CN210162251U - Multidirectional four rotor crafts of formula of landing - Google Patents
Multidirectional four rotor crafts of formula of landing Download PDFInfo
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- CN210162251U CN210162251U CN201920972925.0U CN201920972925U CN210162251U CN 210162251 U CN210162251 U CN 210162251U CN 201920972925 U CN201920972925 U CN 201920972925U CN 210162251 U CN210162251 U CN 210162251U
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Abstract
The utility model discloses a multidirectional lifting type four-rotor aircraft, which comprises a quadrangular fuselage, a main flight control board, a battery pack, a rotating motor and a propeller, wherein the equidistant positions of the bottom surface edge of the fuselage are connected with four installation seats through four-corner bolts, a shock-absorbing column support is connected below each installation seat, one end of a shock-absorbing column is connected in each shock-absorbing column support through a buckle, a shock-absorbing caster shaft bracket is sleeved outside the other end of each shock-absorbing column, one end of the shock-absorbing column, which is close to the shock-absorbing caster shaft bracket, is connected with an end cap, a compression spring is sleeved between the shock-absorbing column support and the shock-absorbing caster shaft bracket outside each shock-absorbing column, and a universal wheel is connected; the compression spring and the shock absorption column are adopted at the bottom, so that the shock resistance of the aircraft taking off on a road surface with uneven terrain is improved, and the taking-off process stability of the aircraft is better; the bottom of the aircraft is combined with universal wheels, and the takeoff direction is adjusted according to actual requirements; the utility model discloses an aircraft still has easy operation, the advantage of conveniently carrying.
Description
Technical Field
The utility model belongs to the technical field of the model aeroplane and model ship aircraft, concretely relates to four rotor crafts of multidirectional lift-and-fall formula.
Background
In the traditional multi-rotor unmanned aerial vehicle, the taking-off and landing mode can only be vertical taking-off and landing, the taking-off and landing place of the unmanned aerial vehicle has higher requirement, in the field of domestic unmanned aerial vehicles, the taking-off and landing of a glider need a very standard runway, and in the actual taking-off and landing flight, any small problem can cause deviation of air routes and even crash; and, present many rotor crafts's the mode of taking off and land also has the potential safety hazard to all ring edge borders, will produce serious consequence a little carelessly, on this take off and land basis, we have changed unmanned aerial vehicle's the mode of taking off and land, the VTOL that has adopted traditional unmanned aerial vehicle promptly, and, the run-up take off and land of having adopted traditional glider, require very big reduction to ground environment, the environmental requirement of taking off and land has been reduced, need not the runway, along with different environment, change different modes of taking off and land, both practiced thrift the cost of taking off and land, and the efficiency is improved again, in addition, because all have certain suitability to outdoor each environment.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a four rotor crafts of multidirectional lift-off and landing formula has solved the problem that current aircraft required much to the environment of taking off and landing.
The utility model provides a technical scheme who adopts is, a four rotor crafts of multidirectional formula of rising and falling, including the quadrangle fuselage, the main accuse board that flies, the group battery, the rotation motor, the screw, fuselage bottom surface edge equidistance position department passes through four corner bolted connection mount pads, connect the shock attenuation post support under every mount pad, connect shock attenuation post one end through the buckle in every shock attenuation post support, the shock attenuation truckle pedestal is cup jointed outward to every shock attenuation post other end, the end cap is connected to the shock attenuation post near the one end of shock attenuation truckle pedestal, it has cup jointed compression spring to lie in between shock attenuation post support and the shock attenuation truckle pedestal outward for every shock attenuation post, connect a universal wheel on every shock attenuation truckle pedestal.
The utility model discloses a characteristics still lie in:
the quadrilateral fuselage includes quadrilateral frame and criss-cross interior floor, four apex angle departments of quadrilateral frame are circular frame, interior floor connection quadrilateral frame is last, and four tip extend to circular frame middle part respectively, equal fixed connection a rotation motor on the tip of every interior floor, every rotation motor all connects a screw, every screw is located a circular frame, every rotation motor is equallyd divide and is connected main accuse board, the group battery of flying respectively, main accuse board, the group battery of flying all connects on the interior floor.
The quadrilateral fuselage still includes the casing, goes up the casing lock joint on quadrilateral frame, and main flight control board, group battery are located between casing and the interior floor.
The propeller is a single-layer propeller.
The main flight control panel comprises a positioning module.
The utility model has the advantages that:
the utility model relates to a multidirectional take-off and landing type four-rotor aircraft, the bottom of which adopts a compression spring and a damping column, thus improving the shock resistance of the aircraft taking off on the road with uneven terrain and ensuring the taking-off process stability of the aircraft to be better; the bottom of the aircraft is combined with universal wheels, and the takeoff direction is adjusted according to actual requirements; the utility model discloses an aircraft still has easy operation, the advantage of conveniently carrying.
Drawings
Fig. 1 is a schematic structural view of a multi-directional take-off and landing four-rotor aircraft according to the present invention;
fig. 2 is an exploded view of a multi-directional take-off and landing quad-rotor aircraft of the present invention;
FIG. 3 is a component for shock absorption on an aircraft of the present invention;
figure 4 is the upper shell of the aircraft of the present invention.
In the figure, 1, a quadrilateral frame, 2, a propeller, 3, an upper shell, 4, an inner ribbed plate, 5, a shock-absorbing column bracket, 6, a shock-absorbing column, 7, a compression spring, 8, a shock-absorbing caster shaft bracket, 9, a universal wheel, 10, a mounting seat, 11, a rotating motor, 12, a main flight control panel, 13, a battery pack, 14 and a plug are arranged.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The utility model provides a four rotor crafts of multidirectional lift-and-fall formula, as shown in figure 1 and figure 2, including the quadrangle fuselage, the main control board 12 that flies, group battery 13, rotate motor 11, screw 2, fuselage bottom surface edge equidistance position department passes through four mount pads 10 of four corners bolted connection, shock-absorbing column support 5 is connected under every mount pad 10, as shown in figure 3, connect 6 one end of shock-absorbing column through the buckle in every shock-absorbing column support 5, 6 other end overcoat meets shock-absorbing caster pedestal 8 of every shock-absorbing column, the end cap 14 is connected to the one end that shock-absorbing column 6 is close to shock-absorbing caster pedestal 8, compression spring 7 has been cup jointed between shock-absorbing column support 5 and shock-absorbing caster pedestal 8 outside 6, play absorbing effect when taking off or descending for the aircraft, connect a universal wheel 9 on every shock-absorbing caster pedestal 8.
The quadrangle fuselage includes quadrangle frame 1 and criss-cross inner rib plate 4, four apex angle departments of quadrangle frame 1 are ring type frame, inner rib plate 4 is connected on quadrangle frame 1, and four tip extend to ring type frame middle part respectively, equal rotation motor 11 of fixed connection on the tip of every inner rib plate 4, every rotation motor 11 all connects a screw 2, every screw 2 is located a ring type frame, every rotation motor 11 is equallyd divide and is do not connected main accuse board 12, group battery 13, main accuse board 12 that flies, group battery 13 all connects on the inner rib plate 4.
The quadrilateral fuselage also comprises an upper shell 3, as shown in fig. 4, the upper shell 3 is buckled on the quadrilateral frame 1, and the main flight control panel 12 and the battery pack 13 are positioned between the upper shell 3 and the inner ribbed plate 4.
The propeller 2 is a single-layer propeller.
The main flight control panel 12 includes a positioning module thereon.
The utility model relates to a multidirectional effect as follows of each part among four rotor crafts of formula that falls:
the quadrangular frame 1 is a regular quadrangle, the torque generated by the rotation is mutually offset by the arrangement mode, and the circular frame is arranged at the four vertex angles
A main flight control panel 12 and a battery pack 13 are arranged between the upper shell 3 and the inner ribbed plate 4, and the main flight control panel 12 and the battery pack 13 are protected.
The inner rib plate 4 is connected with the quadrilateral frame 1 and plays a role in supporting the main flight control panel 12, the battery pack 13 and the rotating motor 11.
The shock-absorbing column bracket 5 plays a role of supporting the shock-absorbing column 6.
Shock-absorbing column 6 and compression spring 7 all have certain elasticity, when receiving the pressure of truckle pedestal 8, can compress shock-absorbing column 6 and compression spring 7, make the effect that plays the buffering to the aircraft.
The universal wheel 9 is connected on the shock absorption column 6 through the shock absorption trundle shaft bracket 8, can rotate 360 degrees, and enables the aircraft to take off and land in 360 degrees.
The rotating motor 11 is a common aircraft rotating motor, can rotate under the control of the main flight control panel 12, and adjusts the flight direction and speed of the aircraft by adjusting the rotating speed of the rotating motor 11.
The main flight control panel 12 is a control element capable of controlling the takeoff and landing directions of the aircraft, and is integrated with a positioning module and a wireless transmitting and receiving module, and only the existing flight control element is adopted.
The battery pack 13 can supply electric power to the main flight control panel 12 and the rotating electric machine 11.
The plug 14 plays a role in limiting the moving position of the shock-absorbing caster shaft bracket 8, and prevents the shock-absorbing caster shaft bracket 8 from being separated from the shock-absorbing column under the elastic force of the compression spring 7.
The utility model relates to a four rotor crafts of multidirectional lift-off and drop-off formula still includes the remote control unit on ground, and the remote control unit on this ground passes through wireless signal connection owner and flies control panel 12.
The flying direction mainly comprises vertical (lifting) motion, pitching motion, rolling motion, yawing motion, front-back motion and the like.
(1) Vertical (lifting) movement: meanwhile, the output power of the four rotating motors 11 is increased, the rotating speed of the propeller 2 is increased, so that the total tension is increased, and when the total tension is enough to overcome the weight of the whole aircraft, the four-rotor aircraft can lift off the ground vertically; on the contrary, the output power of the four rotating motors 11 is reduced simultaneously, and the four-rotor aircraft vertically descends until the four-rotor aircraft is balanced to land, so that the vertical motion along the z axis is realized. When the external disturbance amount is zero, the aircraft keeps a hovering state when the lift force generated by the rotor wing is equal to the self weight of the aircraft.
(2) Pitching movement, wherein the motors of the four-rotor aircraft are numbered as front right ①, front left ②, back right ② 1 and back left ④, the rotating speed of the rotating motor ② 0 is increased, the rotating speed of the rotating motor ③ is decreased (the change quantity is equal), and the rotating speeds of the rotating motor ② and the rotating motor ④ are kept unchanged, the lifting force of the propeller ① is increased, the lifting force of the propeller ③ is decreased, and the body is rotated around the y axis by the generated unbalanced moment, and similarly, when the rotating speed of the rotating motor ① is decreased, the rotating speed of the rotating motor ③ is increased, the body is rotated around the y axis in the other direction, so that the pitching movement of the aircraft is realized.
(3) And (3) rolling motion, namely, the rotating speed of the rotating motor ② and the rotating motor ④ is changed and the rotating speed of the rotating motor ① and the rotating speed of the rotating motor ③ are kept unchanged in the same principle as the principle of (2), so that the airframe can rotate around the x axis (in the forward direction and the reverse direction), and the rolling motion of the aircraft is realized.
(4) Yaw motion, wherein a counter torque opposite to the rotation direction is formed due to air resistance in the rotation process of the propeller 2, in order to overcome the influence of the counter torque, two of the four rotors can rotate forwards and reversely, the rotation directions of the rotors on the diagonal lines are the same, the magnitude of the counter torque is related to the rotation speed of the rotors, when the rotation speeds of the four motors are the same, the counter torques generated by the four rotors are mutually balanced, the four-rotor aircraft does not rotate, when the rotation speeds of the four motors are not completely the same, the unbalanced counter torque can cause the four-rotor aircraft to rotate, when the rotation speeds of the rotating motor ① and the rotating motor ③ are increased, and the rotation speeds of the rotating motor ② and the rotating motor ④ are decreased, the counter torque of the propeller ① and the propeller ③ to the airframe is larger than the counter torques of the propeller ② and the propeller ④ to the airframe, the airframe rotates around the z axis under the action of the surplus counter torque, so that the yaw motion of the.
(5) Increasing the rotating speed of the rotating motor ③ to increase the pulling force and correspondingly decreasing the rotating speed of the rotating motor ① to decrease the pulling force while keeping the rotating speeds of the other two motors constant and keeping the counter torque balanced.
The multi-directional take-off and landing principle of the unmanned aerial vehicle is that the flight direction is adjusted by mainly controlling a steering wheel through a motor.
The flying direction mainly comprises vertical (lifting) motion, pitching motion, rolling motion, yawing motion, front-back motion and the like.
(1) As shown in figure 1 unmanned aerial vehicle shock attenuation post support 5 connects compression spring 7 and bumper shock absorber truckle pedestal 8, and the shock attenuation wheel pedestal 8 controls the universal wheel 9, can realize multi-direction take off and land, can realize the VTOL again, effectual reduction the utility model discloses a stability of aircraft and the accuracy nature in take off and land position.
(2) Can also can slide the take-off and land by VTOL under the stable prerequisite of take-off and land to this realizes unmanned aerial vehicle's wide usability, realizes different take-off and land modes according to the demand in place in addition, has increased its using value and range of application, and flight easy operation, convenient to carry moreover.
(3) The main fuselage is connected with four identical rotating electrical machines 11 all around, through the different rotational speeds of 2 screws of host control aircraft, changes the aircraft at flight direction through the difference in rotation speed, the effectual stability that has promoted the aircraft and the accuracy nature that changes the position.
The utility model relates to a multidirectional four rotor crafts of formula of landing's working process does:
taking off: the takeoff direction of the aircraft is set in a remote control device on the ground, the main flight control panel 12 receives an instruction and then controls the rotating motor 11, after the rotating motor 11 rotates with acceleration at a certain acceleration, the aircraft has a tendency of moving towards the preset direction in the acceleration process, the quadrilateral frame 1 is subjected to a force towards the preset takeoff direction, the direction of the universal wheel 9 is adjusted under the action of the force, and the universal wheel slides towards the direction until the rotating speed of the rotating motor 11 is enough to enable the aircraft to take off.
Landing: the landing direction of the aircraft is set in a remote control device on the ground, the main flight control panel 12 receives an instruction and then controls the rotating motor 11, the rotating motor 11 rotates at a certain acceleration in a decelerating mode, the aircraft lands on the ground and has a movement trend towards a preset direction in the decelerating process, the quadrilateral frame 1 is subjected to a force towards the preset takeoff direction, and the universal wheels 9 adjust the direction under the force and slide towards the direction until the aircraft stops moving.
When taking off or landing, when the road surface appears uneven, the damping caster shaft bracket 8 receives the upward/downward acting force of the universal wheel 9, the damping caster shaft bracket 8 compresses/stretches the compression spring 7, the compression spring 7 automatically adjusts the elasticity of the damping caster shaft bracket 8 and the damping column support 5 according to the stress, the damping column support 5 drives the mounting seat 10 and the downward/upward buffering of the quadrangular machine body, and the upward/downward buffering of the quadrangular machine body is gradually changed due to the gradual change of the elasticity of the compression spring 7.
In this way, the utility model relates to a four rotor crafts of multidirectional formula of taking off and landing, through the lift of main flight control board control aircraft, come the direction that changes the aircraft when taking off and landing through the universal wheel, the effectual stability that has promoted the aircraft and the accuracy nature in change position, and the mode of taking off and landing has realized the flight take off and landing of different environment. But both VTOL also can glide fast and take off and land under the stable prerequisite of flight to this realizes unmanned aerial vehicle team's division of labor, has increased its using value, and flight easy operation, convenient to carry moreover.
Claims (5)
1. A multi-directional lifting type four-rotor aircraft comprises a quadrangular fuselage, a main flight control panel (12), a battery pack (13), a rotating motor (11) and a propeller (2), it is characterized in that the bottom edge of the machine body is connected with four mounting seats (10) at equal intervals through four corner bolts, a shock absorption column support (5) is connected below each mounting seat (10), one end of a shock absorption column (6) is connected in each shock absorption column support (5) through a buckle, a shock absorption caster shaft bracket (8) is sleeved outside the other end of each shock absorption column (6), shock attenuation post (6) are close to the one end connection end cap (14) of shock attenuation truckle pedestal (8), every shock attenuation post (6) are located outward and have cup jointed compression spring (7) between shock attenuation post support (5) and shock attenuation truckle pedestal (8), every connect a universal wheel (9) on shock attenuation truckle pedestal (8).
2. The multidirectional lifting type quadrotor aircraft according to claim 1, wherein the quadrilateral fuselage comprises a quadrilateral frame (1) and a cross-shaped inner rib plate (4), the four vertex angles of the quadrilateral frame (1) are circular frames, the inner rib plate (4) is connected to the quadrilateral frame (1), four end parts of the inner rib plate extend to the middle of the circular frames respectively, each of the end parts of the inner rib plate (4) is fixedly connected with a rotating motor (11), each of the rotating motors (11) is connected with a propeller (2), each of the propellers (2) is located in one circular frame, each of the rotating motors (11) is connected with a main flight control board (12) and a battery pack (13), and the main flight control board (12) and the battery pack (13) are connected to the inner rib plate (4).
3. A multidirectional heave four-rotor aircraft according to claim 2, wherein the quadrilateral fuselage further comprises an upper shell (3), the upper shell (3) is fastened to the quadrilateral frame (1), and the main flight control panel (12) and the battery pack (13) are located between the upper shell (3) and the inner rib (4).
4. A multidirectional heave four-rotor aircraft according to claim 1, wherein the propellers (2) are single-layer propellers.
5. A multidirectional heave four-rotor aircraft according to claim 1, wherein a positioning module is included on the main flight control panel (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920972925.0U CN210162251U (en) | 2019-06-26 | 2019-06-26 | Multidirectional four rotor crafts of formula of landing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920972925.0U CN210162251U (en) | 2019-06-26 | 2019-06-26 | Multidirectional four rotor crafts of formula of landing |
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| CN210162251U true CN210162251U (en) | 2020-03-20 |
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| CN201920972925.0U Expired - Fee Related CN210162251U (en) | 2019-06-26 | 2019-06-26 | Multidirectional four rotor crafts of formula of landing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086175A (en) * | 2021-04-25 | 2021-07-09 | 东莞理工学院 | Novel cylinder type aircraft |
-
2019
- 2019-06-26 CN CN201920972925.0U patent/CN210162251U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086175A (en) * | 2021-04-25 | 2021-07-09 | 东莞理工学院 | Novel cylinder type aircraft |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200320 Termination date: 20200626 |
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| CF01 | Termination of patent right due to non-payment of annual fee |