The invention discloses a spherical tilting rotor omni-directional aircraft. The spherical tilting rotor omni-directional aircraft comprises a spherical rack, a tilting mechanism, a power unit and a control module. The spherical rack comprises a spherical longitude ring beam, a spherical latitude ring beam, an upper platform and a lower platform; the tilting mechanism comprises a steering engine, a steering engine fixing frame, a flange and a connecting rod; the power unit comprises a motor, a propeller, a motor fixing plate and a fixing clamp; the control module comprises a flight controller, a function extension module and a battery; the tilting mechanism and the power unit form a tilting rotor assembly, and the tilting rotor assembly is fixed on the spherical rack by adopting a cantilever beam structure, so that the tilting rotor assembly is relatively isolated from the control module, and the interference of motor vibration on the control module can be inhibited; the spherical rack can be used for protecting the tilting rotor assemblies, so that the flight stability and safety are improved; the upper platform and the lower platform for installing the control module are arranged on the lower portion in the spherical rack, so that the gravity center of the aircraft is located in the lower hemisphere area of the spherical rack, the aircraft can be automatically adjusted to recover the to-fly attitude after falling off due to instability so as to fly again, and the fault tolerance of the aircraft is improved. According to the invention, the attitude change of the aircraft body in a spot hovering state can be realized by tilting the rotors, and the aircraft body can fly in the whole space direction when the attitude of the aircraft body is fixed; the position and attitude decoupling of the aircraft can be realized by adjusting the tilt angles of the tilt rotors, so that the aircraft has omnidirectional flight motion ability, and the flexibility and maneuverability of the aircraft are improved.

    本发明公开了一种球形倾转旋翼全向飞行器,包括球形机架、倾转机构、动力单元和控制模组等四部分。所述球形机架包括球形经线环梁和纬线环梁、上平台和下平台;所述倾转机构包括舵机、舵机固定架、法兰和连接杆;所述动力单元包括电机、螺旋桨、电机固定板和固定夹;所述控制模组包括飞行控制器、功能扩展模块和电池;所述倾转机构和动力单元组成倾转旋翼组件,并采用悬臂梁结构固定在球形机架上,使倾转旋翼组件与控制模组相对隔离,可抑制电机振动对控制模组的干扰;所述球形机架,可对倾转旋翼组件进行保护,提高飞行的稳定性与安全性;所述安装控制模组的上平台和下平台,置于球形机架内部偏下,使飞行器重心位于球形机体下半球区域,可在飞行器失稳跌落后自动调节恢复待飞姿态以便重新复飞,提高飞行器的容错性。本发明可以通过倾转旋翼实现定点悬停状态时的机体姿态变化,也可以在机体固定姿态时进行全空间方向飞行;通过调节倾转旋翼倾转角可实现飞行器的位置和姿态解耦,使飞行器具有全向飞行运动能力,提高了飞行器的灵活性和机动性。


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    Title :

    Omnidirectional aircraft with spherical tilting rotors


    Additional title:

    一种球形倾转旋翼全向飞行器


    Contributors:

    Publication date :

    2022-07-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge



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