A modular reconfigurable aircraft

Abstract

The present invention discloses a modular reconfigurable aircraft, including a flight unit module and a mechanical connection structure; adjacent flight unit modules are connected by a mechanical connection structure. The present invention uses a quick-detachable mechanical connection structure to achieve rapid separation and assembly between multiple flight unit modules and functional modules; it can achieve the flight of multiple configuration aircraft composed of an even number of flight unit modules not less than 4, so as to adapt to various flight missions in complex environments; the installation of carbon fiber rods in the flight unit module is similar to the design of an umbrella skeleton shape, which improves the overall structural strength and reduces the shaking problem caused by the rotation of the propeller; by carrying functional modules such as visual modules, energy modules and communication modules, it can achieve the expansion of multiple functions such as reconnaissance, multi-target tracking, increased endurance time and restoration of local area communications.

Description

Technical Field

[0001] The invention relates to a modular reconfigurable aircraft, belonging to the field of aircraft. Background Art

[0002] Drones (UAVs) are by far the most complex and widely used aircraft, varying significantly in configuration, purpose, size, altitude, and speed. Fixed-wing UAVs offer advantages such as long flight time, high speed, and a high payload capacity, but they are unable to hover and are easily affected by gusts of wind. Unmanned helicopters offer the ability to hover and high power efficiency, but they are complex, experience high vibration and noise levels, and are expensive to operate. Rotary-wing micro-UAVs offer advantages such as compact size, vertical takeoff and landing capabilities, and ultra-low-speed flight. However, their low payload and short flight time limit their development.

[0003] Because traditional drones are unable to hover, are expensive, or have low payload capacity, they are unable to perform various tasks in complex environments and terrains. Therefore, it is necessary to research new topological configuration drones that can adapt to different terrains and environments. Summary of the Invention

[0004] The present invention provides a modular reconfigurable aircraft, in which modular flight unit modules are cleverly connected to construct the reconfigurable aircraft.

[0005] The technical solution of the present invention is: a modular reconfigurable aircraft, comprising a flight unit module 1 and a mechanical connection structure 3; adjacent flight unit modules 1 are connected via the mechanical connection structure 3.

[0006] Optionally, the functional module 2 is fixedly installed at the middle position of the plurality of flight unit modules 1 through a mechanical connection structure 3; wherein the number of the flight unit modules 1 is an even number not less than 4.

[0007] Optionally, the flight unit module 1 includes a main panel 4, a DC motor fixing part 10 for fixing a DC motor 11 is provided in the middle of the main panel 4 and the DC motor fixing part 10 is connected to the main panel 4, and a propeller 7 is installed at the shaft end of the DC motor 11.

[0008] Optionally, the main panel 4 includes a plate body, the inner circle of the plate body is circular, the outer circle of the plate body is hexagonal, the hexagon is connected in sequence by six main edges, and the six corners formed by the six main edges are truncated to form six secondary edges, and a weight-reducing groove is provided on the plate body.

[0009] Optionally, the DC motor fixing part 10 includes an outer frame, an upper plate 15 and a lower plate 16 arranged in the outer frame in an upper and lower manner; wherein, the upper plate 15 is fixedly installed with the DC motor 11, and the lower plate 16 is installed with the flight control board 17 and the electric speed controller 18; a group of hinge supports Ⅰ9 is installed on the outer surface of the outer frame at intervals of 120°, and each group of hinge supports Ⅰ9 includes two hinge supports Ⅰ9 arranged in an upper and lower manner.

[0010] Optionally, a sleeve 12 is installed on the hinge support I9 in the form of a hinge connection, and the sleeve 12 is fixedly connected to one end of the carbon fiber rod 8; the other end of the carbon fiber rod 8 is also fixedly connected to the sleeve 12, and the sleeve 12 installed on the other end of the carbon fiber rod 8 is connected to the hinge support II13 installed on the main panel 4 to form a hinge connection structure.

[0011] Optionally, the distance between the centers of the sleeves 12 installed on a group of hinge supports I9 is ​​greater than the distance between the centers of the sleeves 12 installed on a group of hinge supports II13; wherein, a group of hinge supports II13 is installed on the main panel 4 at intervals of 120°, and a group of hinge supports II13 includes two hinge supports II13 arranged in an upper and lower manner.

[0012] Optionally, the mechanical connection structure 3 includes an L-shaped connecting block I5 and an L-shaped connecting block II6, and the L-shaped connecting block I5 and the L-shaped connecting block II6 are alternately arranged on the main panel 4 of the flight unit module 1; the L-shaped connecting block I5 of the first flight unit module 1 in adjacent flight unit modules 1 is connected to the L-shaped connecting block II6 of the second flight unit module 1, and the L-shaped connecting block II6 of the first flight unit module 1 is connected to the L-shaped connecting block I5 of the second flight unit module 1.

[0013] Optionally, a shaft sleeve II 22 is fixedly installed on one side of the L-shaped connecting block I5, and a shaft sleeve I 20 is fixedly installed on one side of the L-shaped connecting block II6. The bolt 23 passes through the shaft sleeve II 22, the matching surfaces of the L-shaped connecting block I5 and the L-shaped connecting block II6, and the shaft sleeve I 20 is threadedly connected to the nut 19.

[0014] Optionally, the mating surfaces of the L-shaped connecting block I5 and the L-shaped connecting block II6, the axial direction of the sleeve I20 and the sleeve II22 are all provided with a penetrating strip hole 21, and the side of the sleeve II22 away from the sleeve I20 is provided with a groove that forms an angle with the strip hole; the side of the bolt 23 away from the nut 19 is provided with a straight-line stopper 24, and the strip hole 21 is used for the bolt 23 with the straight-line stopper 24 to pass through.

[0015] The beneficial effects of the present invention are:

[0016] 1. The present invention uses a quick-detachable mechanical connection structure to achieve rapid separation and assembly between multiple flight unit modules and functional modules. It can realize the flight of various configurations of aircraft composed of an even number of flight unit modules of no less than 4, so as to adapt to various flight missions in complex environments.

[0017] 2. The carbon fiber rods in the flight unit module are designed to resemble the skeleton of an umbrella, which improves the overall structural strength and reduces vibration caused by propeller rotation.

[0018] 3. By carrying functional modules such as vision modules, energy modules and communication modules, it can achieve the expansion of various functions such as reconnaissance, multi-target tracking, improving flight time and restoring local area communications. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an overall schematic diagram of the present invention;

[0020] Figure 2 Schematic diagrams of aircraft with different configurations according to the present invention;

[0021] Figure 3 This is a schematic diagram of a flight unit module of the present invention;

[0022] Figure 4 This is a schematic diagram of a DC motor fixing member of the present invention;

[0023] Figure 5 This is a schematic diagram of the mechanical connection structure assembly of the present invention;

[0024] Figure 6 This is an exploded schematic diagram of the mechanical connection structure of the present invention;

[0025] Figure 7 Schematic diagram of the functional modules of the present invention;

[0026] Figure 8 This is an assembly diagram of the shock-absorbing ball and motor I of the present invention;

[0027] Figure 9 Tiling renderings for flight unit modules of different shapes;

[0028] Figure 10 Here is a comparison before and after of the main panel being lightweighted;

[0029] The numbers in the figure are: 1-flight unit module, 2-functional module, 3-mechanical connection structure, 4-main panel, 5-L-shaped connection block I, 6-L-shaped connection block II, 7-propeller, 8-carbon fiber rod, 9-hinge support I, 10-DC motor fixing part, 11-DC motor, 12-shaft sleeve, 13-hinge support II, 14-communication interface, 15-upper plate, 16-lower plate, 17-flight control board, 18-electric adjustment, 19-nut, 20-shaft sleeve I, 21-bar hole, 22-shaft sleeve II, 23-bolt, 24-slotted stopper, 25-panel, 26-shock-absorbing ball, 27-camera, 28-motor III, 29-motor II, 30-motor I, 31-camera gimbal. DETAILED DESCRIPTION

[0030] The invention will be further described below with reference to the accompanying drawings and embodiments, but the content of the present invention is not limited to the scope of the drawings.

[0031] like Figure 1-10 As shown, a modular reconfigurable aircraft includes a flight unit module 1 and a mechanical connection structure 3. Adjacent flight unit modules 1 are connected via the mechanical connection structure 3. This allows the aircraft to be assembled into an optimal configuration according to different flight missions.

[0032] Optionally, a functional module 2 is fixedly mounted in the middle of multiple flight unit modules 1 via a mechanical connection structure 3; wherein the number of flight unit modules 1 is an even number not less than 4. By installing a functional module 2 in the middle of multiple flight unit modules 1, the functionality of the aircraft can be further expanded.

[0033] Optionally, the flight unit module 1 includes a main panel 4, a DC motor fixing part 10 for fixing a DC motor 11 is provided in the middle of the main panel 4 and the DC motor fixing part 10 is connected to the main panel 4, and a propeller 7 is installed at the shaft end of the DC motor 11.

[0034] Optionally, the main panel 4 includes a plate body, the inner circle of the plate body is circular, the outer circle of the plate body is hexagonal, the hexagon is connected in sequence by six main edges, and the six corners formed by the six main edges are truncated to form six secondary edges, and a weight-reducing groove is provided on the plate body.

[0035] Specifically, if Figure 1-3As shown, the entire main panel is designed through topological lightweighting on the basis of a regular hexagonal structure, that is, on the basis of a regular hexagon, the six corners are truncated to form six secondary sides, so that the main sides are connected by secondary sides, and the secondary sides are shorter than the long sides; through lightweight design, the structure is lighter and more conducive to the flight of the aircraft; furthermore, the flight unit module and functional module, which are designed through topological lightweighting on the basis of a regular hexagonal structure, have better tiling effect and higher material utilization rate compared with different shapes such as triangle, circle, quadrilateral, pentagon, etc. (such as Figure 9 As shown, the tiling effects of different shapes are demonstrated. When adjacent flight unit modules 1 are connected by a mechanical connection structure 3 to form a modular aircraft, the hexagonal configuration has a better tiling effect while supporting various deformations. From the analysis of the propeller rotation trajectory circle, it can be seen that when obtaining a better tiling effect, the topological layout material utilization rate of the present invention is high). Furthermore, the edges of the main sides are equipped with communication interfaces 14 to realize mutual communication between the flight control boards 17 in multiple flight unit modules 1. The propellers 7 are divided into forward propellers and reverse propellers, and each flight unit module 1 is equipped with a forward propeller or a reverse propeller. Among them, the number of flight unit modules 1 is an even number of not less than 4, that is, the number of forward and reverse propellers in the entire modular reconfigurable aircraft is the same, which can avoid the problem of air torque imbalance caused by an odd number of propellers, thereby ensuring the normal flight of the aircraft.

[0036] For example, the present invention provides a lightweight result of the main panel 4: the main panel 4 is processed with a high-strength and lightweight carbon fiber material, and is lightweight designed using topology optimization technology. The optimized mass is reduced by 40% (for example, according to experiments, the main panel 4 is processed with a carbon fiber material, and the distance between the parallel edges of the main panel 4 is set to 1 meter, and the thickness is set to 6 mm. By using topology optimization technology for lightweight design, the optimized mass is reduced from the original 2.23 kg to 1.34 kg, a reduction of 40%). Figure 10 The comparison of the flight unit module before and after lightweighting is shown.

[0037] Optionally, the DC motor fixing part 10 includes an outer frame (the outer contour of the frame is approximately designed to be a hexagonal prism), an upper plate 15 and a lower plate 16 arranged in the outer frame in an upper and lower manner; wherein, the upper plate 15 is fixedly installed with the DC motor 11, and the lower plate 16 is installed with the flight control board 17 and the electric speed controller 18; a group of hinge supports Ⅰ9 are installed on the outer surface of the outer frame at intervals of 120°, and each group of hinge supports Ⅰ9 includes two hinge supports Ⅰ9 arranged in an upper and lower manner.

[0038] Optionally, a sleeve 12 is installed on the hinge support I9 in the form of a hinge connection, and the sleeve 12 is fixedly connected to one end of the carbon fiber rod 8; the other end of the carbon fiber rod 8 is also fixedly connected to the sleeve 12, and the sleeve 12 installed on the other end of the carbon fiber rod 8 is connected to the hinge support II13 installed on the main panel 4 to form a hinge connection structure.

[0039] Optionally, the distance between the centers of the shaft sleeves 12 installed on a group of hinge supports I9 is ​​greater than the distance between the centers of the shaft sleeves 12 installed on a group of hinge supports II13; wherein, a group of hinge supports II13 is installed on the main panel 4 at intervals of 120 degrees, and a group of hinge supports II13 includes two hinge supports II13 arranged in an upper and lower manner. Figure 1-3 As shown, three sets of hinge supports II 13 are installed on the upper and lower parts of the panel body formed by the three secondary sides and the inner ring of the main panel, and the positions of the three sets of hinge supports I 9 correspond to each other. Through this design, the distance between the ends of the two carbon fiber rods 8 connected to each set of hinge supports I 9 is greater than the distance between the other ends of the two carbon fiber rods 8, which makes the carbon fiber rods 8 tilt at a certain angle. This can effectively improve the phenomenon that stress is mainly concentrated on hinge supports I 9 and hinge supports II 13 during flight, thereby improving the stability of the aircraft structure. Figure 1-4 As shown, the flight unit module with a hexagonal main body is equipped with three groups of carbon fiber rods, each group consists of two carbon fiber rods, and the installation of the six carbon fiber rods is similar to the design of an umbrella frame shape, which improves the overall structural strength and reduces the vibration problem caused by the rotation of the propeller; furthermore, the number of carbon fiber rod groups is half the number of main sides of the main panel. While meeting the requirements of effective flight, it also has the following advantages: on the one hand, it reduces weight, and on the other hand, it can reduce obstructions under the propeller, thereby reducing the impact on the lift of the aircraft.

[0040] Optionally, the mechanical connection structure 3 includes an L-shaped connecting block I5 and an L-shaped connecting block II6, and the L-shaped connecting block I5 and the L-shaped connecting block II6 are alternately arranged on the main panel 4 of the flight unit module 1; the L-shaped connecting block I5 of the first flight unit module 1 in adjacent flight unit modules 1 is connected to the L-shaped connecting block II6 of the second flight unit module 1, and the L-shaped connecting block II6 of the first flight unit module 1 is connected to the L-shaped connecting block I5 of the second flight unit module 1.

[0041] Optionally, a shaft sleeve II 22 is fixedly installed on one side of the L-shaped connecting block I5, and a shaft sleeve I 20 is fixedly installed on one side of the L-shaped connecting block II6. The bolt 23 passes through the shaft sleeve II 22, the matching surfaces of the L-shaped connecting block I5 and the L-shaped connecting block II6, and the shaft sleeve I 20 is threadedly connected to the nut 19.

[0042] Optionally, the mating surfaces of the L-shaped connecting block I5 and the L-shaped connecting block II6, the axial direction of the sleeve I20 and the sleeve II22 are all provided with a penetrating strip hole 21, and the side of the sleeve II22 away from the sleeve I20 is provided with a groove that forms an angle with the strip hole; the side of the bolt 23 away from the nut 19 is provided with a straight-line stopper 24, and the strip hole 21 is used for the bolt 23 with the straight-line stopper 24 to pass through.

[0043] Specifically, if Figure 5 、 6 As shown, a shaft sleeve I20 is fixedly installed on the left side of the vertical plate of the L-shaped connecting block II6, and a nut 19 is provided on the left side of the shaft sleeve I20; a shaft sleeve II22 is fixedly installed on the right side of the vertical plate of the L-shaped connecting block I5, and the matching surfaces of the L-shaped connecting block I5 and the L-shaped connecting block II6, the shaft sleeve I20 and the axial direction of the shaft sleeve II22 are all provided with a penetrating strip hole 21; the side of the shaft sleeve II22 away from the shaft sleeve I20 is provided with a groove that is at an angle to the strip hole, and as shown in the figure, the groove and the strip hole are distributed at 90°. The right end of the bolt 23 is fixedly connected to the I-shaped stopper 24, and when the bolt 23 with the I-shaped stopper 24 is allowed to be not detached from the nut 19, it can be moved to the left through the strip hole 21 to separate the mechanical connection structure, thereby releasing the connection between multiple flight unit modules 1 or functional modules 2; when the I-shaped stopper 24 is allowed to cooperate with the groove on the sleeve II 22, the I-shaped stopper 24 is nested in the horizontal rectangular groove on the right end face of the sleeve II 22 by tightening the nut 19, thereby fixing multiple flight unit modules 1 in connection (if there is a component functional module 2, it is also used to fix the flight unit module 1 and the functional module). This design not only allows for the assembly of multiple flight unit modules 1 when the bolts 23 are disengaged from the nuts 19, but also allows for the assembly of multiple flight unit modules 1 when the bolts 23 are not disengaged from the nuts 19 (if a component functional module 2 is present, this can also be used for the assembly of the flight unit module 1 and the functional module). Furthermore, when assembly is performed with the bolts 23 not disengaged from the nuts 19, the time required to mate the bolts 23 with the nuts 19 can be reduced. It is worth noting that the L-shaped connecting blocks I5 and II6 installed on the edges of each main side of the main panel 4 are centrally symmetrical, allowing multiple flight unit modules 1 or functional modules 2 to be connected together in any arrangement or combination, avoiding the need to mate the different hexagonal faces of adjacent modules.

[0044] It should be noted that the functional module 2 includes modules with different functions such as a visual module, an energy module, and a communication module. Here, the visual module with a camera is described as an example. Figure 7-Figure 8As shown, the functional module 2 includes a lightweight panel 25, the outer contour of the panel 25 is approximately hexagonal, and the size is adapted to the size of the main panel 4 on the flight unit module 1. The edges of each side of the hexagon are also symmetrically installed with L-shaped connecting blocks I5 and II6 based on the center; a camera gimbal 31 is installed under the panel 25.

[0045] Optionally, eight shock-absorbing balls 26 are provided at the upper end of the camera platform 31, and motor I 30 is connected below the shock-absorbing balls 26. Motor II 29 and motor III 28 are installed inside the camera platform 31 respectively, and the camera 27 is fixedly installed at the shaft end of motor III 28. The three motors can realize multi-angle shooting of the camera 27.

[0046] With the structure shown in the figure, the working process of the present invention is described as follows:

[0047] According to the current flight mission, the same number of flight unit modules 1 equipped with forward or reverse propellers are selected. At the same time, functional modules can be selected according to the mission requirements. Then, the selected flight unit modules and functional modules are quickly spliced ​​together using the mechanical connection structure 3 to form an aircraft with a specific configuration. The mechanical connection structure adopts an improved bolt connection method. When assembling adjacent modules, a bolt 23 with a straight-shaped stopper 24 at one end is vertically passed through the bar hole 21 on the L-shaped connecting block Ⅱ 6 and the shaft sleeve Ⅱ 22, then rotated 90 degrees clockwise and tightened with the nut 19. The straight-shaped stopper 24 is successfully nested inside the shaft sleeve Ⅱ 22, completing the assembly process of the mechanical connection structure. Finally, according to the current aircraft configuration, the flight control board 17 is used to achieve stable flight of the aircraft. When separating, the nut 19 is first loosened, the straight-shaped stopper 24 is pushed outward a certain distance, and then rotated 90 degrees counterclockwise before being pulled out from the middle of the bar hole 21. After assembly is completed, the communication interface 14 is used to realize the communication between the flight control boards 17 on the flight unit module 1, and finally the main flight control board 17 is used to realize the stable control of the aircraft (the aircraft adopts a distributed control method, and each aircraft is equipped with a flight control board. When controlling the flight of the aircraft, one of the flight control boards must be designated as the main flight control board, and then the main flight control board sends the torque distribution instruction to the other flight control boards. Finally, all the flight control boards output the control signal by solving the torque distribution instruction, thereby controlling the speed of the propeller). A modular reconfigurable aircraft equipped with functional modules can realize specific functions. For example, the visual module can realize aerial reconnaissance missions or target tracking missions through the camera module on the module; by adding an energy module, the endurance of the aircraft can be extended; the aircraft equipped with a communication module can realize short-term communication in post-disaster areas or remote mountainous areas.

[0048] The specific embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in this field without departing from the scope of the present invention.

Claims

1. A modular reconfigurable aircraft, characterized in that: It comprises a flight unit module (1) and a mechanical connection structure (3); adjacent flight unit modules (1) are connected via the mechanical connection structure (3); The flight unit module (1) comprises a main panel (4), a DC motor fixing piece (10) for fixing a DC motor (11) is provided in the middle of the main panel (4), and the DC motor fixing piece (10) is connected to the main panel (4), and a propeller (7) is installed at the shaft end of the DC motor (11); The DC motor fixing member (10) comprises an outer frame, an upper plate (15) and a lower plate (16) arranged in an upper and lower manner in the outer frame; wherein the upper plate (15) is fixedly mounted with the DC motor (11), and the lower plate (16) is mounted with the flight control board (17) and the electric regulator (18); a group of hinge supports I (9) is installed on the outer surface of the outer frame at intervals of 120°, and each group of hinge supports I (9) comprises two hinge supports I (9) arranged in an upper and lower manner; A shaft sleeve (12) is installed on the hinge support I (9) in the form of a hinge connection, and the shaft sleeve (12) is fixedly connected to one end of the carbon fiber rod (8); the other end of the carbon fiber rod (8) is also fixedly connected to the shaft sleeve (12), and the shaft sleeve (12) installed on the other end of the carbon fiber rod (8) is connected to the hinge support II (13) installed on the main panel (4), forming a hinge connection structure; The distance between the centers of the shaft sleeves (12) installed on a set of hinge supports I (9) is greater than the distance between the centers of the shaft sleeves (12) installed on a set of hinge supports II (13); wherein a set of hinge supports II (13) is installed on the main panel (4) at intervals of 120°, and a set of hinge supports II (13) includes two hinge supports II (13) arranged in an upper and lower manner; The number of the flight unit modules (1) is an even number not less than 4.

2. The modular reconfigurable aircraft according to claim 1, characterized in that: The functional module (2) is fixedly installed at the middle position of the plurality of flight unit modules (1) via a mechanical connection structure (3).

3. The modular reconfigurable aircraft according to claim 1, characterized in that: The main panel (4) comprises a plate body, the inner circle of the plate body is circular, the outer circle of the plate body is designed as a hexagon, the hexagon is connected in sequence by six main sides, six corners formed by connecting the six main sides are truncated to form six secondary sides, and a weight-reducing groove is provided on the plate body.

4. The modular reconfigurable aircraft according to claim 1, characterized in that: The mechanical connection structure (3) comprises an L-shaped connection block I (5) and an L-shaped connection block II (6), and the L-shaped connection block I (5) and the L-shaped connection block II (6) are arranged alternately on the main panel (4) of the flight unit module (1) in sequence; the L-shaped connection block I (5) of the first flight unit module (1) in adjacent flight unit modules (1) is connected to the L-shaped connection block II (6) of the second flight unit module (1), and the L-shaped connection block II (6) of the first flight unit module (1) is connected to the L-shaped connection block I (5) of the second flight unit module (1).

5. The modular reconfigurable aircraft according to claim 4, characterized in that: A shaft sleeve II (22) is fixedly mounted on one side of the L-shaped connecting block I (5), and a shaft sleeve I (20) is fixedly mounted on one side of the L-shaped connecting block II (6). A bolt (23) passes through the shaft sleeve II (22), the matching surfaces of the L-shaped connecting block I (5) and the L-shaped connecting block II (6), the shaft sleeve I (20) and the nut (19) to be threadedly connected.

6. The modular reconfigurable aircraft according to claim 5, characterized in that: The mating surfaces of the L-shaped connecting block I (5) and the L-shaped connecting block II (6), the shaft sleeve I (20) and the shaft sleeve II (22) are all provided with a through-hole (21) in the axial direction; the shaft sleeve II (22) is provided with a groove at an angle to the strip hole on the side away from the shaft sleeve I (20); the bolt (23) is provided with a straight-shaped stopper (24) on the side away from the nut (19); and the strip hole (21) is used for the bolt (23) with the straight-shaped stopper (24) to pass through.

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