft body is mainly determined by the sum of the lengths of the four connecting rods and the eight connecting rods, and the longer the length of the four connecting rods and the eight connecting rods is, the larger the distance between the rotor and the aircraft body is, and the higher the stability of the aircraft is.
In the above four-rotor aircraft with an improved structure, the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod, the sixth connecting rod, the seventh connecting rod, the eighth connecting rod and the ninth connecting rod are all made of carbon fiber materials.
Because the first parallelogram structure and the second parallelogram structure move in the same plane, when the rotor moves to the maximum distance from the aircraft body, the carbon fiber material can increase the structural strength of the first parallelogram structure and the second parallelogram structure, and the deformation bracket is prevented from bending or breaking in the moving process of the rotor. In addition, carbon fiber material weight is less, can alleviate four rotor craft's load, improves four rotor craft's time of endurance.
Compared with the prior art, the utility model has the advantages of it is following:
1. when the four-rotor aircraft encounters unstable airflow, the first motor is started to drive the fourth connecting rod to rotate in the direction away from the first connecting rod, the first parallelogram structure is deformed due to the fixed position of the first connecting rod, the second parallelogram structure is synchronously deformed through the connecting mechanism, the deformation support extends towards the outside of the aircraft body, the seventh connecting rod is gradually away from the aircraft body, the distance between the rotors is increased, and the aircraft flies in a more stable posture;
2. when the four-rotor aircraft needs to change the direction or advance in an accelerating manner, the first motor is started to drive the fourth connecting rod to rotate towards the first connecting rod, the first parallelogram structure is deformed because the position of the first connecting rod is fixed, the second parallelogram structure is synchronously deformed through the connecting mechanism, the deformation support is contracted towards the inside of the aircraft body, the seventh connecting rod is gradually close to the aircraft body, the distance between the rotors is reduced, and the flexibility of the aircraft is improved; in addition, when the flight task is finished, the first motor drives the fourth connecting rod to rotate to a position vertically facing the outside of the aircraft body, the fourth connecting rod is in contact with the first pressure sensor, the electromagnet on the fourth connecting rod is started to be in contact with the iron plate on the eighth connecting rod, and the rotor wing is fixed at a position closest to the aircraft body, so that the size of the aircraft is reduced, and the aircraft is convenient to carry;
3. under the coordination effect of the first parallelogram structure and the second parallelogram structure, the distance between the rotor wing and the aircraft body can be changed, the flight effect of the aircraft is improved, and the flight attitude is controlled; meanwhile, the rotor on the connecting rod seven always moves in the same plane, and the rotor cannot rotate reversely or incline, so that the influence on the rotor is reduced.
Drawings
FIG. 1 is a schematic structural view of a quad-rotor aircraft of the improved structure;
FIG. 2 is a schematic structural view of a deformed stent;
FIG. 3 is a schematic view of the deformed extension of the deformed stent;
FIG. 4 is a cross-sectional view taken at A-A of FIG. 2;
fig. 5 is a sectional view at B-B in fig. 3.
In the figure, 1, an aircraft body; 1a, fixing columns; 1b, a rotor; 1c, a cavity; 1d, a controller; 1e, a storage battery; 2. a first motor; 3. a first connecting rod; 3a, a first hinge shaft; 4. a second connecting rod; 4a, a second hinge shaft; 5. a third connecting rod; 5a, a third hinge shaft; 6. a connecting rod IV; 6a, a hinge shaft IV; 7. a fifth connecting rod; 7a and a hinge shaft five; 8. a connecting rod six; 8a and a hinge shaft six; 9. a connecting rod seven; 9a and a hinge shaft seven; 10. a connecting rod eight; 10a, an articulated shaft eight; 11. a ninth connecting rod; 11a and a hinge shaft nine; 12. a first gear; 13. a second gear; 14. a connecting plate; 15. an electromagnet; 15a, iron plates; 16. a first limiting rod; 16a and a second limiting rod.
Detailed Description
The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.
As shown in fig. 1 to 5, a four-rotor aircraft with an improved structure comprises an aircraft body 1 and four flying devices, wherein the four flying devices are respectively arranged on the periphery of the aircraft body 1, two adjacent flying devices are symmetrically arranged, each flying device comprises a rotor 1b, a motor 2, a deformation bracket and a connecting mechanism, the deformation bracket comprises a parallelogram structure I and a connecting rod V7, a connecting rod VI 8, a connecting rod VII 9 and a connecting rod VIII 10 which are sequentially hinged with each other end to form a parallelogram structure II, the parallelogram structure I comprises a connecting rod I3, a connecting rod II 4, a connecting rod III 5 and a connecting rod IV 6, the motor I2 is arranged on the upper side surface of the aircraft body 1, the end part of the output shaft of the motor I2 is rotatably connected with one end of the connecting rod I3, and a fixing column 1a is vertically arranged on the upper side surface of the aircraft body 1, the top of the fixed column 1a is fixedly connected with the middle part of the first connecting rod 3, the other end of the first connecting rod 3 is hinged with one end of the second connecting rod 4 through a hinge shaft I3 a, the other end of the second connecting rod 4 is hinged with one end of a third connecting rod 5 through a second hinge shaft 4a, the other end of the third connecting rod 5 is hinged with one end of a fourth connecting rod 6 through a fourth hinge shaft 6a, the other end of the fourth connecting rod 6 is fixedly connected with an output shaft of the first motor 2, the seventh connecting rod 9 is fixedly provided with a second motor, the rotor 1b is fixedly connected on an output shaft of the motor II, the parallelogram structure I and the parallelogram structure II are connected together through a connecting mechanism, the connecting mechanism can change the positions of the first parallelogram structure and the second parallelogram structure through the rotation of the first motor 2, so that the distance between the rotor 1b and the aircraft body 1 can be adjusted.
When the four-rotor aircraft encounters unstable airflow, the first motor 2 is started to drive the fourth connecting rod 6 to rotate towards the direction far away from the first connecting rod 3, the first parallelogram structure is deformed because the position of the first connecting rod 3 is kept fixed, the second parallelogram structure is driven to deform through the connecting mechanism, the deformation support extends towards the outside of the aircraft body 1, the rotor 1b is gradually far away from the aircraft body 1, the distance between the rotors 1b is increased, and the stability of the aircraft is improved; when the four-rotor aircraft needs to change the direction or advance in an accelerating manner, the motor I2 is started to drive the connecting rod IV 6 to rotate towards the connecting rod I3, the position of the connecting rod I3 is kept fixed, so that the parallelogram I is deformed, the connecting mechanism drives the parallelogram II to deform, the deformation bracket contracts towards the inside of the aircraft body 1, the rotor gradually approaches the aircraft body 1, and the flexibility of the aircraft is improved; in addition, when finishing the flight task, when motor 2 drives four 6 of connecting rod and rotates to vertical outside the aircraft body 1 position of orientation, moves rotor 1b to the position that is closest to aircraft body 1, has reduced the volume of aircraft, conveniently carries.
Specifically, one end of the five connecting rod 7 is hinged to one end of the six connecting rod 8 through a hinge shaft five 7a, the other end of the six connecting rod 8 is hinged to one end of the seven connecting rod 9 through a hinge shaft six 8a, the other end of the seven connecting rod 9 is hinged to one end of the eight connecting rod 10 through a hinge shaft seven 9a, the other end of the eight connecting rod 10 is hinged to the other end of the five connecting rod 7 through a hinge shaft eight 10a, the connecting mechanism comprises a nine connecting rod 11, a first gear 12, a second gear 13 and a connecting plate 14, the first gear 12 is fixedly arranged on the hinge shaft four 6a, the second gear 13 is fixedly arranged on the hinge shaft eight 10a, one end of the connecting plate 14 is rotatably arranged on the hinge shaft four 6a, the other end of the connecting plate 14 is rotatably arranged on the hinge shaft eight 10a, the first gear 12 is arranged between the three connecting rod 5 and the connecting plate 14, and the second, one end of the connecting rod nine 11 is hinged to the middle of the connecting rod three 5 through a hinge shaft three 5a, the other end of the connecting rod nine 11 is hinged to the middle of the connecting rod five 7 through a hinge shaft nine 11a, and the first gear 12 and the second gear 13 are always in a meshed state through a connecting plate 14.
Because the two ends of the connecting rod nine 11 are respectively hinged with the middle parts of the connecting rod three 5 and the connecting rod five 7, the gear one 12 on the hinge shaft four 6a and the gear two 13 on the hinge shaft eight 10a are always meshed and connected under the action of the connecting plate 14, the connecting rod three 5, the connecting rod five 7 and the connecting rod nine 11 form a relatively stable triangular structure, because the connecting rod five 7 cannot rotate along with the rotation of the gear two 13, and the connecting rod six 8 can rotate along with the rotation of the gear two 13, under the matching action of the parallelogram structure I and the parallelogram structure II, the deformation bracket is extended or contracted, and the distance between the rotor wings 1b is changed; in addition, the rotor 1b always moves in the same plane, and does not rotate reversely or tilt.
Specifically, a first limiting rod 16 and a second limiting rod 16a are vertically arranged on the upper side face of the aircraft body 1, a first pressure sensor is arranged on the outer side of the first limiting rod 16, a second pressure sensor is arranged on the outer side of the second limiting rod 16a, when a first motor 2 drives a fourth connecting rod 6 to rotate towards a first connecting rod 3, at least one position is formed, the fourth connecting rod 6 is parallel to an eighth connecting rod 10, and one side, close to the second connecting rod 4, of the fourth connecting rod 6 is in contact with the first pressure sensor; when the first motor 2 drives the fourth connecting rod 6 to rotate towards the direction far away from the first connecting rod 3, at least one position is provided, the fourth connecting rod 6 and the eighth connecting rod 10 are in the same straight line, one side, far away from the second connecting rod 4, of the fourth connecting rod 6 is in contact with the pressure sensor two, a cavity 1c is formed in the aircraft body 1, a controller 1d and a storage battery 1e are arranged in the cavity 1c, and the first pressure sensor, the second pressure sensor and the first motor 2 are electrically connected with the storage battery 1e through the controller 1 d.
When the motor I2 drives the connecting rod IV 6 to rotate towards the connecting rod I3, and the connecting rod IV 6 rotates to be parallel to the connecting rod VIII 10, one side, close to the connecting rod II 4, of the connecting rod IV 6 is in contact with the pressure sensor I, the pressure sensor I sends a signal to the controller 1d, the controller 1d closes the motor I2, and collision between the parallelogram structure I and the parallelogram mechanism II is prevented; when the motor I2 drives the connecting rod IV 6 to rotate towards the direction far away from the connecting rod I3, the connecting rod IV 6 rotates to be in the same straight line with the connecting rod VIII 8, at the moment, one side, far away from the connecting rod II 4, of the connecting rod IV 6 is in contact with the pressure sensor II, the pressure sensor II sends a signal to the controller 1d, the controller 1d closes the motor I2, at the moment, the distance between the rotor 1b and the aircraft body 1 is the largest, and the connecting rod IV 6 is prevented from continuously rotating to collide with an adjacent deformation support, so that the four-rotor aircraft is prevented from being damaged; in addition, when the first pressure sensor and the second pressure sensor have faults, the first limiting rod 16 and the second limiting rod 16a can also limit the connecting rod four 6 to rotate continuously, and the device is safe and reliable.
Specifically, an electromagnet 15 is arranged on one side of the four connecting rod 6, which is far away from the two connecting rod 4, an iron plate 15a is arranged on one side of the eight connecting rod 10, which is far away from the six connecting rod 8, the electromagnet 15 is electrically connected with the storage battery 1e through the controller 1d, and when the four connecting rod 6 rotates towards the first connecting rod 3 to be parallel to the eight connecting rod 10, the electromagnet 15 is in contact with the iron plate 15 a.
When the connecting rod four 6 rotates to be parallel to the connecting rod eight 10 in the direction of the connecting rod one 3, the electromagnet 15 is in contact with the iron plate 15a at the moment, the electromagnet 15 is started, the magnetic pole of the electromagnet 15 is opposite to the magnetic pole of the iron plate 15a, attraction is generated, the connecting rod eight 10 is fixed on the connecting rod four 6, the deformation support is kept in a contraction state, the size of the four-rotor aircraft is reduced, the flexibility of the aircraft is improved, and the four-rotor aircraft is convenient to carry; when the aircraft meets unstable airflow, the electromagnet 15 is closed, the motor I2 is started, the connecting rod IV 6 rotates towards the direction far away from the connecting rod I3, the rotor wing is gradually far away from the aircraft body 1, and the stability of the aircraft is improved.
Specifically, the lengths of the second connecting rod 4 and the fourth connecting rod 6 are greater than the lengths of the first connecting rod 3 and the third connecting rod 5, and the lengths of the sixth connecting rod 8 and the eighth connecting rod 10 are greater than the lengths of the fifth connecting rod 7 and the seventh connecting rod 9.
Because the first connecting rod 3 is a fixed rod, the fourth connecting rod 6 is a rotating rod, the length of the fourth connecting rod 6 is greater than that of the first connecting rod 3, so that the deformation range of the first parallelogram structure can be increased, similarly, the positions of the fifth connecting rod 7 and the third connecting rod 5 are relatively fixed, the fourth connecting rod 6 drives the eighth connecting rod 10 to rotate, and the length of the eighth connecting rod 10 is greater than that of the fifth connecting rod 7, so that the deformation range of the second parallelogram structure can be increased; furthermore, the distance of rotor 1b from aircraft body 1 depends mainly on the sum of the lengths of four links 6 and eight links 10, the longer the length of four links 6 and eight links 10, the greater the distance of rotor 1b from aircraft body 1, and the greater the stability of the aircraft.
Specifically, the first connecting rod 3, the second connecting rod 4, the third connecting rod 5, the fourth connecting rod 6, the fifth connecting rod 7, the sixth connecting rod 8, the seventh connecting rod 9, the eighth connecting rod 10 and the ninth connecting rod 11 are all made of carbon fiber materials.
Because the first parallelogram structure and the second parallelogram structure move in the same plane, when the rotor wing 1b moves to the maximum distance from the aircraft body 1, the carbon fiber material can increase the structural strength of the first parallelogram structure and the second parallelogram structure, and the deformation bracket is prevented from bending or breaking in the moving process of the rotor wing 1 b. In addition, carbon fiber material weight is less, can alleviate four rotor craft's load, improves four rotor craft's time of endurance.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (6)
1. A four-rotor aircraft with an improved structure comprises an aircraft body (1) and four flying devices, wherein the four flying devices are respectively arranged around the aircraft body (1), and two adjacent flying devices are symmetrically arranged, and the four flying devices are characterized in that the flying devices comprise a rotor (1b), a first motor (2), a deformation bracket and a connecting mechanism, the deformation bracket comprises a first parallelogram structure and a fifth connecting rod (7), a sixth connecting rod (8), a seventh connecting rod (9) and an eighth connecting rod (10) which are sequentially hinged with each other to form a second parallelogram structure, the first parallelogram structure comprises a first connecting rod (3), a second connecting rod (4), a third connecting rod (5) and a fourth connecting rod (6), the first motor (2) is arranged on the upper side surface of the aircraft body (1), and the end part of an output shaft of the first motor (2) is rotatably connected with one end of the first connecting rod (3), the aircraft is characterized in that a fixing column (1a) is vertically arranged on the upper side face of the aircraft body (1), the top of the fixing column (1a) is fixedly connected with the middle of a first connecting rod (3), the other end of the first connecting rod (3) is hinged with one end of a second connecting rod (4) through a first hinged shaft (3a), the other end of the second connecting rod (4) is hinged with one end of a third connecting rod (5) through a second hinged shaft (4a), the other end of the third connecting rod (5) is hinged with one end of a fourth connecting rod (6) through a fourth hinged shaft (6a), the other end of the fourth connecting rod (6) is fixedly connected with an output shaft of a first motor (2), a second motor is fixedly arranged on a seventh connecting rod (9), a rotor wing (1b) is fixedly connected on an output shaft of a second motor, the first parallelogram structure and the second parallelogram structure are connected through a connecting mechanism, and the connecting mechanism can enable the first parallelogram structure and the second parallelogram structure to be located Changes to adjust the distance between the rotor (1b) and the aircraft body (1).
2. The improved quad-rotor aircraft according to claim 1, wherein one end of the five link (7) is hinged to one end of the six link (8) through a five hinge axis (7a), the other end of the six link (8) is hinged to one end of the seven link (9) through a six hinge axis (8a), the other end of the seven link (9) is hinged to one end of the eight link (10) through a seven hinge axis (9a), the other end of the eight link (10) is hinged to the other end of the five link (7) through a eight hinge axis (10a), the connecting mechanism comprises a nine link (11), a first gear (12), a second gear (13) and a connecting plate (14), the first gear (12) is fixed on the four hinge axis (6a), the second gear (13) is fixed on the eight link axis (10a), and one end of the connecting plate (14) is rotatably disposed on the four hinge axis (6a), the other end of connecting plate (14) rotates and sets up on articulated shaft eight (10a), gear (12) are located between connecting rod three (5) and connecting plate (14), gear two (13) are located between connecting rod five (7) and connecting plate (14), the one end of connecting rod nine (11) is articulated in the middle part of connecting rod three (5) through articulated shaft three (5a), the other end of connecting rod nine (11) is articulated in the middle part of connecting rod five (7) through articulated shaft nine (11a), gear one (12) and gear two (13) remain the engaged state through connecting plate (14) all the time.
3. The improved structure of the four-rotor aircraft according to claim 2, wherein a first limit rod (16) and a second limit rod (16a) are vertically arranged on the upper side surface of the aircraft body (1), a first pressure sensor is arranged on the outer side of the first limit rod (16), a second pressure sensor is arranged on the outer side of the second limit rod (16a), when a first motor (2) drives a fourth connecting rod (6) to rotate towards the first connecting rod (3), at least one position is provided, so that the fourth connecting rod (6) is parallel to the eighth connecting rod (10), and one side, close to the second connecting rod (4), of the fourth connecting rod (6) is in contact with the first pressure sensor; when the first motor (2) drives the fourth connecting rod (6) to rotate towards the direction far away from the first connecting rod (3), at least one position is provided, so that the fourth connecting rod (6) and the eighth connecting rod (10) are on the same straight line, one side, far away from the second connecting rod (4), of the fourth connecting rod (6) is in contact with the pressure sensor, a cavity (1c) is arranged in the aircraft body (1), a controller (1d) and a storage battery (1e) are arranged in the cavity (1c), and the first pressure sensor, the second pressure sensor and the first motor (2) are electrically connected with the storage battery (1e) through the controller (1 d).
4. The improved structure of the quadrotor aircraft according to claim 3, wherein an electromagnet (15) is arranged on one side of the four connecting rods (6) far away from the two connecting rods (4), an iron plate (15a) is arranged on one side of the eight connecting rods (10) far away from the six connecting rods (8), the electromagnet (15) is electrically connected with the storage battery (1e) through the controller (1d), and when the four connecting rods (6) rotate towards the first connecting rods (3) to be parallel to the eight connecting rods (10), the electromagnet (15) is in contact with the iron plate (15 a).
5. The improved quad-rotor aircraft of claim 4 wherein link two (4) and link four (6) are each longer than link one (3) and link three (5), and link six (8) and link eight (10) are each longer than link five (7) and link seven (9).
6. The improved quad-rotor aircraft of claim 5 wherein the first link (3), the second link (4), the third link (5), the fourth link (6), the fifth link (7), the sixth link (8), the seventh link (9), the eighth link (10), and the ninth link (11) are made of carbon fiber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920394377.8U CN209833989U (en) | 2019-03-26 | 2019-03-26 | Four-rotor aircraft with improved structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920394377.8U CN209833989U (en) | 2019-03-26 | 2019-03-26 | Four-rotor aircraft with improved structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209833989U true CN209833989U (en) | 2019-12-24 |
Family
ID=68908395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920394377.8U Withdrawn - After Issue CN209833989U (en) | 2019-03-26 | 2019-03-26 | Four-rotor aircraft with improved structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209833989U (en) |
-
2019
- 2019-03-26 CN CN201920394377.8U patent/CN209833989U/en not_active Withdrawn - After Issue
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108995804B (en) | Bionic aircraft for realizing flight mode conversion between flapping rotor wing and flapping wing based on deformable wing | |
| CN108438220B (en) | Multi-degree-of-freedom dragonfly-imitating flapping-wing aircraft and control method thereof | |
| CN102582832B (en) | Flapping-wing aircraft | |
| JP5421503B2 (en) | Private aircraft | |
| WO2016004852A1 (en) | Vertical take-off and landing aircraft | |
| CN110844066B (en) | Flapping wing aircraft with tandem double-pair-wing structure and control method thereof | |
| WO2016062223A1 (en) | Vertical take-off and landing aircraft | |
| CN103786879A (en) | Variable-pitch aircraft | |
| CN110171568A (en) | One kind can hover flapping wing aircraft | |
| CN103010463A (en) | High-speed coaxial tilting double-rotor-wing flying wing machine | |
| CN106477032A (en) | Multi-axis aircraft | |
| CN103318410A (en) | Vertical take-off and landing micro aerial vehicle without control surface | |
| CN206288235U (en) | A kind of reclining device for tiltrotor aircraft | |
| CN109896005B (en) | Four rotor crafts of improvement structure | |
| CN104859859A (en) | Pneumatic optimization oil-electricity hybrid multi-rotor aircraft | |
| CN112124582A (en) | Four-flapping-wing aircraft and control method thereof | |
| CN107352030A (en) | A kind of double-vane is differential flap miniature flutter rotor craft | |
| CN112173071B (en) | Unmanned aerial vehicle and cross plate mechanism and control method thereof | |
| CN209833989U (en) | Four-rotor aircraft with improved structure | |
| CN100389048C (en) | Articulated type double-rotor flying robot | |
| CN105523172B (en) | Angle of attack control system and angle of attack control method | |
| CN111591437A (en) | Single-wing aircraft with protection device | |
| CN108100252B (en) | Three-oar duct formula bimodulus unmanned aerial vehicle that verts | |
| CN108382582B (en) | Electromechanical device capable of realizing conversion of flapping-fixing wing structure and aircraft | |
| CN111232191A (en) | Rotor craft using control surface to control attitude |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20191224 Effective date of abandoning: 20230915 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20191224 Effective date of abandoning: 20230915 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |