Land and air double-used six rotorcraft deviceTechnical field
The present invention relates to a kind of aircraft device, more particularly to a kind of land and air double-used six rotorcraft device.
Background technology
First unmanned plane made a successful trial flight in 1933 in the world, had opened the prelude of unmanned plane；With domestic and international science and technologyDevelopment continuous progress, in recent years in civil area, unmanned air vehicle technique the disaster relief, take photo by plane, agricultural, investigation every field in obtainExtensive concern and research；Afield, unmanned plane avoids casualties due to it, possesses execution task ability higherFeature, has obtained substantial amounts of application；Many rotor type unmanned planes are due to excellent mobility, simple mechanical structure, sideJust the characteristics of deployment is with safeguarding, has obtained many applications；Research outside Now Domestic just to six rotorcraft is all locatedIn quick developing stage；In recent years, with nanosecond science and technology and manufacturing fast development, new material, micro electronmechanical (MEMS), micro-The progress of the technology such as inertial navigation (MIMU) and flight control, the research of six rotorcraft is sent out towards more and more practical roadExhibition, has turned into the hot fields of industry research concern at present；Six rotorcraft be adapted to it is near the ground it is middle perform monitoring, investigation,The task such as take photo by plane, with extensive military and civilian prospect.
At present, due to the difference of aircraft type, produced expense is also different；For example shake big also with helicopter aerial photographyNeed Ground take off with land, large-scale fixed wing aircraft carries out very flexible of taking photo by plane, visual angle is small, in addition it is also necessary to runway riseExpense needed for the winged both the above aircraft with landing is more than hundred times of telecontrolled aircraft, and formality is complicated；And six rotor flyingsDevice can meet small area ground can realize vertical lift, and without formality；Six rotorcraft installs upper trapezoid crawler belt land additionalThe good flying quality that ground walking mechanism matches somebody with somebody the six rotorcraft flight instruments that closes is to realize the ability of land operation；And it is existingTechnology in land and air double-used aircraft there is the defect problem that airflight is dumb, road surface running gear is not perfect etc. enough；The land and air double-used six rotorcraft, can also rise to the sky when barrier is run into, easily leap, and headstock is provided with high-definition cameraHead, records its various Wonderland Travels；Research and develop one kind and possess larger road surface earth-grasping force, empty two necks in energy flexible approach land in this areaThe six rotorcraft of domain task.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of land and air double-used six rotorcraft device, and it possesses largerLand face walking earth-grasping force, can flexible approach land Kong Liangge fields task.
The present invention is to solve above-mentioned technical problem by following technical proposals：A kind of land and air double-used six rotorcraftDevice, it is characterised in that it includes six rotorcraft flight instruments and trapezoidal creeper undercarriage；
The six rotorcraft flight instruments includes rotation oar brushless electric machine, aircraft frame, brushless control panel, describedThe output shaft for revolving oar brushless electric machine is fixedly connected with a propeller and is positioned over six shaft end motor cabinets of six rotorcraftIn；The brushless control panel is positioned over the center of aircraft frame, and will by six rotations of drops tight locking buttonBrushless control panel is fixed；
The trapezoidal creeper undercarriage of six rotorcraft includes trapezoid support, crawler belt, Athey wheel, crawler belt wheel drive electricityMachine and lithium battery, trapezoid support are connected by a cylindric connecting rod with aircraft frame bottom；The Athey wheel leads toAxle is crossed to be fixed in the race of each endpoint location of trapezoid support；The crawler belt cooperatively forms land walking dress with Athey wheelPut；
The output shaft of the Athey wheel motor is fixedly connected with an Athey wheel and is fixed on by motor casing trapezoidalThe inner side on support base；The lithium battery is positioned in the five of trapezoid support base battery cases.
Preferably, the aircraft frame, trapezoid support and Athey wheel select ABS type 3D printing materials.
Preferably, the rotation oar brushless electric machine from a diameter of 10mm, length 35mm, the diameter of axle be 2.0mm, rotating speed be 5W withOn brshless DC motor.
Preferably, the airscrew diameter selects 50mm.
Preferably, the bottom edge lengths of the trapezoid support are 160mm, a length of 100mm such as trapezoidal two waist, and bottom withThe angle of waist is 135 °.
Preferably, a diameter of 18mm of Athey wheel of the trapezoidal creeper undercarriage, and be placed on trapezoid support and respectively holdU-shaped race in.
Preferably, the Athey wheel of lower end two is driving wheel in the trapezoidal creeper undercarriage, by crawler belt wheel drive electricityMachine drives, and Athey wheel motor is fixed on trapezoid support base Inner Front End by motor casing.
Preferably, the aircraft frame and trapezoid support periphery are all rounding corner structure.
Positive effect of the invention is：The present invention is connected to coordinate by mechanical structure and realized with motor rotation drivingThe airflight pattern and land walking pattern of six rotorcraft so that six rotorcraft is with good airflightAlso there is the ability for performing land walking simultaneously in the case of performance, six rotors in the prior art are solved to a certain extent and is flownSome existed when complex environment task is performed of going can not process the problem of road barrier；Aircraft provided by the present invention is alsoThere is simple structure, easy to operate, be relatively easy to complete various aerial and land operations.
Brief description of the drawings
Fig. 1 is the structural representation of land and air double-used six rotorcraft of the invention.
Fig. 2 is land and air double-used six rotorcraft flight instruments structural representation of the invention.
Fig. 3 is the structural representation of trapezoidal creeper undercarriage of the invention.
Fig. 4 is the part-structure schematic diagram of trapezoidal creeper undercarriage of the invention.
Specific embodiment
Present pre-ferred embodiments are given below in conjunction with the accompanying drawings, to describe technical scheme in detail.
As shown in figure 1, the present invention provides a kind of land and air double-used six rotorcraft, including six rotorcraft flight instruments1 and trapezoidal creeper undercarriage 2.
As shown in Fig. 2 the six rotorcraft flight instruments 1 includes rotation oar brushless electric machine 11, aircraft frame 13, nothingBrush control panel 14, the output shaft of the rotation oar brushless electric machine 11 is fixedly connected with a propeller 12 and is positioned over six rotors and fliesIn six shaft end motor cabinets of row device；The brushless control panel 14 is positioned over the center of aircraft frame 13, and passes throughBrushless control panel 14 is fixed in six rotations of drops tight locking button 15；
As shown in figure 3, the trapezoidal creeper undercarriage 2 includes trapezoid support 18, crawler belt and Athey wheel 20, trapezoid support18 are connected by a cylindric connecting rod 21 with the bottom of aircraft frame 13；The Athey wheel 20 is fixed on ladder by axleIn the race of each endpoint location of shape support 18；The crawler belt 19 cooperatively forms land walking device with Athey wheel 20；
As shown in Figure 4；The trapezoidal creeper undercarriage 2 also includes Athey wheel motor 16 and lithium battery 17, describedThe output shaft of Athey wheel motor 16 is fixedly connected with an Athey wheel 20 and is fixed on trapezoid support by a motor casingThe inner side on 18 bases；The lithium battery 17 is positioned in five battery cases 22 on the base of trapezoid support 18.
Used as a kind of preferred scheme, (ABS is from ABS for the aircraft frame 13, trapezoid support 18 and Athey wheel 20Acrylonitrile, butadiene, the synthetic plastic acrylonitrile of styrene, butadiene, the graft copolymerization product of three kinds of monomers of styrene) type3D printing material, so improves intensity.
Used as a kind of preferred scheme, the rotation oar brushless electric machine 11 is from a diameter of 10mm, length 35mm, the diameter of axle2.0mm, rotating speed are the brshless DC motor of more than 5W, and such reduces cost increases the service life.
Used as a kind of preferred scheme, the diameter of the propeller 12 selects 50mm, such reduces cost.
As a kind of preferred scheme,
Used as a kind of preferred scheme, in the trapezoid support 18, the bottom edge lengths of trapezoid support are 160mm, trapezoidal twoA length of 100mm such as waist, and bottom and the angle of waist are 135 °, such reduces cost.
As a kind of preferred scheme, a diameter of 18mm of Athey wheel 20 of the trapezoidal creeper undercarriage 2, and it is placed on ladderIt is so easy to use on shape support 18 in the U-shaped race at each end, prevent from removing.
Used as a kind of preferred scheme, the Athey wheel 20 of lower end two is driving wheel in the trapezoidal creeper undercarriage 2, is passed throughAthey wheel motor 16 drives, and Athey wheel motor 16 is fixed on the base Inner Front End of trapezoid support 18 by motor casing, thisSample prescription just drives.
Used as a kind of preferred scheme, the bottom of the trapezoid support 18 is provided with five battery cases 22, the power of whole deviceSource is the lithium battery 17 in five battery cases 22.
Used as a kind of preferred scheme, the six rotorcraft frame periphery is all rounding corner structure, specifically describedAircraft frame 13 and the periphery of trapezoid support 18 are all rounding corner structure, so prevent from breaking.
The present invention is connected by mechanical structure and matched somebody with somebody by ingenious utilization six rotorcraft and the advantage of creeper undercarriageThe airflight pattern and land walking pattern of six rotorcraft are realized in conjunction with motor rotation driving so that six rotorcraftAlso there is the ability for performing land walking simultaneously in the case of with good airflight performance, solve to a certain extentIn the prior art six rotor flyings exist when complex environment task is performed some can not process the problem of road barrier.SeparatelyOutward, aircraft provided by the present invention also has simple structure, easy to operate, can be relatively easy to complete various aerial and landThe advantage of operation.Six drops retaining mechanisms can be fixed control panel with 360 ° of rotations to brushless control panel top.
Particular embodiments described above, technical problem, technical scheme and beneficial effect to solution of the invention are carried outFurther describe, should be understood that and the foregoing is only specific embodiment of the invention, be not limited toThe present invention, all any modification, equivalent substitution and improvements within the spirit and principles in the present invention, done etc., should be included in thisWithin the protection domain of invention.