CN110371285B - Blade-rotatable horizontal lift four-wheel type rotor unmanned aerial vehicle - Google Patents
Blade-rotatable horizontal lift four-wheel type rotor unmanned aerial vehicle Download PDFInfo
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- CN110371285B CN110371285B CN201910655272.8A CN201910655272A CN110371285B CN 110371285 B CN110371285 B CN 110371285B CN 201910655272 A CN201910655272 A CN 201910655272A CN 110371285 B CN110371285 B CN 110371285B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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Abstract
The invention discloses a horizontal type lift four-wheel type movable wing unmanned aerial vehicle with rotatable blades, which is characterized by comprising four wheel type movable wings, transmission mechanisms, cams, rotating shafts, reducers, motors and a body frame, wherein the four cams are symmetrically and fixedly arranged on the periphery of the body frame, the four horizontal rotating shafts are symmetrically arranged on the periphery of the body frame, the four motors arranged on the body frame respectively drive the four rotating shafts to continuously rotate after being decelerated by the four reducers arranged on the body frame, the four wheel type movable wings are respectively and fixedly connected to the four rotating shafts, and the four sets of transmission mechanisms are respectively connected with the four wheel type movable wings and the four cams. The wheel type movable wing comprises a rotating frame and a rotatable blade arranged in the rotating frame, and the cam and the transmission mechanism are used for controlling the rotation and the reset of the blade. The invention has the characteristics of high pneumatic efficiency, vertical take-off and landing, hovering in the air and fast direction switching, and can be widely applied to various small aircrafts and unmanned aerial vehicles flying at low Reynolds numbers.
Description
Technical Field
The invention relates to the field of movable wing aircrafts and flying robots, in particular to a blade-rotatable horizontal lift four-wheel type movable wing unmanned aerial vehicle.
Background
The flying mode of the aircraft comprises three flying types of a fixed wing, a rotor wing and a flapping wing, wherein the rotor wing and the flapping wing all belong to movable wings.
Flapping wing flight is a flight mode adopted by natural flying organisms, mainly utilizes the up-and-down flapping of double wings to simultaneously generate lift force and thrust, and is mainly characterized in that the functions of lifting, hovering and propelling are integrated, and meanwhile, the flapping wing flight has strong maneuverability and flexibility and is more suitable for executing flight bypassing obstacles and the like. For an aircraft in a small-size and low-speed flight state, the aircraft flies at a low Reynolds number, and the unsteady lift force generated by the flapping wings is much larger than the unsteady lift force of the fixed wings; from the thrust aspect, the flapping wing propulsion efficiency is higher than the propeller propulsion efficiency. At present, the research of the flapping wing air vehicle mainly focuses on simulating the flight attitude of flying organisms in the nature and designing various flapping wing mechanisms. However, the common problem of these flapping wing mechanisms is that the overall aerodynamic efficiency is low, even lower than that of the fixed wing micro-aircraft of the same scale. The main reason for the low overall efficiency of the flapping wing aircraft is that most of the existing researches simply imitate the appearance and flapping motion of wings of birds or insects, but the problems that the air resistance is reduced and unsteady aerodynamic force is generated by utilizing the change of the self posture and the structure of the wings in the process of flapping the flapping wings of flying organisms up and down are difficult to realize, and the generated problem of low aerodynamic efficiency seriously restricts the popularization and the application of the flapping wing aircraft.
Rotorcraft provides lift to an aircraft with the tension of a rotor (including a propeller), and the forward tension of the aircraft is derived from the horizontal component resulting from small angular deflections of the rotor vector. The attitude control and horizontal movement of the multi-rotor small aircraft which is developed rapidly at present are realized by differential tension of the multiple rotors. Rotorcraft are characterized by having vertical take-off and landing and hovering functions, and the ability to fly in relatively small areas. However, because the rotor of the rotorcraft is immobile relative to the central axis of the rotor, the rotorcraft has large advancing resistance, so that the rotorcraft has high energy consumption, low aerodynamic efficiency and difficult high-power long-endurance flight.
Disclosure of Invention
The invention aims to provide a blade-rotatable horizontal lift four-wheel type movable wing unmanned aerial vehicle which remarkably reduces flight resistance of flapping wing type and rotor wing type aircrafts, improves aerodynamic efficiency, conveniently realizes vertical take-off and landing, can quickly switch flight directions and has very good flight flexibility and maneuverability, so as to solve the problems in the prior art.
The technical solution for realizing the purpose of the invention is as follows: the four-wheel type movable wing unmanned aerial vehicle comprises four wheel type movable wings, a transmission mechanism, cams, rotating shafts, speed reducers, motors and a body frame, wherein the four cams are symmetrically and fixedly arranged on the periphery of the body frame, the four horizontal rotating shafts are symmetrically arranged on the periphery of the body frame, the four motors arranged on the body frame respectively drive the four rotating shafts to continuously rotate after being decelerated by the four speed reducers arranged on the body frame, the four wheel type movable wings are respectively and fixedly connected to the four rotating shafts, and the four sets of transmission mechanisms are respectively connected with the four wheel type movable wings and the four cams; the wheel type movable wing comprises a rotating frame and a rotatable blade arranged in the rotating frame, and the cam and the transmission mechanism are used for controlling the rotation and the reset of the blade.
Furthermore, a central hole and a straight beam are arranged on the rotating frame, the direction of the straight beam is parallel to the axis of the central hole, a blade mounting hole is formed in the straight beam, and the axis of the blade mounting hole is orthogonal to the axis of the central hole; the blades comprise blade windward sides, blade leeward sides and blade rotating shafts, wherein the blade windward sides and the blade leeward sides are arranged oppositely, and the blade rotating shafts are arranged on the blades; the blade rotating shaft is inserted in the blade mounting hole and can rotate; the four rotating shafts are respectively connected with the four center holes and the four speed reducers, and output shafts of the four motors are respectively arranged in the four speed reducer input holes.
Further, the transmission mechanism comprises a pull ring, a push rod and a roller; the rotating frame is provided with a push rod hole, and the axis of the push rod hole is parallel to the axis of the central hole; the pull ring is provided with a blade rotating shaft hole and a long round hole; the push rod is provided with a push rod cylinder, a tenon cylinder and a roller mounting hole, the axis of the tenon cylinder and the axis of the roller mounting hole are orthogonal to the axis of the push rod cylinder, and the blade rotating shaft is inserted and fixed in the blade rotating shaft hole; the roller is provided with a roller cylinder and a roller mounting shaft which are coaxial; the cam is provided with a cam cylindrical surface, the four cam cylindrical surfaces are respectively coaxial with the four rotating shafts, and the cam cylindrical surface is provided with a cam curve groove which is communicated with the cam cylindrical surface for one circle; the roller wheel cylinder is inserted in the cam curve groove and can slide, the push rod cylinder is inserted in the push rod hole and meets sliding fit, the tenon cylinder is inserted in the long round hole and can slide, and the roller wheel mounting shaft is inserted and fixed in the roller wheel mounting hole.
Further, the cam curve groove is composed of a working condition straight groove, a standby condition straight groove, a first spiral groove and a second spiral groove, one end of the working condition straight groove is communicated with one end of the standby condition straight groove through the first spiral groove, and the other end of the working condition straight groove is communicated with the other end of the standby condition straight groove through the second spiral groove.
Furthermore, two side faces of the working condition straight groove are planes and are perpendicular to the axis of the cam cylindrical surface, the distance between the two side faces of the working condition straight groove is equal to the diameter of the roller cylinder, two side faces of the standby condition straight groove are planes and are perpendicular to the axis of the cam cylindrical surface, the distance between the two side faces of the standby condition straight groove is equal to the diameter of the roller cylinder, and two side faces of the first spiral groove and two side faces of the second spiral groove are both spiral curved surfaces.
Further, the cam is a symmetrical solid, the symmetrical surface of the cam is a working reference surface, the axis of the cylindrical surface of the cam is in the working reference surface, the working condition straight grooves are symmetrical relative to the working reference surface, and the working reference surface is a horizontal surface when the unmanned aerial vehicle is in a static state.
Further, the rotating frame further comprises at least one of an outer reinforcing curved beam and an inner reinforcing curved beam, which are used for reinforcing the strength of the rotating frame.
Further, the straight beam, the outer reinforcing curved beam and the inner reinforcing curved beam are all hollow structures;
and/or the presence of a gas in the gas,
the straight beam, the outer reinforcing curved beam and the inner reinforcing curved beam are made of engineering plastics;
and/or the presence of a gas in the gas,
the straight beam, the outer reinforcing curved beam and the inner reinforcing curved beam are made of carbon fiber materials.
Further, the straight beams and the push rod holes are uniformly distributed in the circumferential direction of the central hole, the number of the straight beams is more than 1, and the number of the push rod holes is the same as that of the straight beams; the blade mounting holes are uniformly distributed on the straight beams in a straight line, and the number of the blade mounting holes on each straight beam is more than 1.
A blade-rotatable horizontal-lift four-wheel type rotor unmanned aerial vehicle is characterized by comprising a rotating frame, blades, pull rings, push rods, idler wheels, cams, a rotating shaft, a speed reducer, a motor, a body frame and fixed wings, wherein the rotating frame is provided with a central hole, a straight beam and push rod holes, the direction of the straight beam is parallel to the axis of the central hole, the straight beam is provided with blade mounting holes, the push rod holes are uniformly distributed in the circumferential direction of the central hole, the axis of the blade mounting holes is orthogonal to the axis of the central hole, the axis of the push rod holes is parallel to the axis of the central hole, blades are provided with a windward side, a blade rotating shaft and a leeward side, pull rings are provided with blade rotating shaft holes and long round holes, the push rods are provided with push rod cylinders, tenon cylinders and idler wheel mounting holes, the axis of the tenon cylinders is orthogonal to the axis of the push rod cylinders, the axis of the idler wheel mounting holes is orthogonal to, the cam is provided with a cam cylindrical surface, the cam cylindrical surface is provided with a cam curve groove which is communicated with the cam cylindrical surface in a circle, the cam curve groove consists of a working condition straight groove, a standby condition straight groove, a first spiral groove and a second spiral groove, two side surfaces of the working condition straight groove are planes and are vertical to the axis of the cam cylindrical surface, two side surfaces of the standby condition straight groove are planes and are vertical to the axis of the cam cylindrical surface, one end of the working condition straight groove is communicated with one end of the standby condition straight groove through the first spiral groove, the other end of the working condition straight groove is communicated with the other end of the standby condition straight groove through the second spiral groove, four horizontal rotating shafts are symmetrically arranged around the frame of the machine body, four cams are symmetrically and fixedly arranged around the frame of the machine body, the four cam cylindrical surfaces are respectively coaxial with the four rotating shafts, and the four rotating shafts are, the output shafts of the four motors are respectively arranged in the input holes of the four speed reducers, the speed reducers and the motors are all arranged and fixed on a frame of a machine body, the four rotating frames are respectively sleeved on four rotating shafts through center holes, a roller cylinder is inserted in a cam curve groove and can slide in the cam curve groove, a roller mounting shaft is inserted and fixed in the roller mounting hole, a tenon cylinder is inserted in a long circular hole and can slide, a push rod cylinder is inserted in a push rod hole and meets sliding fit, a blade rotating shaft is inserted and fixed in a blade rotating shaft hole, the blade rotating shaft is inserted and can rotate in the blade mounting hole, the distance between two side surfaces of a straight groove under working conditions is equal to the diameter of the roller cylinder, the distance between two side surfaces of a straight groove under standby conditions is equal to the diameter of the roller cylinder, the two side surfaces of a first spiral, the symmetrical surface of the cam is a working reference surface F, the axis of the cylindrical surface of the cam is in the working reference surface F, the working condition straight groove is symmetrical about the working reference surface F, the working reference surface F is a horizontal plane, the rotating frame is provided with an outer reinforced curved beam and an inner reinforced curved beam, and the straight beam, the outer reinforced curved beam and the inner reinforced curved beam all adopt hollow structures and adopt light materials such as engineering plastics, carbon fibers and the like.
The working principle of the invention is as follows: when the motor is started, the rotating shaft, the rotating frame, the blades, the pull ring, the push rod and the roller are driven to rotate continuously after the speed of the motor is reduced by the speed reducer, when the roller slides in the straight groove under the standby working condition, the push rod cannot move in the axial direction of the rotating shaft, the windward side of the blades on the blades is parallel to the rotating direction, namely, the windward side of the blades is parallel to the relative airflow direction, the gas resistance on the blades is minimum, the standby working condition is at the moment, when the roller rotates into the second spiral groove, the push rod starts to move forward relative to the axial direction of the rotating shaft while rotating synchronously with the rotating shaft, the pull ring is driven to rotate forward by the axial movement of the tenon cylinder, so that the rotating shaft of the blades is driven to rotate forward, when the roller rotates into the straight groove under the working condition, the push rod does not move relative to, the initial state of the working reference surface of the working condition straight groove is a horizontal plane, so that airflow directly acts on the windward side of the blade to enable the blade to obtain the maximum lift force without generating thrust basically, and the working condition is the working condition at the moment; when the roller rotates to the first spiral groove, the push rod starts to move reversely relative to the axis direction of the rotating shaft while rotating synchronously with the rotating shaft, the tenon cylinder enables the pull ring to rotate reversely, so that the rotating shaft of the blade is driven to rotate reversely, when the roller rotates to the straight groove of the standby working condition, the rotating shaft of the blade rotates ninety degrees reversely, the windward side of the blade returns to be parallel to the airflow direction, and the blade returns to the standby state. When the rotating speeds of the four motors are the same, the lifting forces generated by the four wheel type movable wings are equal, so that the vertical take-off and landing function can be realized, and if the lifting forces generated by the four wheel type movable wings are equal to the weight and the resistance of the whole machine, the hovering can be realized; when the rotating speeds of the four motors are different, the lifting forces generated by the four wheel type movable wings are different, one side of the wheel type movable wing with larger lifting force rises, the working reference surface of the working condition straight groove of the cam is not a horizontal plane any more, the lifting force is generated and the thrust can be generated when the blades work, so that the unmanned aerial vehicle can be driven to move forwards or backwards, the lifting force and the thrust generated by each wheel type movable wing can be adjusted by adjusting the rotating speeds of the four motors, the unmanned aerial vehicle can generate resultant force and couple force in any direction of space by four groups of lifting force and thrust, and the unmanned aerial vehicle can be rapidly switched to fly in any direction.
Compared with the prior art, the invention has the following remarkable advantages:
1. according to the four-wheel type movable wing unmanned aerial vehicle with the horizontal lifting force and the rotatable blades, the blades in the wheel type movable wings are set to rotate continuously, so that the advantage of continuous rotation of the rotor wings is kept, and the defect that flapping wings need to move in a reciprocating mode is overcome.
2. The blade-rotatable horizontal-type lift four-wheel type rotor wing unmanned aerial vehicle can control the blades which continuously rotate to rotate relative to the rotating shaft through the cam, so that the blades move upwind in the largest area to obtain the largest airflow reverse thrust in the working state, and are parallel to the airflow direction in the standby state, so that the resistance is greatly reduced, the aim of improving the aerodynamic efficiency is fulfilled, the aerodynamic efficiency is far higher than that of the existing flapping wing and rotor wing aircrafts, and the blade-rotatable horizontal-type lift four-wheel type rotor wing unmanned aerial vehicle can provide larger thrust for the aircrafts.
3. According to the blade-rotatable horizontal-type lift four-wheel type movable-wing unmanned aerial vehicle, the switching of the rotatable blades between the working state and the standby state is automatically completed under the control of the cam, a complex mechanical mechanism and an electronic control system are not needed, the structure is simple, and the reliability is good.
4. According to the four-wheel type movable wing unmanned aerial vehicle with the horizontal lifting force and the rotatable blades, the four motors are used for controlling the difference of the lifting force of the four wheel type movable wings, so that the inclination angle of the working reference surface of the cam is controlled, the purpose of generating and adjusting the pushing force is achieved, and the unmanned aerial vehicle can be vertically lifted and landed, hovered in the air and quickly switched to fly in any direction, so that the unmanned aerial vehicle is very good in flexibility and maneuverability.
5. The blade-rotatable horizontal-type lift four-wheel type moving-wing unmanned aerial vehicle disclosed by the invention is simple in structure, good in processing manufacturability and low in production cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of the overall structure of a blade-rotatable horizontal-lift four-wheel type rotor wing drone according to embodiment 1 of the present invention.
Fig. 2 is a detailed structural schematic diagram of the blade-rotatable horizontal-lift four-wheeled rotor drone provided with only a single wheeled rotor according to embodiment 1 of the present invention.
Fig. 3 is a detailed structural diagram of a wheeled moving-wing standby state of the blade-rotatable horizontal-lift four-wheeled moving-wing drone according to embodiment 1 of the present invention.
Fig. 4 is a detailed structural schematic diagram of the blade-rotatable horizontal-lift four-wheeled moving-wing drone of embodiment 1 of the present invention in the process of switching the wheeled moving wing from the standby state to the operating state.
Fig. 5 is a detailed structural schematic diagram of a working state of a wheel type rotor of the blade-rotatable horizontal lift four-wheel type rotor drone according to embodiment 1 of the present invention.
Fig. 6 is a schematic structural view of a rotating frame of a blade-rotatable horizontal-lift four-wheeled type rotor wing drone according to embodiment 1 of the present invention.
Fig. 7 is a schematic structural view of a blade-rotatable horizontal-lift four-wheeled type rotor wing drone according to embodiment 1 of the present invention.
Fig. 8 is a schematic structural view of a bail wheel of a blade-rotatable horizontal-lift four-wheeled type rotor unmanned aerial vehicle according to embodiment 1 of the present invention.
Fig. 9 is a schematic structural view of a push rod of a blade-rotatable horizontal-lift four-wheel type rotor wing drone according to embodiment 1 of the present invention.
Fig. 10 is a schematic structural diagram of a roller of the blade-rotatable horizontal-type lift four-wheel type rotor wing drone.
Fig. 11 is a schematic structural diagram of a cam of the blade-rotatable horizontal-type lift four-wheel type rotor wing drone.
Fig. 12 is a schematic structural view of the blade-rotatable horizontal lift four-wheel type rotor wing drone of the invention after the cam is cut.
Fig. 13 is an end surface projection view of the blade rotatable horizontal lift four-wheel type rotor wing drone of the invention after the cam is cut.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention is further described below with reference to the accompanying drawings, but the invention is not limited in any way.
Example 1:
with reference to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 and 13, the high-voltage wire routing inspection drone using the blade-rotatable horizontal-type lift four-wheel type rotor drone is provided. The blade comprises a rotating frame 1, blades 2, pull rings 3, push rods 4, rollers 5, cams 6, a rotating shaft 7, a speed reducer 8, a motor 9 and a machine body frame 10, wherein the rotating frame 1 is provided with a central hole 101, straight beams 102 and push rod holes 104, the direction of the straight beams 102 is parallel to the axis of the central hole 101, the number of the straight beams 102 uniformly distributed in the circumferential direction of the central hole 101 is 3, the straight beams 102 are provided with blade mounting holes 103, the number of the blade mounting holes 103 uniformly distributed on the straight beams 102 is 4, the push rod holes 104 are uniformly distributed in the circumferential direction of the central hole 101, the number of the push rod holes 104 is the same as that of the straight beams 102, the axis of the blade mounting holes 103 is orthogonal to the axis of the central hole 101, the axis of the push rod holes 104 is parallel to the axis of the central hole 101, the blades 2 are provided with blade windward surfaces 201, blade rotating shafts 202 and blade leeward surfaces 203, the pull rings 3 are provided with blade holes 301, The axis of the tenon cylinder 402 is orthogonal to the axis of the push rod cylinder 401, the axis of the roller mounting hole 403 is orthogonal to the axis of the push rod cylinder 401, the roller 5 is provided with a coaxial roller cylinder 501 and a roller mounting shaft 502, the cam 6 is provided with a cam cylinder 601, the cam cylinder 601 is provided with a cam curved groove 602 which is communicated around the cam cylinder 601 for one circle, the cam curved groove 602 is composed of a working condition straight groove 603, a standby condition straight groove 604, a first spiral groove 605 and a second spiral groove 606, two side surfaces of the working condition straight groove 603 are planes and are all vertical to the axis of the cam cylinder 601, two side surfaces of the standby condition straight groove 604 are planes and are all vertical to the axis of the cam cylinder 601, one end of the working condition straight groove 603 is communicated with one end of the standby condition straight groove 604 through the first spiral groove 605, the other end of the working condition straight groove 603 is communicated with the other end of the standby condition straight groove 604 through the second spiral groove 606, four horizontal rotating shafts 7 are symmetrically arranged around a machine body frame 10, four cams 6 are symmetrically arranged and fixed around the machine body frame 10, four cam cylindrical surfaces 601 are coaxial with the four rotating shafts 7, the four rotating shafts 7 are respectively arranged on output shafts of four speed reducers 8, output shafts of four motors 9 are respectively arranged in input holes of the four speed reducers 8, the motors 9 and fixed wings 11 are all arranged and fixed on the machine body frame 10, the four rotating frames 1 are respectively sleeved on the four rotating shafts 7 through central holes 101, roller cylinders 501 are inserted in cam curved grooves 602 and can slide in the cam curved grooves 602, roller mounting shafts 502 are inserted and fixed in roller mounting holes 403, tenon cylinders 402 are inserted in long round holes 302 and can slide, push rod cylinders 401 are inserted in push rod holes 104 and meet sliding fit, blade rotating shafts 202 are inserted and fixed in blade rotating shaft holes 301, the blade rotating shaft 202 is inserted into the blade mounting hole 103 and can rotate, the distance between two side faces of the working condition straight groove 603 is equal to the diameter of the roller cylinder 501, the distance between two side faces of the standby condition straight groove 604 is equal to the diameter of the roller cylinder 501, two side faces of the first spiral groove 605 and two side faces of the second spiral groove 606 are both spiral curved surfaces, the cam 6 is a symmetrical solid, the symmetrical surface of the cam 6 is a working reference surface F, the axis of the cam cylinder surface 601 is in the working reference surface F, the working condition straight groove 603 is symmetrical about the working reference surface F, the working reference surface F is a horizontal plane, the rotating frame 1 is provided with an outer reinforcing curved beam 105 and an inner reinforcing curved beam 106, and the straight beam 102, the outer reinforcing curved beam 105 and the inner reinforcing curved beam 106 are all of a hollow structure and made of carbon fiber materials. After the high-voltage wire inspection unmanned aerial vehicle adopts the horizontal lifting four-wheel type movable wing unmanned aerial vehicle with rotatable blades, the resistance of the wheel type movable wing is small, the pneumatic efficiency is high, the flexibility and the maneuverability are good, so that obstacles can be quickly avoided to complete various detection and photographing operations with higher difficulty, compared with a rotor unmanned aerial vehicle, the flight time is increased by 20 percent at one time under the same working load, and the long-time operation during flight is realized.
Example 2:
this embodiment 2 provides a special unmanned aerial vehicle of high-rise fire extinguishing, its structure with embodiment 1, the difference is: the number of the straight beams 102 evenly distributed on the circumference of the central hole 101 is 2, the number of the blade mounting holes 103 evenly distributed on the straight beams 102 is 5, and the straight beams 102, the outer reinforced curved beams 105 and the inner reinforced curved beams 106 are all made of engineering plastics. A high-rise fire extinguishing special unmanned aerial vehicle adopting a blade-rotatable horizontal lifting four-wheel type rotor unmanned aerial vehicle comprises a rotating frame 1, blades 2, pull rings 3, push rods 4, rollers 5, a cam 6, a rotating shaft 7, a speed reducer 8, a motor 9 and a body frame 10, wherein the rotating frame 1 is provided with a central hole 101, straight beams 102 and push rod holes 104, the direction of the straight beams 102 is parallel to the axis of the central hole 101, the number of the straight beams 102 uniformly distributed in the circumferential direction of the central hole 101 is 2, the straight beams 102 are provided with blade mounting holes 103, the number of the blade mounting holes 103 uniformly distributed on the straight beams 102 is 5, the push rod holes 104 are uniformly distributed in the circumferential direction of the central hole 101, the number of the push rod holes 104 is the same as that of the straight beams 102, the axis of the blade mounting holes 103 is orthogonal to the axis of the central hole 101, the axis of the push rod holes 104 is parallel to the axis of the central hole 101, the blades 2 are, the pull ring 3 is provided with a blade rotating shaft hole 301 and an oblong hole 302, the push rod 4 is provided with a push rod cylinder 401, a tenon cylinder 402 and a roller mounting hole 403, the axis of the tenon cylinder 402 is orthogonal to the axis of the push rod cylinder 401, the axis of the roller mounting hole 403 is orthogonal to the axis of the push rod cylinder 401, the roller 5 is provided with a coaxial roller cylinder 501 and a roller mounting shaft 502, the cam 6 is provided with a cam cylinder 601, the cam cylinder 601 is provided with a cam curved groove 602 which is communicated around the cam cylinder 601 for one circle, the cam curved groove 602 is composed of a working condition straight groove 603, a standby condition straight groove 604, a first spiral groove 605 and a second spiral groove 606, two side surfaces of the working condition straight groove 603 are planes and are vertical to the axis of the cam cylinder 601, two side surfaces of the standby condition straight groove 604 are planes and are vertical to the axis of the cam cylinder 601, one end of the working condition straight groove 603 is communicated with one end of the standby condition straight groove 604 through the first, the other end of the working condition straight groove 603 is communicated with the other end of the standby condition straight groove 604 through a second spiral groove 606, four horizontal rotating shafts 7 are symmetrically arranged around the machine body frame 10, four cams 6 are symmetrically arranged and fixed around the machine body frame 10, four cam cylindrical surfaces 601 are respectively coaxial with the four rotating shafts 7, the four rotating shafts 7 are respectively arranged on output shafts of four speed reducers 8, output shafts of four motors 9 are respectively arranged in input holes of the four speed reducers 8, the motors 9 and the fixed wings 11 are all arranged and fixed on the machine body frame 10, the four rotating frames 1 are respectively sleeved on the four rotating shafts 7 through a central hole 101, a roller cylinder 501 is inserted in the cam curved groove 602 and can slide in the cam curved groove 602, a roller mounting shaft 502 is inserted and fixed in the roller mounting hole 403, a tenon cylinder 402 is inserted in the long circular hole 302 and, the push rod cylinder 401 is inserted in the push rod hole 104 and meets sliding fit, the blade rotating shaft 202 is inserted and fixed in the blade rotating shaft hole 301, the blade rotating shaft 202 is inserted and rotatable in the blade mounting hole 103, the distance between two side faces of the working condition straight groove 603 is equal to the diameter of the roller cylinder 501, the distance between two side faces of the standby condition straight groove 604 is equal to the diameter of the roller cylinder 501, two side faces of the first spiral groove 605 and two side faces of the second spiral groove 606 are both spiral curved surfaces, the cam 6 is a symmetrical solid, the symmetrical surface of the cam 6 is a working reference surface F, the axis of the cam cylindrical surface 601 is in the working reference surface F, the working condition straight groove 603 is symmetrical about the working reference surface F, the working reference surface F is a horizontal plane, the rotating frame 1 is provided with an outer reinforcing curved beam 105, an inner reinforcing curved beam 106 and a straight beam 102, the outer reinforcing curved beam 105 and the inner reinforcing curved beam 106 both adopt a hollow structure and adopt engineering plastics. After the special unmanned aerial vehicle for high-rise fire extinguishment adopts the blade-rotatable horizontal lift four-wheel type movable wing unmanned aerial vehicle, the working stroke of the wheel type movable wing has large thrust, small resistance, high pneumatic efficiency and very good flexibility and maneuverability, so that the special unmanned aerial vehicle can quickly respond to high-rise emergency, quickly fly to fire points in high-rise and narrow spaces, has an aerial hovering function and can hover at the fire points to accurately and continuously extinguish fire.
Example 3:
this embodiment 3 provides an agricultural plant protection unmanned aerial vehicle, and its structure is with embodiment 1, and the difference is: the number of the straight beams 102 evenly distributed in the circumferential direction of the central hole 101 is 4, the number of the blade mounting holes 103 evenly distributed on the straight beams 102 is 6, and the straight beams 102, the outer reinforcing curved beams 105 and the inner reinforcing curved beams 106 are all made of engineering plastics. A high-rise fire extinguishing special unmanned aerial vehicle adopting a blade-rotatable horizontal lifting four-wheel type rotor unmanned aerial vehicle comprises a rotating frame 1, blades 2, pull rings 3, push rods 4, rollers 5, cams 6, a rotating shaft 7, a speed reducer 8, a motor 9 and a body frame 10, wherein the rotating frame 1 is provided with a central hole 101, straight beams 102 and push rod holes 104, the direction of the straight beams 102 is parallel to the axis of the central hole 101, the number of the straight beams 102 uniformly distributed in the circumferential direction of the central hole 101 is 4, the straight beams 102 are provided with blade mounting holes 103, the number of the blade mounting holes 103 uniformly distributed on the straight beams 102 is 6, the push rod holes 104 are uniformly distributed in the circumferential direction of the central hole 101, the number of the push rod holes 104 is the same as that of the straight beams 102, the axis of the blade mounting holes 103 is orthogonal to the axis of the central hole 101, the axis of the push rod holes 104 is parallel to the axis of the central hole 101, the blades 2 are provided, the pull ring 3 is provided with a blade rotating shaft hole 301 and an oblong hole 302, the push rod 4 is provided with a push rod cylinder 401, a tenon cylinder 402 and a roller mounting hole 403, the axis of the tenon cylinder 402 is orthogonal to the axis of the push rod cylinder 401, the axis of the roller mounting hole 403 is orthogonal to the axis of the push rod cylinder 401, the roller 5 is provided with a coaxial roller cylinder 501 and a roller mounting shaft 502, the cam 6 is provided with a cam cylinder 601, the cam cylinder 601 is provided with a cam curved groove 602 which is communicated around the cam cylinder 601 for one circle, the cam curved groove 602 is composed of a working condition straight groove 603, a standby condition straight groove 604, a first spiral groove 605 and a second spiral groove 606, two side surfaces of the working condition straight groove 603 are planes and are vertical to the axis of the cam cylinder 601, two side surfaces of the standby condition straight groove 604 are planes and are vertical to the axis of the cam cylinder 601, one end of the working condition straight groove 603 is communicated with one end of the standby condition straight groove 604 through the first, the other end of the working condition straight groove 603 is communicated with the other end of the standby condition straight groove 604 through a second spiral groove 606, four horizontal rotating shafts 7 are symmetrically arranged around the machine body frame 10, four cams 6 are symmetrically arranged and fixed around the machine body frame 10, four cam cylindrical surfaces 601 are respectively coaxial with the four rotating shafts 7, the four rotating shafts 7 are respectively arranged on output shafts of four speed reducers 8, output shafts of four motors 9 are respectively arranged in input holes of the four speed reducers 8, the motors 9 and the fixed wings 11 are all arranged and fixed on the machine body frame 10, the four rotating frames 1 are respectively sleeved on the four rotating shafts 7 through a central hole 101, a roller cylinder 501 is inserted in the cam curved groove 602 and can slide in the cam curved groove 602, a roller mounting shaft 502 is inserted and fixed in the roller mounting hole 403, a tenon cylinder 402 is inserted in the long circular hole 302 and, the push rod cylinder 401 is inserted in the push rod hole 104 and meets sliding fit, the blade rotating shaft 202 is inserted and fixed in the blade rotating shaft hole 301, the blade rotating shaft 202 is inserted and rotatable in the blade mounting hole 103, the distance between two side faces of the working condition straight groove 603 is equal to the diameter of the roller cylinder 501, the distance between two side faces of the standby condition straight groove 604 is equal to the diameter of the roller cylinder 501, two side faces of the first spiral groove 605 and two side faces of the second spiral groove 606 are both spiral curved surfaces, the cam 6 is a symmetrical solid, the symmetrical surface of the cam 6 is a working reference surface F, the axis of the cam cylindrical surface 601 is in the working reference surface F, the working condition straight groove 603 is symmetrical about the working reference surface F, the working reference surface F is a horizontal plane, the rotating frame 1 is provided with an outer reinforcing curved beam 105, an inner reinforcing curved beam 106 and a straight beam 102, the outer reinforcing curved beam 105 and the inner reinforcing curved beam 106 both adopt a hollow structure and adopt engineering plastics. After the agricultural plant protection unmanned aerial vehicle adopts the horizontal lifting four-wheel type movable wing unmanned aerial vehicle with rotatable blades, as the working stroke of the wheel type movable wing has large thrust, small resistance, high pneumatic efficiency and very good flexibility and maneuverability, the one-time flight time is increased by 20 percent when the working load is the same as that of a rotor wing unmanned aerial vehicle, and the long-endurance work is realized.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (9)
1. Blade rotatable horizontal lift four-wheel type rotor unmanned aerial vehicle, its characterized in that: the four-wheel type wind power generation device comprises four wheel type movable wings, a transmission mechanism, cams (6), rotating shafts (7), speed reducers (8), motors (9) and a machine body frame (10), wherein the four cams (6) are symmetrically installed and fixed on the periphery of the machine body frame (10), the four horizontal rotating shafts (7) are symmetrically arranged on the periphery of the machine body frame (10), the four motors (9) arranged on the machine body frame (10) respectively drive the four rotating shafts (7) to continuously rotate after being decelerated through the four speed reducers (8) arranged on the machine body frame (10), the four wheel type movable wings are respectively and fixedly connected to the four rotating shafts (7), and four sets of transmission mechanisms are respectively connected with the four wheel type movable wings and the four cams (6); the wheel type movable wing comprises a rotating frame (1) and a rotatable blade (2) arranged in the rotating frame (1), and the cam (6) and the transmission mechanism are used for controlling the rotation and the reset of the blade (2).
2. The blade-rotatable horizontal-type lift four-wheel type rotor wing drone of claim 1, characterized in that: a central hole (101) and a straight beam (102) are arranged on the rotating frame (1), the direction of the straight beam (102) is parallel to the axis of the central hole (101), a blade mounting hole (103) is formed in the straight beam (102), and the axis of the blade mounting hole (103) is orthogonal to the axis of the central hole (101); the blade (2) comprises a blade windward side (201), a blade leeward side (203) and a blade rotating shaft (202) which are arranged on the blade (2) in an opposite mode, and the blade windward side (201) is parallel to the blade leeward side (203) and is parallel to the axis of the blade rotating shaft (202); the blade rotating shaft (202) is inserted in the blade mounting hole (103) and can rotate; the four rotating shafts (7) are respectively connected with the four central holes (101) and the four speed reducers (8), and output shafts of the four motors (9) are respectively arranged in input holes of the four speed reducers (8).
3. The blade-rotatable horizontal-type lift four-wheel type rotor wing drone of claim 2, characterized in that: the transmission mechanism comprises a pull ring (3), a push rod (4) and a roller (5); a push rod hole (104) is formed in the rotating frame (1), and the axis of the push rod hole (104) is parallel to the axis of the central hole (101); a blade rotating shaft hole (301) and a long round hole (302) are formed in the pull ring (3); a push rod cylinder (401), a tenon cylinder (402) and a roller mounting hole (403) are arranged on the push rod (4), the axis of the tenon cylinder (402) and the axis of the roller mounting hole (403) are orthogonal to the axis of the push rod cylinder (401), and the blade rotating shaft (202) is inserted and fixed in the blade rotating shaft hole (301); a roller cylinder (501) and a roller mounting shaft (502) which are coaxial are arranged on the roller (5); a cam cylindrical surface (601) is arranged on the cam (6), the four cam cylindrical surfaces (601) are respectively coaxial with the four rotating shafts (7), and a cam curve groove (602) which is communicated with the cam cylindrical surfaces (601) in a circle is arranged on each cam cylindrical surface (601); the roller cylinder (501) is inserted in the cam curved groove (602) and can slide, the push rod cylinder (401) is inserted in the push rod hole (104) and meets sliding fit, the tenon cylinder (402) is inserted in the long round hole (302) and can slide, and the roller mounting shaft (502) is inserted and fixed in the roller mounting hole (403).
4. The blade-rotatable horizontal-type lift four-wheel type rotor wing drone of claim 3, characterized in that: the cam curve groove (602) is composed of a working condition straight groove (603), a standby condition straight groove (604), a first spiral groove (605) and a second spiral groove (606), one end of the working condition straight groove (603) is communicated with one end of the standby condition straight groove (604) through the first spiral groove (605), and the other end of the working condition straight groove (603) is communicated with the other end of the standby condition straight groove (604) through the second spiral groove (606).
5. The blade-rotatable horizontal-type lift four-wheel type rotor wing drone of claim 4, characterized in that: the two side faces of the working condition straight groove (603) are planes and are perpendicular to the axis of the cam cylindrical surface (601), the distance between the two side faces of the working condition straight groove (603) is equal to the diameter of the roller cylinder (501), the two side faces of the standby condition straight groove (604) are planes and are perpendicular to the axis of the cam cylindrical surface (601), the distance between the two side faces of the standby condition straight groove (604) is equal to the diameter of the roller cylinder (501), and the two side faces of the first spiral groove (605) and the two side faces of the second spiral groove (606) are both spiral curved surfaces.
6. The blade-rotatable horizontal-type lift four-wheel type rotor wing drone of claim 5, characterized in that: the cam (6) is a symmetrical solid, the symmetrical surface of the cam (6) is a working reference surface (F), the axis of the cam cylindrical surface (601) is arranged in the working reference surface (F), the working condition straight grooves (603) are symmetrical relative to the working reference surface (F), and the working reference surface (F) is a horizontal plane when the unmanned aerial vehicle is in a static state.
7. The blade-rotatable horizontal-type lift four-wheel type rotor wing drone of claim 6, characterized in that: the rotating frame (1) further comprises at least one of an outer reinforcing curved beam (105) and an inner reinforcing curved beam (106) which are used for reinforcing the strength of the rotating frame (1).
8. The blade-rotatable horizontal-type lift four-wheel type rotor wing drone of claim 7, characterized in that: the straight beam (102), the outer reinforcing curved beam (105) and the inner reinforcing curved beam (106) are all hollow structures;
or the straight beam (102), the outer reinforcing curved beam (105) and the inner reinforcing curved beam (106) are made of engineering plastics;
or the straight beam (102), the outer reinforcing curved beam (105) and the inner reinforcing curved beam (106) are made of carbon fiber materials.
9. The blade-rotatable horizontal-type lift four-wheel type rotor wing drone of claim 8, characterized in that: the straight beams (102) and the push rod holes (104) are uniformly distributed in the circumferential direction of the central hole (101), the number of the straight beams (102) is more than 1, and the number of the push rod holes (104) is the same as that of the straight beams (102); the blade mounting holes (103) are uniformly distributed on the straight beams (102) in a straight line, and the number of the blade mounting holes (103) on each straight beam (102) is more than 1.
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| CN201910655272.8A CN110371285B (en) | 2019-07-19 | 2019-07-19 | Blade-rotatable horizontal lift four-wheel type rotor unmanned aerial vehicle |
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| CN113911353A (en) * | 2021-11-17 | 2022-01-11 | 苏州高博软件技术职业学院 | Four-synchronous parallelogram transmission roller shutter rotary wing unmanned aerial vehicle |
| CN113911352A (en) * | 2021-11-17 | 2022-01-11 | 苏州高博软件技术职业学院 | Four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle |
| CN113998093A (en) * | 2021-12-02 | 2022-02-01 | 南京理工大学 | Self-balancing double-ring wheel control four-rotating foldable-wing aircraft |
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| FR2324513A1 (en) * | 1975-09-17 | 1977-04-15 | Jourdan Joannes | Flapping wing flying machine - has cam acting on bicycle wheel mounted in slots of supports with motion transmitted by rod to wing inner ends |
| CN102582832B (en) * | 2012-03-07 | 2014-11-26 | 安徽工业大学 | Flapping-wing aircraft |
| CN105775117B (en) * | 2016-04-19 | 2019-03-22 | 倪德玉 | A kind of helicopter of VTOL horizontal flight and its application |
| CN107089321A (en) * | 2017-04-26 | 2017-08-25 | 浙江点辰航空科技有限公司 | A kind of pusher multi-rotor unmanned aerial vehicle of adjustable lift vector |
| CN107089322B (en) * | 2017-04-26 | 2024-06-11 | 国网新疆电力有限公司奎屯供电公司 | Oil-driven multi-rotor unmanned aerial vehicle with variable lift structure |
| CN109050898A (en) * | 2018-08-16 | 2018-12-21 | 南京壹诺为航空科技有限公司 | Non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula |
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