CN102490896A - Variable-torque four-rotor aircraft with large load capacity - Google Patents
Variable-torque four-rotor aircraft with large load capacity Download PDFInfo
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- CN102490896A CN102490896A CN2011104433450A CN201110443345A CN102490896A CN 102490896 A CN102490896 A CN 102490896A CN 2011104433450 A CN2011104433450 A CN 2011104433450A CN 201110443345 A CN201110443345 A CN 201110443345A CN 102490896 A CN102490896 A CN 102490896A
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Abstract
The invention relates to a gyroplane and further relates to a variable-torque four-rotor aircraft with large load capacity. The variable-torque four-rotor aircraft with large load capacity contains a fuselage, four rotor arms which are connected with the fuselage and are symmetrically distributed, and rotors positioned on the rotor arms. Among the four rotors, two adjacent rotors rotate in opposite directions. The included angle of each rotor blade 1201 to the water level can be adjustable, thus making the lift force adjustable and further adjusting the attitude of the aircraft. According to the invention, operationality of the aircraft is substantially raised.
Description
Technical field
The present invention relates to a kind of autogiro, but further relate to a kind of bending moment heavy four rotor crafts.
Background technology
Existing multi-rotor aerocraft all is to change gyroplane rotate speed through regulating each motor speed, realizes the variation of lift, thus the attitude of controlling aircraft and displacement.This structure efficiency is low, and load is little, and dynamic instability, especially in the decline process, must rev down, and to reduce rotor lift, lift divergence weakens the situation that aircraft can occur waving even out of control with regard to meaning the ability to attitude of flight vehicle control.
Summary of the invention
The purpose of this invention is to provide the adjustable rotor craft of a kind of blade and horizontal plane angle.
But bending moment heavy four rotor crafts comprise: fuselage, link to each other with fuselage, and 4 rotor arms of symmetrical distribution are positioned at the rotor on the rotor arm, and in said 4 rotors, the hand of rotation of adjacent rotor is opposite in twos; The adjustable included angle of said each rotor blade 1201 and horizontal surface reaches the adjustable of lift, and then the attitude of aircraft is realized adjustment.
Said rotor is driven by motor 701, and the rotative speed of each motor is consistent.Also comprise: rotor vane angle degree adjusting mechanism, this mechanism comprises: inertial navigator 401,4 steering wheel 601-1,601-2,601-3, the 601-4 of inertial navigator control, the connecting rod 901 that links to each other with each steering wheel respectively, rocking arm 1001, rectangular shaped slider 1101.
Said fuselage comprises: the circular top plate 101 of horizontal distribution, circular la m 102 and circular lower plywood 103 successively from top to bottom; First stay bearing plate 301 of vertical distribution and second stay bearing plate 302, the two is parallel to be first group; The 3rd stay bearing plate 303 of vertical distribution and the 4th stay bearing plate 304, the two is parallel to be second group; First group and second group of stay bearing plate right-angled crossing distribute, crisscross and four rotor center line line lines crisscross in full accord; Said la m 102 just in time lays respectively at upper and lower two bearing surfaces that right-angled crossing forms with lower plywood 103; Pillar stiffener through vertical distribution between said top plate 101 and the la m 102 is connected.
Said rotor arm comprises: support tube 201-1,202-1,203-1,204-1,2 strut bar 201-2,201-3,202-2,202-3,203-2,203-4,204-2,204-3 that the support tube bilateral symmetry distributes; Said support tube outer end connects rotor, and the inner is connected in one group of stay bearing plate; Said strut bar outer end is connected with support tube, and the inner is connected in la m.
Said top plate 101, la m 102, lower plywood 103, first stay bearing plate 301, second stay bearing plate 301, the 3rd stay bearing plate 303, the 4th stay bearing plate 304 are engraved structure.
As preferred version, also comprise: be positioned at the alighting gear 501 under the lower plywood 103.
The existing advantage for prior art of the present invention is:
(1) in the present invention four rotors are Variable Pitches, and in rotation speed change, pitch changes thereupon, effectively raises the peak efficiency of electrical motor under each rotating speed, has improved workload, are four rotor crafts efficiently.Simultaneously, gyroplane rotate speed can wide variation, and stronger to the control ability of attitude of flight vehicle, wind resistance is better than common four rotors, is a kind of four stable rotor crafts.
(2) lifting of workload can reduce the diameter of rotor.According to aerodynamics, rotor diameter is big more, and maneuvering performance is poor, and wind loading rating is low, waves easily, and is out of control; Therefore, the operating characteristic of aircraft of the present invention improves greatly.
(3) but bending moment four rotor crafts among the present invention on airframe structure, adopted the tower structure of skyscraper and bridge, intensity is big, and is in light weight, actv. has promoted airborne period and work efficiency, and its control system has been played the effect of protection.
Description of drawings
But Fig. 1 is bending moment heavy four rotor craft constructionals drawing.601-1,601-2,601-3,601-4 represent steering wheel, and 701 represent motor, and 801-1,801-2,801-3,801-4 represent the blade of rotor.
Fig. 2 is the enlarged drawing of rotor local location A; Among the figure, 901 represent connecting rod, and 1001 represent rocking arm, and 1101 represent slide block.
Fig. 3 is the right elevation of Fig. 2.
Bending moment scheme drawing when Fig. 4 is rising.Among the figure, 1201 represent blade, the blade clickwise.
Bending moment scheme drawing when Fig. 5 is decline.Among the figure, 1201 represent blade, the blade clickwise.
Fig. 6 is the airframe structure exploded perspective view.Among the figure, 101 represent top plate, and 102 represent la m, and 103 represent lower plywood; 201-1,202-1,203-1,204-1 represent support tube respectively; 201-2,201-3,202-2,202-3,203-2,203-4,204-2,204-3 represent strut bar respectively; 301 represent first stay bearing plate, and 302 represent second stay bearing plate, and 303 represent the 3rd stay bearing plate, and 304 represent the 4th stay bearing plate; 401 represent inertial navigator; 501 represent support.
Fig. 7 is embodiment 1 a plate structure scheme drawing at the middle and upper levels.
Fig. 8 is embodiment 1 a B-C post structural representation.
Fig. 9 is a la m structural representation among the embodiment 1.
Figure 10 is first, second, third, fourth a supporting plate structure scheme drawing among the embodiment 1.
Figure 11 is first, second, third, fourth a stay bearing plate mounting structure scheme drawing among the embodiment 1.
Figure 12 is a lower plywood structural representation among the embodiment 1.
Figure 13 is that support tube is installed the bulkhead structural representation among the embodiment 1.
Figure 14 is a telecontrol panel structural representation among the embodiment 1.
Figure 15 is that equilibristat connects scheme drawing among the embodiment 1.
The specific embodiment:
Embodiment 1:
Map 1-12 explains implementation process of the present invention.
But bending moment heavy four rotor crafts comprise: fuselage, link to each other with fuselage, and 4 rotor arms of symmetrical distribution are positioned at the rotor on the rotor arm, and in said 4 rotors, the hand of rotation of adjacent rotor is opposite in twos; The adjustable included angle of said each rotor blade 1201 and horizontal surface reaches the adjustable of lift, and then the attitude of aircraft is realized adjustment.
Said rotor is driven by motor 701, and the rotative speed of each motor is consistent.Also comprise: rotor vane angle degree adjusting mechanism, this mechanism comprises: inertial navigator 401,4 steering wheel 601-1,601-2,601-3, the 601-4 of inertial navigator control, the connecting rod 901 that links to each other with each steering wheel respectively, rocking arm 1001, rectangular shaped slider 1101.
Said fuselage comprises: the circular top plate 101 of horizontal distribution, circular la m 102 and circular lower plywood 103 successively from top to bottom; First stay bearing plate 301 of vertical distribution and second stay bearing plate 302, the two is parallel to be first group; The 3rd stay bearing plate 303 of vertical distribution and the 4th stay bearing plate 304, the two is parallel to be second group; First group and second group of stay bearing plate right-angled crossing distribute, crisscross and four rotor center line line lines crisscross in full accord; Said la m 102 just in time lays respectively at upper and lower two bearing surfaces that right-angled crossing forms with lower plywood 103; Pillar stiffener through vertical distribution between said top plate 101 and the la m 102 is connected.
Said rotor arm comprises: support tube 201-1,202-1,203-1,204-1,2 strut bar 201-2,201-3,202-2,202-3,203-2,203-4,204-2,204-3 that the support tube bilateral symmetry distributes; Said support tube outer end connects rotor, and the inner is connected in one group of stay bearing plate; Said strut bar outer end is connected with support tube, and the inner is connected in la m.
Said top plate 101, la m 102, lower plywood 103, first stay bearing plate 301, second stay bearing plate 301, the 3rd stay bearing plate 303, the 4th stay bearing plate 304 are engraved structure.
Also comprise: be positioned at the alighting gear 501 under the lower plywood 103; The support tube that connects support tube and stay bearing plate is installed bulkhead 1301,1302,1303,1304,1305,1306,1307,1308.
Connection structure is following:
With lower plywood 103 is benchmark, utilizes the knock hole on screw and the lower plywood 103 that first, second, third, fourth stay bearing plate 301,302,303,304 is fixed on the lower plywood 103.Wherein, the knock hole 1,2,3,4 of lower plywood 103, the knock hole 1 of the 5,6 and the 4th stay bearing plate 304 ', 2 ', 3 '; 4 ', 5 ', 6 ' connect, knock hole 7,8,9,10,11,12 and the knock hole 7 of the 3rd stay bearing plate 303 '; 8 ', 9 ', 10 ', 11 ', 12 ' connect knock hole 13,14,15,16; The knock hole 13 of 17,18 and first stay bearing plate 301 ', 14 ', 15 ', 16 ', 17 ', 18 ' knock hole 19,20 connected; 21,22,23,24 and the knock hole 19 of second stay bearing plate 302 ', 20 ', 21 ', 22 ', 23 ', 24 ' connect.
Support tube install the knock hole 25 of bulkhead 1301 through knock hole 25,26,27,28 and the 4th stay bearing plate 304 ', 26 ' and the knock hole 27 of the 3rd stay bearing plate 303 '; 28 ' connect, support tube install the knock hole 29 of bulkhead 1302 through knock hole 29,30,31,32 and the 4th stay bearing plate 304 '; 30 ' with the knock hole 31 of the 3rd stay bearing plate 303 ', 32 ' connect, support tube is installed bulkhead 1303 through knock hole 33,34,35; The knock hole 33 of the 36 and the 4th stay bearing plate 304 ', 34 ' with the knock hole 35 of the 3rd stay bearing plate 303 ', 36 ' connect, support tube is installed bulkhead 1304 through knock hole 37,38; The knock hole 37 of the 39,40 and the 4th stay bearing plate 304 ', 38 ' with the knock hole 39 of the 3rd stay bearing plate 303 ', 40 ' connect, support tube is installed bulkhead 1305 through knock hole 41; 42,43,44 and the knock hole 41 of first stay bearing plate 301 ', 42 ' with the knock hole 43 of second stay bearing plate 302 ', 44 ' connect; Support tube install the knock hole 45 of bulkhead 1306 through knock hole 45,46,47,48 and first stay bearing plate 301 ', 46 ' and the knock hole 47 of second stay bearing plate 302 '; 48 ' connect, support tube install the knock hole 49 of bulkhead 1307 through the knock hole 49,50,51,52 and first stay bearing plate 301 '; 50 ' with the knock hole 51 of second stay bearing plate 302 ', 52 ' connect, support tube is installed bulkhead 1308 through knock hole 53,54; The knock hole 53 of 55,56 and first stay bearing plate 301 ', 54 ' with the knock hole 55 of second stay bearing plate 302 ', 56 ' connect.
First, second, third and fourth stay bearing plate 301,302,303,304 is connected with la m 102 through knock hole, the knock hole 57,58,59,60,61,62 of the 4th stay bearing plate 304 and the knock hole 57 of la m 102 ', 58 '; 59 ', 60 ', 61 ', 62 ' connect the knock hole 63,64,65,66 of the 3rd stay bearing plate 303; 67,68 with the knock hole 63 of la m 102 ', 64 ', 65 ', 66 ', 67 ', 68 ' connect the knock hole 69 of first stay bearing plate 301; 70,71,72,73,74 with the knock hole 69 of la m 102 ', 70 ', 71 '; 72 ', 73 ', 74 ' connect the knock hole 75,76,77,78 of second stay bearing plate 302; 79,80 with the knock hole 75 of la m 102 ', 76 ', 77 ', 78 ', 79 ', 80 ' connect.
La m 102 passes through first, second, third and fourth, five, six, seven, eight pillars are connected the knock hole 81,82,83 of la m 102 with top plate 101; 84,85,86,87; The knock hole 81 of 88 and first pillar ', the knock hole 82 of second pillar ', the knock hole 83 of the 3rd pillar ', the knock hole 84 of the 4th pillar '; The knock hole 85 of the 5th pillar ', the knock hole 86 of the 6th pillar ', the knock hole 87 of the 7th pillar ', the knock hole 88 of the 8th pillar ' connection.
The knock hole 89,90,91,92 of top plate 101; 93,94,95,96 and the knock hole 89 of first pillar '; The knock hole 90 of second pillar ', the knock hole 91 of the 3rd pillar ', the knock hole 92 of the 4th pillar ', the knock hole 93 of the 5th pillar '; The knock hole 94 of the 6th pillar ', the knock hole 95 of the 7th pillar ', the knock hole 96 of the 8th pillar ' connection.
The knock hole 97,98,99,100,101 of strut bar 201-2,201-3,202-2,202-3,203-2,203-4,204-2,204-3; 102,103,104 respectively with the knock hole 97 of top plate 101 ', 98 ', 99 '; 100 ', 101 ', 102 ', 103 ', 104 ' connect.
The Profi model that inertial navigator 401 is selected under the Helicommand brand.Be installed in certain position of lower plywood.Built-in three the special quality SMM gyros of Profi can keep stable to the attitude of aircraft; Weather gauge and optics height-gauge are confirmed the height of aircraft; 2 ccd sensors are used for the detection of ground speed and horizontal drift.
The characteristics of this instrument: can hover and increase steady, very level and smooth and accurate automatically; Complete flight attitude stabilization function comprises any flight attitude, under the height; Increase the optical position locking mode, can (actual effect is looked rapidly and decided) keep the helicopter level attitude at liftoff 20-30m place; Senior lost-control protection function; There is not drift tail-rotor gyro; High quality of products reaches maximum safe reliability; Waterproof aluminium shell, perfect inside glissando and impact absorption design.
Level increases steady and positioning function (Pilot passage).The level of Profi increases steady function has following three kinds of patterns:
" shut " mode", conventional artificial control; Increase steady pattern, attitude of flight vehicle is regulated, keep the aircraft level through three-axis gyroscope; Station-keeping mode, under this pattern, equilibristat not only can keep the attitude of helicopter, can also locate over the ground.This is very strong equilibrium function, can be used for hovering automatically and slower flight.In the absence of GPS, apart from ground 0.5 meter to 5 meters altitude effect best, if environmental conditions good (for example calm day), 10 meters even 20-30 rice height can normal operation.
Pilot channel switch (Figure 15) with remote controller can switch (using adjustable third gear switch or the slide potentiometer of output signal) in three kinds of patterns.
Highly stable function (H-pilot passage)
Highly stable function has two kinds of mode of operations:
Locking mode (stronger stablizing effect) is used for keeping aircraft to continue to hover in certain height; Damping mode can be relatively easy to controlling aircraft.
System has three built-in sensors to come measured altitude:
Weather gauge (effective more than 1 meter) apart from ground
Infrared range-measurement system (effective below 1.5 meters) apart from ground
H-Pilot channel switch (Figure 15) with remote controller can switch (using adjustable third gear switch or the slide potentiometer of output signal) in two kinds of patterns.
Automatic fine tuning (AUX passage)
During maiden flight, use the automatic fine tuning function extremely important, automatic fine tuning calibration equilibristat internal sensor is with respect to the center position of setting angle sum of errors helicopter self character.
The AUX channel switch (Figure 15) that uses a teleswitch triggers automatic fine tuning, and reset switch is used in suggestion.
The bending moment process
Handle hand and upwards push away remote controller joystick A (Figure 15), remote controller is transmitted to receiver with signal, and receiver is passed to the RC module with signal; Rotate by all steering wheels of RC module controls; Drivening rod, connecting rod drives the rocking arm upward movement, and rocking arm promotes bending moment slide block upward movement; The leading edge of all rotors is inclined upwardly, increases resultant couple and realize the upwards flight (Fig. 4) of four rotors.
Handle hand shift four rotor crafts and highly hover at 3 meters, open the AUX passage this moment, trigger automatic fine tuning, calibration equilibristat internal sensor is with respect to the center position of setting angle sum of errors helicopter self character.
After the calibration, control four rotor crafts and rise to 50 meters height, open the position-sensing switch of Pilot passage, realize hovering.Open the height locking mode of H-Pilot channel switch simultaneously, make four rotor crafts remain on 50 meters height automatically.
After finishing the work, when needing landing, open the height damping mode of H-Pilot channel switch, make and handle the easier control four rotor crafts landing of hand.
To drop-down remote controller joystick A (Figure 15), remote controller is transmitted to receiver with signal, and receiver is passed to the RC module with signal; Rotate by all steering wheels of RC module controls; Drivening rod, connecting rod drives rocking arm and moves downward, and rocking arm promotes the bending moment slide block and moves downward; Make the leading edge of all rotors downward-sloping, reduce resultant couple and realize four rotors landing (Fig. 5).
Claims (7)
1. but bending moment heavy four rotor crafts is characterized in that, comprising: fuselage, link to each other with fuselage, and 4 rotor arms of symmetrical distribution are positioned at the rotor on the rotor arm, and in said 4 rotors, the hand of rotation of adjacent rotor is opposite in twos; The adjustable included angle of said each rotor blade (1201) and horizontal surface reaches the adjustable of lift, and then the attitude of aircraft is realized adjustment.
2. but according to said bending moment heavy four rotor crafts of claim 1, it is characterized in that said rotor is driven by motor (701), the rotative speed of each motor is consistent.
3. but according to said bending moment heavy four rotor crafts of claim 1; It is characterized in that; Also comprise: rotor vane angle degree adjusting mechanism; This mechanism comprises: inertial navigator (401), 4 steering wheels (601-1,601-2,601-3,601-4) of inertial navigator control, the connecting rod (901) that links to each other with each steering wheel respectively, rocking arm (1001), rectangular shaped slider (1101).
4. but according to any one said bending moment heavy four rotor craft of claim 1 to 3, it is characterized in that said fuselage comprises: the circular top plate (101) of horizontal distribution, circular la m (102) and circular lower plywood (103) successively from top to bottom; First stay bearing plate (301) of vertical distribution and second stay bearing plate (302), the two is parallel to be first group; The 3rd stay bearing plate (303) of vertical distribution and the 4th stay bearing plate (304), the two is parallel to be second group; First group and second group of stay bearing plate right-angled crossing distribute, crisscross and four rotor center line line lines crisscross in full accord; Said la m (102) just in time lays respectively at upper and lower two bearing surfaces that right-angled crossing forms with lower plywood (103); Pillar stiffener through vertical distribution between said top plate (101) and the la m (102) is connected.
5. but according to said bending moment heavy four rotor crafts of claim 4; It is characterized in that; Said rotor arm comprises: support tube (201-1,202-1,203-1,204-1), 2 strut bars (201-2,201-3,202-2,202-3,203-2,203-4,204-2,204-3) that the support tube bilateral symmetry distributes; Said support tube outer end connects rotor, and the inner is connected in one group of stay bearing plate; Said strut bar outer end is connected with support tube, and the inner is connected in la m.
6. but according to said bending moment heavy four rotor crafts of claim 5, it is characterized in that, also comprise: be positioned at the alighting gear (501) under the lower plywood (103).
7. but according to said bending moment heavy four rotor crafts of claim 4; It is characterized in that said top plate (101), la m (102), lower plywood (103), first stay bearing plate (301), second stay bearing plate (302), the 3rd stay bearing plate (303), the 4th stay bearing plate (304) are engraved structure.
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| CN2011104433450A CN102490896A (en) | 2011-12-27 | 2011-12-27 | Variable-torque four-rotor aircraft with large load capacity |
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