Many rotors of flexible fuselage flight device
阅读说明：本技术 一种可变形机身多旋翼飞行装置 (Many rotors of flexible fuselage flight device ) 是由 刘晓培 陆疌 孙亦然 胡斌 刘旭辉 于 2019-03-05 设计创作，主要内容包括：本申请提供一种可变形机身多旋翼飞行装置,能够将手机等智能终端直接带入空中,通过智能终端自带的摄像头和手机端APP便可实现航拍功能,从而大大扩大了应用范围。本申请还加入了旋翼倾转和机身倾转相结合的控制技术,可实现机身从水平到垂直甚至更大角度的倾转,从而可以通过控制机身姿态来对传统的三轴增稳云台起到一定的替代作用,使得飞行器飞行姿态的控制更加灵活高效,且大大降低了成本,减少了结构空间。本申请不仅具有可折叠的旋翼支架,还具有可折叠的起落架,可折叠于机身两侧,大大减小了飞行装置的体积,极为便于携带。(The application provides a many rotors of flexible fuselage flight device can directly bring intelligent terminal such as cell-phone into aloft, through camera and cell-phone end APP alright realization function of taking by plane of intelligent terminal from the area to application range has been enlarged greatly. The control technology that rotor verts and the fuselage verts and combine together has still been added to this application, can realize that the fuselage verts from the level to perpendicular even bigger angle to can come to play certain substitution to traditional triaxial through control fuselage gesture, make the control of aircraft flight gesture nimble more high-efficient, and greatly reduced the cost, reduced the structure space. This application not only has folding rotor support, still has folding undercarriage, collapsible in fuselage both sides, has reduced flying device's volume greatly, very portable.)
1. A multi-rotor flying device with a deformable fuselage, comprising:
the device body symmetrically extends out of a plurality of rotor wing power mechanisms along the periphery;
an accommodating part arranged on the front surface of the device body and used for accommodating the image shooting device, the flight controller and the battery;
the window part is arranged on the back surface of the device body and communicated with the accommodating part so that the image shooting device can shoot images through the window part.
2. A multi-rotor heeling apparatus as claimed in claim 1, wherein the rotor power mechanism comprises:
a rotor component for providing power;
a rotor bracket connecting the device body and the rotor member, respectively.
3. A multi-rotor flying device according to claim 2, wherein the rotor support is a rotatable rotor support comprising:
a connecting shaft connected to the device body;
the rotary shaft is respectively connected with the connecting shaft and the rotor wing component so as to drive the rotor wing component to rotate around the connecting shaft to the state of unfolding or containing the rotor wing component in the device body.
4. A multi-rotor flying device according to claim 3, comprising:
the connecting shaft is arranged along the left and right direction of the device body;
the rotary shaft drives the rotor wing component to rotate around the connecting shaft along the front-back direction of the device body.
5. Multi-rotor flying device according to claim 2, comprising:
a plurality of rotor tilt driving members provided in the apparatus body;
the connecting rod pieces are respectively connected with the rotor wing tilting driving parts and the rotor wing brackets; wherein the rotor tilt drive member drives the rotor member through the link member relative to the device body for tilting movement.
6. The multi-rotor flying device according to claim 5, wherein the device body tilts with the tilting of the rotor members to cause the image capturing device to change its capturing angle.
7. A multi-rotor flying device according to claim 6, wherein the rotor members return to a horizontal position after the device body has been tilted to a predetermined angle.
8. A multi-rotor flying device according to claim 5 wherein the rotor tilt drive components comprise steering engines.
9. Multi-rotor flying device according to claim 2, comprising:
and the landing gear is connected with the connecting shaft so as to rotate around the connecting shaft to a state of being unfolded or stored in the device body.
10. A multi-rotor flying device according to claim 9, wherein the landing gear rotates about the connecting shaft in a fore-aft direction of the device body.
Technical Field
The application relates to the technical field of multi-rotor aircrafts, in particular to a deformable fuselage multi-rotor flying device.
Background
Many rotor crafts utilize a plurality of rotor flights, and the accessible uses the steady cloud platform that increases to match miniature camera and takes a picture and record a video in the air, also can be used to carry on various measuring instruments, surveys or high altitude object throws in high altitude. Therefore, the multi-rotor aircraft can be applied to various fields such as agriculture, exploration, meteorology, disaster forecast and rescue.
At present, most of multi-rotor aircrafts have lift difference or torque difference among a plurality of engines by changing the output power of engines of the multi-rotor aircrafts or changing the pitch of blades, so that the aim of changing the attitude of the aircrafts is fulfilled. When the aircraft posture is adjusted, the whole aircraft body is inclined to different degrees. In order to achieve aerial photography stability, a stability-enhancing cradle head, such as a three-axis stability-enhancing cradle head, is usually installed on an aircraft, so as to ensure stable shooting of a camera.
However, the existing three-axis stability-increasing pan-tilt head has a complex structure and is expensive, so that the acquisition cost of the aircraft is greatly increased. In addition, most current aerial photography equipment all need pass to ground end equipment with the aerial photography video that the aircraft shot through picture transmission equipment, can't realize directly taking the cell-phone aloft, use camera and APP of cell-phone self-carrying. Therefore, the existing aerial photography equipment is expensive, and the aerial photography technology is not efficient enough, so that improvement is needed urgently.
Content of application
In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the present application is to provide a deformable fuselage multi-rotor flight device, which is used for solving the technical problems that the existing triaxial stability-increasing cradle head is expensive and easy to damage, and the structural design is not efficient enough.
To achieve the above object, the present application provides a transformable fuselage multi-rotor flying device, comprising: the device body symmetrically extends out of a plurality of rotor wing power mechanisms along the periphery; an accommodating portion provided on a front surface of the apparatus body and accommodating the image pickup apparatus; the window part is arranged on the back surface of the device body and communicated with the accommodating part so that the image shooting device can shoot images through the window part.
In some embodiments of the present application, the rotor power mechanism comprises: a rotor component for providing power; a rotor bracket connecting the device body and the rotor member, respectively.
In some embodiments of the present application, the rotor pylon is a rotatable rotor pylon comprising: a connecting shaft connected to the device body; the rotary shaft is respectively connected with the connecting shaft and the rotor wing component so as to drive the rotor wing component to rotate around the connecting shaft to the state of unfolding or containing the rotor wing component in the device body.
In some embodiments of the present application, the connection shaft is disposed along a left-right direction of the apparatus body; the rotary shaft drives the rotor wing component to rotate around the connecting shaft along the front-back direction of the device body.
In some embodiments of the present application, the multi-rotor flying device comprises: a plurality of rotor tilt driving members provided in the apparatus body; the connecting rod pieces are respectively connected with the rotor wing tilting driving parts and the rotor wing brackets; wherein the rotor tilt drive member drives the rotor member through the link member relative to the device body for tilting movement.
In some embodiments of the present application, the device body tilts along with the tilting of the rotor component to drive the image capturing device to change the capturing angle thereof.
In some embodiments of the present application, the rotor member returns to a horizontal state after the device body tilts to a predetermined angle.
In some embodiments of the present application, the rotor tilt drive component comprises a steering engine.
In some embodiments of the present application, the multi-rotor flying device comprises: and the landing gear is connected with the connecting shaft so as to rotate around the connecting shaft to a state of being unfolded or stored in the device body.
In some embodiments of the present application, the landing gear rotates about the connecting shaft in a forward-rearward direction of the device body.
As described above, the present application relates to the following advantageous effects: 1) according to the method and the device, the intelligent terminals such as the mobile phone can be directly brought into the air, and the aerial photographing function can be realized through the camera and the APP at the mobile phone end of the intelligent terminal, so that the application range is greatly enlarged. 2) The control technology that rotor verts and the fuselage verts and combine together has still been added to this application, can realize that the fuselage verts from the level to perpendicular even bigger angle to can replace the effect of traditional triaxial increase steady cloud platform through controlling the fuselage gesture, make the control of aircraft flight gesture nimble more high-efficient, greatly reduced the cost and reduced the structure space. 3) This application not only has folding rotor support, collapsible in fuselage both sides or folding in the fuselage front or the back, still has folding undercarriage, collapsible in fuselage both sides, and this kind of collapsible design has reduced flying device's volume greatly, very portable.
Drawings
Fig. 1A is a schematic illustration of a deployed multi-rotor flying apparatus according to an embodiment of the present disclosure.
Fig. 1B is a schematic view of a multi-rotor flying apparatus according to an embodiment of the present disclosure.
Fig. 2A is a schematic structural diagram of a multi-rotor flying apparatus according to an embodiment of the present disclosure.
Fig. 2B is a schematic structural diagram of a multi-rotor flying apparatus according to an embodiment of the present disclosure.
Fig. 2C is a schematic structural diagram of a multi-rotor flying apparatus according to an embodiment of the present disclosure.
Detailed Description
The following description of the embodiments of the present application is provided for illustrative purposes, and other advantages and capabilities of the present application will become apparent to those skilled in the art from the present disclosure.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for understanding and reading the contents disclosed in the specification, and are not used for limiting the conditions that the present application can implement, so the present invention has no technical significance, and any structural modification, ratio relationship change or size adjustment should still fall within the scope of the technical content disclosed in the present application without affecting the efficacy and the achievable purpose of the present application. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present application is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Spatially relative terms, such as "upper," "lower," "left," "right," "lower," "below," "lower," "above," "upper," and the like, may be used herein to facilitate describing one element or feature's relationship to another element or feature as illustrated in the figures.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," "retained," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," and/or "comprising," when used in this specification, specify the presence of stated features, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, operations, elements, components, items, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions or operations are inherently mutually exclusive in some way.
Many rotor crafts utilize a plurality of rotor flights, and the accessible uses the steady cloud platform that increases to match miniature camera and takes a picture and record a video in the air, also can be used to carry on various measuring instruments, surveys or high altitude object throws in high altitude. Therefore, the multi-rotor aircraft can be applied to various fields such as agriculture, exploration, meteorology, disaster forecast and rescue. However, in order to achieve stability of aerial photography, a stability-enhancing cradle head, such as a three-axis stability-enhancing cradle head, is generally required to be installed on an aircraft, so as to ensure stable shooting of a camera. However, the existing three-axis stability-increasing pan-tilt head has a complex structure and is expensive, so that the acquisition cost of the aircraft is greatly increased. In addition, most current aerial photography equipment all need pass to ground end equipment with the aerial photography video that the aircraft shot through picture transmission equipment, can't realize directly taking the cell-phone aloft, use camera and APP of cell-phone self-carrying.
In view of the above-mentioned problems in the prior art, the present application provides a transformable fuselage multi-rotor flying device that effectively solves these technical problems. The main idea of this application aims at providing the fuselage and can hold the many rotor flight device of image pickup device, and the fuselage back still is equipped with the lens frame, supplies the image pickup device to gather the image. In addition, many rotor flight device's fuselage can take place to vert in this application to drive the image capture device and vert, and then adjustment image capture angle enlarges the image capture scope greatly. Hereinafter, the multi-rotor flying apparatus of the present application will be further explained with reference to specific embodiments.
Referring to fig. 1A, a schematic view of a deployed multi-rotor flying apparatus of an embodiment of the present application is shown. In this embodiment, many rotor flight device is four rotor flight device, four rotor flight device respectively from the front end and the rear end of device body extend around and the equal symmetrical rotor power unit of left and right sides for provide flight power.
It should be noted that the multi-rotor flight device described in this application is not limited to the four-rotor flight device in this embodiment, and does not limit the extension of the rotor power mechanism from the front end and the rear end of the device body, that is, in other embodiments, the multi-rotor flight device may also be a six-rotor flight device or an eight-rotor flight device, etc., and the rotor power mechanism of the flight device may also extend from the side surface of the device body, which is not limited in this application.
To facilitate understanding by those skilled in the art, the structure and operation of the multi-rotor flying apparatus of the present application will be explained below by taking a four-rotor flying apparatus as an example, and those skilled in the art can understand the structure and operation of other types of multi-rotor flying apparatuses based on the four-rotor flying apparatus.
In fig. 1A, the multi-rotor flying device includes a
The image capturing apparatus may be a Personal computer with a camera function, such as a smart phone, a tablet computer, or a Personal Digital Assistant (PDA), and may also be a camera, a video camera, a camera module integrated with an optical system or a CCD chip, a camera module integrated with an optical system and a CMOS chip, and the like.
In this embodiment, many rotor flight devices have realized taking to the air with intelligent terminal such as cell-phone, pad computer, utilize the leading and/or rearmounted camera of intelligent terminal self-area alright realize the function of taking photo by plane to the line selection communication function that utilizes intelligent terminal can also realize passing the image of gathering to ground terminal in real time, thereby reached the convenience and the biography picture real-time of taking photo by plane.
In an embodiment, the rotor power mechanism specifically includes a
In one embodiment, the rotor support is a rotatable rotor support, which in particular comprises a
In this embodiment, the connecting
It should be noted that, the direction in which the
To facilitate understanding of the deployed and stowed states of the rotor components described in this embodiment, those skilled in the art will now make detailed descriptions with reference to fig. 1B. Fig. 1A shows a schematic structural view of the multi-rotor flying apparatus in a deployed state, and fig. 1B shows a schematic structural view of the multi-rotor flying apparatus in a stowed state.
As can be seen from fig. 1A and 1B, when the
As shown in fig. 1A, the multi-rotor flying device further includes a plurality of rotor tilt driving units 17 and a plurality of link members 18, the rotor tilt driving units 17 are provided in the
In one embodiment, rotor tilt driving component 17 is a steering engine, and is an executing component for controlling the tilt of the control surface of the aircraft. The steering engine in the embodiment can be an electric steering engine and specifically comprises an electric motor, a transmission part and a clutch; the hydraulic steering engine can be composed of the hydraulic actuator and the bypass valve, the application is not limited to the above, and any execution part capable of driving the rotor wing part to incline can be applied to the technical scheme in the application.
Referring to fig. 2A, a schematic structural diagram of a multi-rotor flying apparatus according to an embodiment of the present disclosure is shown. Fig. 2A shows the device body 21 of the multi-rotor flying device in a horizontal state, and the rotor member 22 is driven to tilt with respect to the device body 21, from a first state in which it is horizontal to the device body 21 to a second state in which it forms an obtuse angle with the device body 21.
In this embodiment, the rotor part 22 after tilting generates a power that drives the device body 21 to tilt in the same direction, so that the device body 21 tilts along with the tilting of the rotor part 22 to drive the image capturing device to change the capturing angle thereof, and the image capturing device is changed from the original downward capturing to the side capturing.
As shown in fig. 2B, a schematic view of a multi-rotor flying device is shown with the device body tilted and the rotor components horizontal. In this embodiment, the rotor part 22 returns to the horizontal state after the device body 21 tilts to a predetermined angle, so as to maintain the balance of the flight device.
As shown in fig. 2C, a schematic view of a multi-rotor flying device is shown with the device body vertical and the rotor components horizontal. In this embodiment, the rotor member 22 returns to the horizontal state after the device body 21 is tilted to be vertical to the ground, so as to maintain the balance of the flight device.
From this, the many rotors flight device of this application is except traditional four rotor control techniques, has still added the rotor and has verted and the fuselage verts the control technique that combines together, can realize the fuselage from the level to perpendicular or even bigger angle vert to can replace the use of the triaxial in the traditional art to increase steady cloud platform through controlling the fuselage gesture, make the control of aircraft flight gesture more nimble high-efficient, and greatly reduced the cost, reduced the structure space.
In one embodiment, the multi-rotor flying device further comprises a landing gear connected to the connecting shaft so as to be rotatable about the connecting shaft to a deployed or stowed state in the device body. The landing gear rotates around the connecting shaft in the front-rear direction of the device body. As shown in fig. 1B, the
The landing gear is used for supporting the multi-rotor flight device, for example, when the multi-rotor flight device takes off or is not used, the landing gear can be in a storage state, so that the occupied space of the flight device is saved; when the multi-rotor flight device lands, the landing gear can be unfolded, so that the landing gear can play a supporting role when the flight device lands on the ground.
From this, many rotor flight device in this application not only has folding rotor support, collapsible in fuselage both sides or folding in the fuselage front or the back, still has folding undercarriage, collapsible in fuselage both sides, and this kind of collapsible design has reduced flight device's volume greatly, very portable.
To sum up, the many rotors flight device that this application provided at first can directly bring intelligent terminal such as cell-phone into aloft, through the camera and cell-phone end APP alright realization function of taking photo by plane that intelligent terminal is from taking to the range of application has been enlarged greatly. Secondly, this application has still added the rotor and has verted and the fuselage control technology that verts and combine together, can realize that the fuselage from the level to perpendicular or even bigger angle vert to can replace the use of triaxial in the traditional art to increase steady cloud platform through controlling the fuselage gesture, make the control of aircraft flight gesture more nimble high-efficient, and greatly reduced the cost, reduced the structure space. Finally, this application not only has folding rotor support, and collapsible in fuselage both sides or folding in the fuselage front or the back still has folding undercarriage, and collapsible in fuselage both sides, this kind of collapsible design has reduced flying device's volume greatly, very portable. Therefore, the application effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles and utilities of the present application and are not intended to limit the application. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present application. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical concepts disclosed in the present application shall be covered by the claims of the present application.
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