A torpedo-type quadrotor aircraft

Abstract

The invention discloses a torpedo-type quad-rotor aircraft, comprising an outer shell, which is cylindrical, with battery compartments and sensor placement compartments respectively fixed at both ends of the cylinder; the outer shell and the battery compartments and sensor placement compartments respectively fixed at the two ends form a torpedo shape; four wings and a driving device for driving the wings to unfold are arranged inside the outer shell, and avoidance holes are arranged on the side surfaces of the outer shell at positions adapted to the wings; the wings comprise arms and propellers fixed at the ends of the arms, a fixing plate is fixed at one end inside the outer shell, four fixing grooves are evenly distributed on the fixing plate, and the angle between each fixing groove and the adjacent fixing groove is 90°, one end of the arm where the propeller is not fixed is rotatably fixed to the end of the fixing groove away from the center of the fixing plate, the driving device and the arm are movably connected via a push rod, one end of the push rod is movably fixed in the fixing groove and abuts against the driving device, and the other end is fixed on the arm, and each fixing groove is provided with a push rod.

Description

Technical Field

[0001] The present invention relates to the field of aircraft, and in particular to a torpedo-type quad-rotor aircraft. Background Art

[0002] A quadrotor is a type of unmanned aerial vehicle. It is driven by four sets of motors and has the characteristics of stable flight, hovering, sideways flight, and backward flight.

[0003] A quadrotor aircraft in the prior art, such as a quadrotor aircraft disclosed in Chinese patent publication number CN105314088A, is provided with a fuselage, and rotor frames are provided on both sides of the fuselage, each rotor frame is connected to the fuselage by a hinge mechanism for realizing the rotation and folding of the rotor frame around the fuselage, and a locking mechanism for locking the rotor frame in an unfolded state is provided between each rotor frame and the fuselage; each rotor frame is provided with a frame body and a fixed end for installing the hinge mechanism and the locking mechanism, and the left and right sides of the fuselage are provided with a hinge mechanism for installing the hinge mechanism and the locking mechanism. There are grooves on the lower side for fitting with the fixed end; each rotor frame is provided with two hinged mechanisms hinged to the fuselage, each hinged mechanism is provided with a fixed page fixedly installed on the fuselage, a movable page fixedly installed on the rotor frame and a rotating shaft, the middle of the rotating shaft sleeve is sleeved on the movable page, and both ends of the rotating shaft are sleeved on both ends of the fixed page; each locking mechanism is provided with a fixed plate fixedly installed on the fuselage, a locking hook hinged to the fixed plate and a buckle plate fixedly installed on the rotor frame and used for locking with the locking hook, and the buckle plate is provided with a small hole for the locking hook to be inserted.

[0004] There is also a portable foldable quad-rotor aircraft disclosed in the prior art, such as a Chinese patent with publication number CN205615715U, which includes a main body frame, a cantilever and a landing gear. The main body frame includes a top plate, a bottom plate and four support columns, and the four support columns are fixed between the top plate and the bottom plate, and are located at the four corners of the top plate and the bottom plate. The support column is an n-shaped structure, and two first fixing holes are arranged on the support column opposite to each other; the number of the cantilever is four, and the cantilever is an n-shaped structural profile. Two second fixing holes, two third fixing holes and two fourth fixing holes are arranged on the cantilever respectively, and the third fixing hole is located between the second fixing hole and the fourth fixing hole. The first fixing hole and the second fixing hole correspond to each other, and the cantilever is rotatably fixed to the main frame of the body through the first fixing shaft, the second fixing shaft is insertably arranged between the two third fixing holes, the second fixing shaft and the third fixing hole are clearance-matched, a circle of crimping grooves is provided on the second fixing shaft, and the cross-sectional shape of the compression groove is semicircular, a first locking channel is provided above the third fixing hole, and a spring locking mechanism is provided in the first locking channel, the spring locking mechanism fixes the second fixed shaft on the cantilever in a pluggable manner, the spring locking mechanism includes a ball, a spring and a pressure cover, the ball is pressed on the crimping groove of the second fixed shaft, and the spring is in a compressed state.

[0005] When the quadcopter disclosed in the above patent is in use, the wings of the quadcopter need to be manually unfolded, and then the propellers are started, and the quadcopter takes off from the placement location. It takes a long time for a quadcopter of this structure to fly to the target location, and this type of quadcopter needs a large storage space for a single quadcopter to prevent the propellers from being crushed when stored. Summary of the invention

[0006] In order to solve the problems existing in the prior art, the present invention discloses a torpedo-type quadrotor aircraft.

[0007] A torpedo-type quadrotor aircraft comprises a shell, the shell is cylindrical, a battery compartment and a sensor compartment are respectively fixed at both ends of the cylinder; the shell and the battery compartment and the sensor compartment respectively fixed at the two ends form a torpedo shape;

[0008] The shell is provided with four wings and a driving device for driving the wings to unfold. The side of the shell is provided with avoidance holes for the wings to unfold at positions matching the wings.

[0009] The wing includes an arm and a propeller fixed at the end of the arm, a fixing plate is fixed at one end of the inner part of the shell, four fixing grooves are evenly distributed on the fixing plate, and the angle between each fixing groove and the adjacent fixing groove is 90 degrees, and the end of the arm where the propeller is not fixed is rotatably fixed to the end of the fixing groove away from the center of the fixing plate,

[0010] The driving device is movably connected to the machine arm through a push rod, one end of the push rod is movably fixed in the fixing groove and abuts against the driving device, and the other end is fixed on the machine arm. A push rod is provided on each fixing groove.

[0011] Specifically, when using an existing quadcopter, the wings are usually unfolded in advance, and then the aircraft is started to move the aircraft to a designated position for data collection or observation. Therefore, it usually takes a long time for the existing quadcopter to move to the designated position, and the time to reach the designated position depends largely on the ability of the operator. In addition, when it is necessary to use a quadcopter to observe the sea surface or collect data on the sea surface, it is more difficult to control the quadcopter to the designated position due to the ever-changing sea surface environment. The torpedo-type quadcopter provided by this scheme is used to launch the entire torpedo-type quadcopter. At this time, the wings are folded and folded in the shell, and the overall shape of the torpedo-type quadcopter is torpedo-shaped. After launching, it has a large speed and can quickly approach the destination. After launching the torpedo-type quadcopter, the drive device is started at a predetermined time. After the drive device is started, the wings are driven to unfold, and each propeller starts to move immediately. The movement of the torpedo-type quadcopter can be controlled by controlling the rotation of each propeller.

[0012] Preferably, the driving device comprises a hollow guide column fixed on the fixed plate, the axial direction of the hollow guide column is parallel to the axial direction of the housing, a movable block is provided at one end of the hollow guide column close to the fixed plate, four pressure rods with protrusions are provided on the movable block, a pressure rod groove for the pressure rod to pass through is provided on the side wall of the hollow guide column, and the pressure rod can move in the direction of approaching or moving away from the fixed plate in the pressure rod groove;

[0013] The driving device also includes a trigger rod sleeved in the hollow guide column for controlling the position of the movable block, and a driving motor for controlling the movement of the trigger rod.

[0014] The driving device further comprises first springs arranged in the fixing grooves, one end of the first spring abuts against the hollow guide column, and the other end abuts against the push rod or the protrusion;

[0015] When the pressure rod contacts the groove wall away from the fixing plate, the two ends of the first spring respectively abut between the hollow guide column and the protrusion; when the pressure rod contacts the groove wall close to the fixing plate, the protrusion separates from the first spring.

[0016] Specifically, when the wing is folded in the outer shell, the distance between the movable block and the fixed plate is the farthest, and the two ends of the first spring are respectively pressed against between the hollow guide column and the protrusion. At this time, one end of the push rod arranged in the fixed groove is infinitely close to the first spring; when the wing needs to be unfolded, the drive motor is started, and the drive motor drives the trigger rod to push the movable block toward the direction close to the fixed plate. When the movable block moves to the smallest position between the movable block and the fixed plate, the protrusion separates from the first spring, and the first spring is released from compression. The huge elastic force pushes the push rod to move in the direction away from the center of the fixed plate, and the push rod pushes the wing to unfold.

[0017] Preferably, a second spring is provided between the trigger rod and the movable block. When the pressure rod contacts the groove wall of the pressure rod groove away from the fixed plate, the second spring is in a relaxed state. When the pressure rod contacts the groove wall of the pressure rod groove close to the fixed plate, the second spring is in a compressed state.

[0018] Specifically, a second spring structure is provided between the trigger rod and the movable block, which can prevent the trigger rod from colliding with the movable block when the trigger rod moves toward the direction close to the fixed plate.

[0019] Preferably, a shock absorbing plate is further provided in the shell, the shock absorbing plate is fixed to the fixing plate by a plurality of rubber columns, and a first avoidance hole for the hollow guide column to pass through is provided on the shock absorbing plate.

[0020] Specifically, when the wing is unfolded, there is a large impact force, which will cause vibration of the fixed plate. Therefore, a shock-absorbing plate connected to the fixed plate through a rubber column is provided for shock absorption.

[0021] Preferably, a stopper is provided at one end of the trigger rod away from the fixing plate, and the stopper is used to limit the movement stroke of the trigger rod.

[0022] Specifically, this structure can prevent the trigger rod from excessively moving toward the direction close to the fixing plate.

[0023] Preferably, the push rod includes a slider that can slide in the fixed groove, and a connecting rod with one end movably connected to the slider and the other end fixed to the machine arm.

[0024] Preferably, an air temperature sensor and an air pressure sensor are arranged in the sensor placement cabin, and the atmospheric pressure inside and outside the sensor placement cabin is the same.

[0025] Preferably, a camera is provided in the sensor placement cabin, and the sensor placement cabin is made of transparent material.

[0026] Compared with the prior art, the present invention is beneficial in that:

[0027] When the wings are not unfolded, the overall shape of the torpedo-type quadrotor is in the shape of a torpedo, so the entire torpedo-type quadrotor can be launched, allowing the torpedo-type quadrotor to move at a higher speed; after the wings are unfolded, the torpedo-type quadrotor can be controlled to hover, fly sideways, or fly backwards by controlling the speed of the four propellers; that is, the torpedo-type quadrotor can quickly approach the destination and perform good detection and data collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a three-dimensional schematic diagram of the torpedo-type quadrotor aircraft disclosed in the present invention;

[0029] Figure 2 It is a three-dimensional schematic diagram of the wings of the torpedo-type quadrotor aircraft disclosed in the present invention being unfolded;

[0030] Figure 3 It is a schematic diagram of the structure inside the shell of the torpedo-type quadrotor aircraft disclosed in the present invention;

[0031] Figure 4 It is a schematic diagram of assembling some parts of the torpedo-type quadrotor aircraft disclosed in the present invention;

[0032] Figure 5 It is a schematic diagram of assembling a fixing plate and a trigger rod of a torpedo-type quadrotor aircraft disclosed in the present invention;

[0033] Figure 6 The present invention is a schematic diagram of assembling a hollow guide column and a movable block of a torpedo-type quadrotor aircraft disclosed in the present invention. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0035] like Figure 1 , 2 As shown, the torpedo-type quadrotor aircraft includes a housing 10, which is cylindrical, with a battery compartment 21 and a sensor compartment 22 fixed at both ends of the cylinder; the housing 10 and the battery compartment 21 and the sensor compartment 22 fixed at both ends form a torpedo shape;

[0036] Four wings 30 and a driving device for driving the wings 30 to unfold are arranged inside the housing 10, and avoidance holes 11 for the wings 30 to unfold are arranged on the side of the housing 10 at positions adapted to the wings 30;

[0037] like Figure 3 , 4 As shown, the wing 30 includes an arm 31 and a propeller 32 fixed to the end of the arm 31. A fixing plate 40 is fixed to one end of the inner part of the housing 10. Four fixing grooves 41 are evenly distributed on the fixing plate 40. The angle between each fixing groove 41 and the adjacent fixing groove 41 is 90°. The end of the arm 31 where the propeller 31 is not fixed is rotatably fixed to the end of the fixing groove 41 away from the center of the fixing plate 40.

[0038] The driving device is movably connected to the machine arm 31 via a push rod 50 . One end of the push rod 50 is movably fixed in the fixing slot 41 and abuts against the driving device, and the other end is fixed on the machine arm 31 . Each fixing slot 41 is provided with a push rod 50 .

[0039] The driving device includes a hollow guide column 60 fixed on the fixed plate 40, the axial direction of the hollow guide column 60 is parallel to the axial direction of the housing 10, a movable block 70 is provided at one end of the hollow guide column 60 close to the fixed plate 40, four pressure rods 71 ​​with protrusions 72 are provided on the movable block 70, and a pressure rod groove for the pressure rod 71 to pass through is provided on the side wall of the hollow guide column 60, and the pressure rod 71 can move in the direction of approaching or moving away from the fixed plate 40 in the pressure rod groove;

[0040] The driving device further includes a trigger rod 80 sleeved in the hollow guide column 60 for controlling the position of the movable block 70, and a driving motor for controlling the movement of the trigger rod 80.

[0041] like Figure 5 As shown, the driving device further includes first springs 42 disposed in the fixing slots 40 , one end of the first spring 42 abuts against the hollow guide column 60 , and the other end abuts against the push rod 50 or the protrusion 72 .

[0042] like Figure 6As shown, when the pressure rod 71 contacts the groove wall of the pressure rod groove away from the fixed plate 40, the two ends of the first spring 42 respectively press against between the hollow guide column 60 and the protrusion 72, and when the pressure rod 71 contacts the groove wall of the pressure rod groove close to the fixed plate 40, the protrusion 72 separates from the first spring 42.

[0043] When the wing 30 is folded in the outer shell 10, the distance between the movable block 70 and the fixed plate 40 is the farthest, and the two ends of the first spring 42 are respectively pressed between the hollow guide column 60 and the protrusion 72. At this time, one end of the push rod 50 arranged in the fixed groove 41 is infinitely close to the first spring 42; when the wing 30 needs to be unfolded, the drive motor is started, and the drive motor drives the trigger rod 80 to push the movable block 70 to move toward the direction close to the fixed plate 40. When the movable block 70 moves to the smallest position between the movable block 70 and the fixed plate 40, the protrusion 72 separates from the first spring 42, and the first spring 42 is released from compression. The huge elastic force pushes the push rod 50 to move in the direction away from the center of the fixed plate 40, and the push rod 50 pushes the wing 30 to unfold.

[0044] A second spring 81 is provided between the trigger rod 80 and the movable block 70. When the pressure rod 71 contacts the groove wall of the pressure rod groove away from the fixed plate 40, the second spring 81 is in a relaxed state. When the pressure rod 71 contacts the groove wall of the pressure rod groove close to the fixed plate 40, the second spring 81 is in a compressed state.

[0045] A second spring 81 is provided between the trigger rod 80 and the movable block 70 to prevent the trigger rod 80 from colliding with the movable block 70 when the trigger rod 80 moves toward the direction close to the fixed plate 40 .

[0046] A shock absorbing plate 91 is further provided in the housing 10 . The shock absorbing plate 91 is fixed to the fixing plate 40 via a plurality of rubber columns 92 . A first avoidance hole for the hollow guide column 60 to pass through is provided on the shock absorbing plate 91 .

[0047] When the wing 30 is unfolded, there is a large impact force, which will cause the fixing plate 40 to vibrate. Therefore, a shock absorbing plate 90 connected to the fixing plate 40 via a rubber column 92 is provided for shock absorption.

[0048] A stopper 82 is provided at one end of the trigger rod 80 away from the fixing plate, and the stopper 82 is used to limit the movement stroke of the trigger rod 80 .

[0049] This structure can prevent the trigger rod 80 from excessively moving toward the direction approaching the fixing plate 40 .

[0050] The push rod 50 includes a slider that can slide in the fixing groove 41 , and a connecting rod with one end movably connected to the slider and the other end fixed to the machine arm 30 .

[0051] The sensor placement cabin 22 is provided with an air temperature sensor and an air pressure sensor, and the atmospheric pressure inside and outside the sensor placement cabin 22 is the same.

[0052] A camera is arranged in the sensor placement cabin 22, and the sensor placement cabin 22 is made of transparent material.

[0053] The torpedo-type quadrotor provided in this embodiment is launched when in use. At this time, the wings 30 are folded and retracted in the outer shell 10, so the overall appearance of the torpedo-type quadrotor is a torpedo shape. After being launched, it has a relatively high speed and can quickly approach the destination. After the torpedo-type quadrotor is launched, the driving device is started at a predetermined time. After the driving device is started, the wings 30 are driven to unfold, and the propellers 32 immediately start to move. The movement of the torpedo-type quadrotor can be controlled by controlling the rotation of the propellers 32.

Claims

1. A torpedo-type quadrotor aircraft, comprising a housing, characterized in that: The shell is cylindrical, with a battery compartment and a sensor compartment fixed at both ends of the cylinder; the shell and the battery compartment and the sensor compartment fixed at both ends form a torpedo shape; The shell is provided with four wings and a driving device for driving the wings to unfold, and the side of the shell is provided with avoidance holes for the wings to unfold at positions matching the wings; The driving device comprises a hollow guide column fixed on the fixed plate, the axial direction of the hollow guide column is parallel to the axial direction of the housing, a movable block is provided at one end of the hollow guide column close to the fixed plate, four pressure rods with protrusions are provided on the movable block, a pressure rod groove for the pressure rod to pass through is provided on the side wall of the hollow guide column, and the pressure rod can move in the direction of approaching or moving away from the fixed plate in the pressure rod groove; The driving device also includes a trigger rod sleeved in the hollow guide column for controlling the position of the movable block, and a driving motor for controlling the movement of the trigger rod. The driving device further comprises first springs arranged in the fixing grooves, one end of the first spring abuts against the hollow guide column, and the other end abuts against the push rod or the protrusion; When the pressure rod contacts the groove wall of the pressure rod groove away from the fixed plate, the two ends of the first spring respectively press against between the hollow guide column and the protrusion, and when the pressure rod contacts the groove wall of the pressure rod groove close to the fixed plate, the protrusion separates from the first spring. A stopper is provided at one end of the trigger rod away from the fixed plate, and the stopper is used to limit the movement stroke of the trigger rod; The wing includes an arm and a propeller fixed at the end of the arm, a fixing plate is fixed at one end of the inner part of the shell, four fixing grooves are evenly distributed on the fixing plate, and the angle between each fixing groove and the adjacent fixing groove is 90 degrees, and the end of the arm where the propeller is not fixed is rotatably fixed to the end of the fixing groove away from the center of the fixing plate, The driving device is movably connected to the machine arm through a push rod, one end of the push rod is movably fixed in the fixing groove and abuts against the driving device, and the other end is fixed on the machine arm. A push rod is provided on each fixing groove.

2. The torpedo-type quadrotor aircraft according to claim 1, characterized in that: A second spring is provided between the trigger rod and the movable block. When the pressure rod contacts the groove wall of the pressure rod groove away from the fixed plate, the second spring is in a relaxed state. When the pressure rod contacts the groove wall of the pressure rod groove close to the fixed plate, the second spring is in a compressed state.

3. The torpedo-type quadrotor aircraft according to claim 1, characterized in that: A shock absorbing plate is also arranged in the shell, and the shock absorbing plate is fixed to the fixing plate by a plurality of rubber columns, and a first avoidance hole for the hollow guide column to pass through is arranged on the shock absorbing plate.

4. The torpedo-type quadrotor aircraft according to claim 1, characterized in that: The push rod comprises a sliding block which can slide in a fixing groove, and a connecting rod with one end movably connected to the sliding block and the other end fixed to the machine arm.

5. The torpedo-type quadrotor aircraft according to claim 1, characterized in that: The sensor placement cabin is provided with an air temperature sensor and an air pressure sensor, and the atmospheric pressure inside and outside the sensor placement cabin is the same.

6. The torpedo-type quadrotor aircraft according to claim 1, characterized in that: A camera is arranged in the sensor placement cabin, and the sensor placement cabin is made of transparent material.

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