CN105539833A - Fixed-wing multi-shaft aircraft - Google Patents
Fixed-wing multi-shaft aircraft Download PDFInfo
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- CN105539833A CN105539833A CN201610014087.7A CN201610014087A CN105539833A CN 105539833 A CN105539833 A CN 105539833A CN 201610014087 A CN201610014087 A CN 201610014087A CN 105539833 A CN105539833 A CN 105539833A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/28—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention provides a fixed-wing multi-shaft aircraft, and belongs to the field of aircrafts. The fixed-wing multi-shaft aircraft comprises a fixed wing and a multi-shaft rotor wing rack which are connected with each other, and the multi-shaft rotor wing rack is provided with multiple rotor wing mechanisms; the rotor wing mechanisms comprise propellers and rotating shafts, the propellers are rotatably connected with drive devices, the drive devices are fixedly connected with the rotating shafts, and the rotating shafts are connected with rotating control mechanisms. The fixed-wing multi-shaft aircraft has the advantages of both a fixed-wing aircraft and a multi-shaft aircraft, can achieve a multi-shaft mode, a fixed-wing mode and a fixed-wing and multi-shaft mixed mode and also has the advantages of achieving vertical taking-off and landing and hovering and being high in flying speed and long in flying time.
Description
Technical field
The present invention relates to aircraft field, in particular to a kind of fixed-wing Multi-axis aircraft.
Background technology
At present, aircraft of a great variety, such as four-axle aircraft and fixed-wing unmanned plane etc.
The rotor of four-axle aircraft is symmetrically distributed in all around four direction of body, four rotors are in sustained height plane, and the structure of four rotors and radius are all identical, the bracket end being arranged on aircraft of four motor symmetries, support intermediate space lays flight-control computer and external device.Four-axle aircraft changes gyroplane rotate speed by regulating four motor speeds, realizes the change of lift, thus controls attitude and the position of aircraft, and the electric energy consumed in the process regulated is larger, the problem that high energy consumption directly causes cruise duration short; Four-axle aircraft flying speed is slow, and the vertical uplift maximum speed of the middle-size and small-size four-axle aircraft of current higher-end is generally 9m/s, and horizontal velocity is maximum only has 25m/s; Because cruise duration is short, flying speed is slow, causes such as transporting, express delivery, line walking etc. be all difficult to effective realization.The application of current four-axle aircraft great majority is all carried out in extremely finite space, time range.
General fixed-wing unmanned plane is the electrical motor carrying screws high-speed operation relying on head, and then provide thrust, when thrust is greater than the friction drag of pulley, aircraft will travel forward.Fixed wing aircraft aloft flying speed is very fast, needs steering hand to have good capability of reaction, and also have stronger operation skill, compared to multiaxis unmanned plane, operation is more complicated.In addition, because fixed-wing unmanned plane only has a screw propeller providing thrust, and direction is level, in the vertical direction of aircraft, additional power does not carry out the gravity of balance airplane body, there is no additional power to adjust the attitude of aircraft, so when fixed-wing can only aloft fly, the lift utilizing wing and empennage to produce and other power, balance could be kept, and can not hover over aerial.
At present, there is no one and take into account vertical takeoff and landing, hovering, fast, the high-time aircraft of flying speed.
Summary of the invention
The invention provides a kind of fixed-wing Multi-axis aircraft, be intended to improve the problems referred to above.
The present invention is achieved in that
A kind of fixed-wing Multi-axis aircraft, comprise interconnective fixed-wing and multiaxis rotor frame, described multiaxis rotor frame is provided with multiple rotor mechanism, described rotor mechanism comprises screw propeller and S. A., described screw propeller and actuating device are rotationally connected, described actuating device is fixedly connected with described S. A., and described S. A. is connected with rotation control mechanism.
Further, the wing of described screw propeller and described fixed-wing is positioned at same plane.
The planar layout structure adopting many rotors and fixed-wing to merge mutually, makes aircraft have good flight efficiency, and under vertical takeoff and landing and hovering state, improves the operating efficiency of multiaxis rotor.
Further, described screw propeller is positioned at outside the orthogonal projection scope of described fixed-wing.
Screw propeller and fixed-wing form the planar layout structure that inlet and outlet are not blocked, and improve the work efficiency (affecting free air capacity, exhaust efficiency, discharge directions) of screw propeller, and then improve multiaxis pattern lower lift that can produce.
Further, described rotation control mechanism comprises control setup and transmission gear, and described transmission gear fixed cover is located on described S. A., and described control setup is connected by transmission device with described transmission gear.
Rotation control mechanism can control S. A. fast and rotate, by the rotation of S. A., realize the rotation of screw propeller plane of rotation, by the rotation of screw propeller at different rotational plane, can be aircraft and lift, thrust and adjustment flight attitude are provided, strengthen flight stability and operability.Rotation control mechanism controls convenient and swift, can realize the quick switching of plurality of flight, and structure is simple, and transmission is accurate, is easy to operation.
Further, described multiaxis rotor frame comprises cross bar, and described cross bar is connected by the first attaching parts with described S. A., and described control setup is installed on described first attaching parts.
By arranging cross bar and the first attaching parts, fixation can be played to control setup, the connection of this rotation control mechanism and multiaxis rotor frame can be realized and fix.
Further, described first attaching parts comprises interconnective first T-connecting piece and the first adapter plate, described first T-connecting piece comprises the first connecting portion and the first fixed part, described first connecting portion is connected by bearing with described S. A., described cross bar is fixed between described first fixed part and described first adapter plate, and described control setup is installed on described first fixed part.
Control setup is fixed on the first fixed part, fixed, enables control setup control transmission gear well and rotates.When S. A. rotates under the drive of transmission gear, bearing rotates, and can either ensure the rotation of S. A., S. A. also can be made to be connected with the first connecting portion securely, and make S. A. skew can not occur or rock, transmission is more accurate.
Further, also comprise axostylus axostyle bindiny mechanism, the two ends of described S. A. are respectively arranged with screw propeller, described cross bar comprises the first cross bar and the second cross bar, described first cross bar is connected with described S. A. by described rotation control mechanism, and described second cross bar is connected with described S. A. by described axostylus axostyle bindiny mechanism.
Two screw propellers are installed on same S. A., form one group of screw propeller, when this S. A. rotates, two screw propellers and actuating device are all along with S. A. rotates, the rotational plane of two screw propellers is changed, namely achieves one group of screw propeller co-rotation, the Power output of two screw propellers can be controlled simultaneously, realize the lifting at double of speed, manoevreability is high.Axostylus axostyle bindiny mechanism can realize the connection of the second cross bar and S. A. and fix.
Further, described S. A. is two, the two ends of two described S. A.s are provided with screw propeller, one of them S. A. is connected with described first cross bar and described second cross bar with described axostylus axostyle bindiny mechanism respectively by described rotation control mechanism, and another S. A. is connected with described first cross bar and described second cross bar with described rotation control mechanism respectively by described axostylus axostyle bindiny mechanism.
Screw propeller is four, and namely this fixed-wing Multi-axis aircraft is fixed-wing four-axle aircraft, and four axle rotors are formed close to foursquare layout structure, plays favourable, both taken into account the feature of two kinds of aircraft, and improve flight efficiency simultaneously flight control and flight efficiency.
Further, also comprise propelling screws, described propelling screws is arranged at head or the afterbody of described fixed-wing.
By arranging propelling screws, improve offline mode switching efficiency, the stability that enhancement mode switches.Propelling screws can allow flying speed promote sooner and reach the speed required for fixed-wing mode flight, solves multiaxis pattern and to raise speed slow problem, guarantee that offline mode switches effective implemention.Meanwhile, propelling screws also can increase thrust further, improves flying speed.
Further, described fixed-wing comprises fixed-wing skeleton and body plate, and described body plate is connected with described fixed-wing skeleton, and described fixed-wing skeleton is connected with described multiaxis rotor frame.
The existing Flying-wing of this fixed-wing, and lightweight, and mechanical property is good, and aloft during flight, bending resistance twisting resistance is strong.
The beneficial effect of fixed-wing Multi-axis aircraft provided by the invention is: this fixed-wing Multi-axis aircraft has possessed the advantage of Fixed Wing AirVehicle and Multi-axis aircraft simultaneously, can realize multiaxis pattern, fixed-wing pattern and fixed-wing and multiaxis mixed mode.This fixed-wing Multi-axis aircraft has the following advantages:
1. there is the wing of Fixed Wing AirVehicle, make it that lower energy consumption (thrust) can be utilized in flight course to obtain larger lift, and then reduce energy consumption, greatly promote the flying power of aircraft.
2. there is the function of Multi-axis aircraft vertical takeoff and landing, take off and no longer retrain by topographic condition, can complete in any landform and take off, land.
3. have the function of hovering, its flight path no longer affects by geographical environment, can under the narrow and small environment of the flight spaces such as example jungle, gully, building normal flight.
4. S. A. is rotatable, and make propeller rotational, lift change propulsive, flying speed improves greatly, dramatically expansive approach field.
5. fixed-wing offline mode and multiaxis offline mode can switch fast, and have Hybrid mode ability, thus can fly with many attitude, strengthen flight stability and road-holding property.
6. adopt modular design, better can carry out unitized design with existing Multi-axis aircraft, the function of expansion Multi-axis aircraft and application.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment below, be to be understood that, the following drawings illustrate only some embodiment of the present invention, therefore the restriction to scope should be counted as, for those of ordinary skill in the art, under the prerequisite not paying creative work, other relevant accompanying drawings can also be obtained according to these accompanying drawings.
The structural representation at the visual angle, top side of the fixed-wing Multi-axis aircraft that Fig. 1 provides for the embodiment of the present invention;
The structural representation at the visual angle, bottom side of the fixed-wing Multi-axis aircraft that Fig. 2 provides for the embodiment of the present invention;
The structural representation of the rotation control mechanism of the fixed-wing Multi-axis aircraft that Fig. 3 provides for the embodiment of the present invention;
The structural representation at the visual angle, bottom side of the rotation control mechanism of the fixed-wing Multi-axis aircraft that Fig. 4 provides for the embodiment of the present invention;
The structural representation of rotation control mechanism when two screw propellers are coaxial of the fixed-wing Multi-axis aircraft that Fig. 5 provides for the embodiment of the present invention;
The structural representation of the axostylus axostyle bindiny mechanism of the fixed-wing Multi-axis aircraft that Fig. 6 provides for the embodiment of the present invention;
The structural representation of the multiaxis rotor frame of the fixed-wing Multi-axis aircraft that Fig. 7 provides for the embodiment of the present invention;
The structural representation of the bar connecting piece of the fixed-wing Multi-axis aircraft that Fig. 8 provides for the embodiment of the present invention;
The structural representation of the angle of attack control system of the fixed-wing Multi-axis aircraft that Fig. 9 provides for the embodiment of the present invention;
The structural representation of the angle of attack control mechanism of the fixed-wing Multi-axis aircraft that Figure 10 provides for the embodiment of the present invention;
The structural representation of the hinge of the angle of attack control system of the fixed-wing Multi-axis aircraft that Figure 11 provides for the embodiment of the present invention;
The flight attitude schematic diagram of the fixed-wing Multi-axis aircraft that Figure 12 provides for the embodiment of the present invention wherein under a kind of angle of attack;
The flight attitude schematic diagram of fixed-wing Multi-axis aircraft under the another kind of angle of attack that Figure 13 provides for the embodiment of the present invention.
Figure acceptance of the bid note is respectively:
Fixed-wing 101; Multiaxis rotor frame 102; Screw propeller 103; S. A. 104; Control setup 105; Transmission gear 106; Driving gear 107; Cross bar 108; First cross bar 109; Second cross bar 110; First T-connecting piece 111; First adapter plate 112; First connecting portion 113; First fixed part 114; Second T-connecting piece 115; Second adapter plate 116; Second connecting portion 117; Second fixed part 118; Montant 119; Bar connecting piece 120; First rod member connecting portion 121; Second rod member connecting portion 122; First through hole 123; Second through hole 124; First latch segment 125; Second latch segment 126; 3rd latch segment 127; 4th latch segment 128; Hinge 129; Angle of attack control mechanism 130; Angle of attack control module 131; Tooth bar 132; Lifting driven wheel 133; Hinge connector 134; Pipe link 135; Rotating shaft 136; 3rd T-connecting piece 137; 3rd adapter plate 138.
Detailed description of the invention
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.The assembly of the embodiment of the present invention describing and illustrate in usual accompanying drawing herein can be arranged with various different configuration and design.Therefore, below to the detailed description of the embodiments of the invention provided in the accompanying drawings and the claimed scope of the present invention of not intended to be limiting, but selected embodiment of the present invention is only represented.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment
Refer to Fig. 1 and Fig. 2, present embodiments provide a kind of fixed-wing Multi-axis aircraft, this fixed-wing Multi-axis aircraft comprises interconnective fixed-wing 101 and multiaxis rotor frame 102, multiaxis rotor frame 102 is provided with multiple rotor mechanism, rotor mechanism comprises screw propeller 103 and S. A. 104, screw propeller 103 and actuating device are rotationally connected, and actuating device is fixedly connected with S. A. 104, and S. A. 104 is connected with rotation control mechanism.
Rotor mechanism is multiple, and the quantity of screw propeller 103 is unrestricted, and each screw propeller 103 connects an actuating device, and actuating device is preferably motor.Such as, rotor mechanism is three, and become equicrural triangle distribution, one of them is positioned at the position of the head near fixed-wing 101, and the line of another two is vertical with the bearing of trend of fixed-wing 101.
In addition, can be that a screw propeller 103 is equipped with a S. A. 104, each screw propeller 103 be an independently entirety, independently can realize any rotation in space; Also can be that a S. A. 104 installs multiple screw propeller 103.Rotation control mechanism is for controlling the rotation of S. A. 104.In addition, can be that a rotation control mechanism is connected with a screw propeller 103 by a S. A. 104, control the deflection of a screw propeller 103, also can be that a rotation control mechanism controls the deflection of two screw propellers 103 by same S. A. 104, now these two screw propeller 103 co-rotations.
In the present embodiment, preferred employing four screw propellers 103, each screw propeller 103 is connected with a drive motor, four screw propellers 103 are one group between two, two screw propellers 103 of same group are connected with the two ends of a S. A. 104 respectively, namely S. A. 104 is two, and the two ends of two S. A.s 104 are provided with screw propeller 103.Two groups of screw propellers 103 one in front and one in back distribute.
The principle of work of this fixed-wing Multi-axis aircraft is:
A. multiaxis pattern: when landing, the operative orientation of the multiple screw propellers 103 in multiaxis rotor frame 102 is perpendicular to fuselage, and the lift only relying on multiple screw propeller 103 to provide carries out vertical takeoff and landing.When its vertical uplift is to a certain height, the balance of multiaxis is utilized to hover in the air to make it.The power flight forward that the multiple vertical screw propeller 103 recycling Multi-axis aircraft provides.
B. fixed-wing 101 pattern: after aircraft speed arrives certain speed, screw propeller 103 carries out the deflection of 90 °, and operative orientation is consistent with aircraft flight direction.And fixed-wing 101 offline mode and four axle offline mode can switch fast, repeatedly, thus can fly with many attitude.
C. the mixed mode of fixed-wing 101 and multiaxis: when aircraft uses fixed-wing 101 pattern to fly aloft, run into some emergency situations, such as: sinuous flow, or one group of screw propeller 103 et out of order, will mixed mode be taked.Because the motor of the two groups of screw propellers 103 in front and back is co-rotations, and be all independently controlled.So (1), when meeting turbulent flow, it can allow independent one group of screw propeller 103 arbitrarily continue to keep original mode of operation, and other one group of screw propeller 103 carries out co-rotation, carries out the adjustment of aircraft balance and attitude.(2) when meeting aircraft screw propeller 103 et out of order, the screw propeller 103 of the screw propeller 103 that a group of aircraft is intact and another group one normal work coordinates, control rotating speed and the direction of three screw propellers 103, adjust attitude of flight vehicle.(3) if any one group of screw propeller 103 et out of order of aircraft, screw propeller 103 some angles of coaxial deflection of the normal work of that group so remaining, and reduce the flying speed of aircraft, to keep aircraft smooth flight.
The topological design that this fixed-wing Multi-axis aircraft adopts fixed-wing 101 to merge mutually with many rotors, possessed the advantage of Fixed Wing AirVehicle and Multi-axis aircraft simultaneously, vertical takeoff and landing, hovering, fast, the high-time feature of flying speed are taken into account, multiaxis pattern, fixed-wing 101 pattern and fixed-wing 101 and multiaxis mixed mode can be realized, and there is good flight efficiency.
This fixed-wing Multi-axis aircraft has the following advantages:
1. there is the wing of Fixed Wing AirVehicle, make it that lower energy consumption (thrust) can be utilized in flight course to obtain larger lift, and then reduce energy consumption, greatly promote the flying power of aircraft.
2. there is the function of Multi-axis aircraft vertical takeoff and landing, take off and no longer retrain by topographic condition, can complete in any landform and take off, land.
3. have the function of hovering, its flight path no longer affects by geographical environment, can under the narrow and small environment of the flight spaces such as example jungle, gully, building normal flight.
4. S. A. 104 is rotatable, and screw propeller 103 is rotated, lift change propulsive, flying speed improves greatly, dramatically expansive approach field.
5. fixed-wing 101 offline mode and multiaxis offline mode can switch fast, and have Hybrid mode ability, thus can fly with many attitude, strengthen flight stability and road-holding property.
6. adopt modular design, better can carry out unitized design with existing Multi-axis aircraft, the function of expansion Multi-axis aircraft and application.
On the basis of the technical scheme of the fixed-wing Multi-axis aircraft provided at above-described embodiment, further, in order to improve the flight efficiency of aircraft, the present embodiment is optimized design to the layout that fixed-wing 101 and many rotors merge mutually.
Refer to Fig. 1 and Fig. 2, the fuselage of fixed-wing 101 adopts Flying-wing, and fixed-wing 101 comprises fixed-wing skeleton and body plate, and body plate is connected with fixed-wing skeleton, and fixed-wing skeleton is connected with multiaxis rotor frame 102.With lighter and fixed-wing skeleton made by the good material of mechanical property, this existing Flying-wing of fixed-wing 101, and lightweight, and mechanical property is good, and aloft during flight, bending resistance twisting resistance is strong.
Adopt multiaxis rotor frame 102, multiaxis rotor frame 102 installs rotation control mechanism, under the control of rotation control mechanism, S. A. 104 can carry out 360 ° and rotate arbitrarily.
Screw propeller 103 is positioned at same plane with the wing of fixed-wing 101.The planar layout structure adopting many rotors to merge with fixed-wing 101 phase, makes aircraft have good flight efficiency, and under vertical takeoff and landing and hovering state, improves the operating efficiency of multiaxis rotor.
Plane figure's form that screw propeller 103 and fixed-wing 101 can adopt inlet and outlet partial occlusion or inlet and outlet not to block, all can normally work.In the present embodiment, as preferably, screw propeller 103 is positioned at outside the orthogonal projection scope of fixed-wing 101, namely screw propeller 103 and fixed-wing 101 form the planar layout structure that inlet and outlet are not blocked, improve the work efficiency (affecting free air capacity, exhaust efficiency, discharge directions) of screw propeller 103, and then improve multiaxis pattern lower lift that can produce.
Screw propeller 103 is four, namely this fixed-wing Multi-axis aircraft is fixed-wing four-axle aircraft, and four axle rotors are formed close to foursquare layout structure, plays favourable to flight control and flight efficiency, both take into account the feature of two kinds of aircraft, improve flight efficiency simultaneously.
Further, in order to ensure that rotation control mechanism can control S. A. 104 quickly and efficiently and rotate, the fixed-wing Multi-axis aircraft that the present embodiment provides have employed the rotation control mechanism of optimal design.
Particularly, refer to Fig. 1 ~ Fig. 5, rotation control mechanism comprises control setup 105 and transmission gear 106, and transmission gear 106 fixed cover is located on S. A. 104, and control setup 105 is connected by transmission device with transmission gear 106.As preferably, the transmission device in the present embodiment is driving gear 107, and driving gear 107 engages with transmission gear 106, and driving gear 107 is connected with control setup 105.Certainly, transmission device also can adopt other structures, as long as can realize the transmission of power of control setup 105 to transmission gear 106.Such as, transmission device can be worm screw, and worm screw engages with transmission gear 106, and worm screw is connected with control setup 105.
Rotation control mechanism can control S. A. 104 fast and rotate, by the rotation of S. A. 104, realize the rotation of screw propeller 103 plane of rotation, by the rotation of screw propeller 103 at different rotational plane, can be aircraft and lift, thrust and adjustment flight attitude are provided, strengthen flight stability and operability.Rotation control mechanism controls convenient and swift, can realize the quick switching of plurality of flight, and structure is simple, and transmission is accurate, is easy to operation.
Control setup 105 comprises control module and controls motor, and control module is electrically connected with control motor, controls motor and is connected with driving gear 107.Control module is preferably remote control module, controls by remote control, makes this fixed-wing Multi-axis aircraft can be used as aeromodelling aerocraft, and control operation is convenient.
Controlling machine operation drives driving gear 107 to rotate, control module controls the start and stop of motor, rotating and rotating speed etc., thus realize turning of S. A. 104 and stop, turn to and rotating speed etc., make the control of S. A. 104 accurate, realize the switching of plurality of flight quickly and efficiently.
Multiaxis rotor frame 102 comprises cross bar 108, and cross bar 108 is connected by the first attaching parts with S. A. 104, and control setup 105 is installed on the first attaching parts.By arranging cross bar 108 and the first attaching parts, fixation can be played to control setup 105, the connection of this rotation control mechanism and multiaxis rotor frame 102 can be realized and fix.
First attaching parts comprises the first T-connecting piece 111 and the first adapter plate 112, first T-connecting piece 111 comprises the first connecting portion 113 and the first fixed part 114, first connecting portion 113 is connected by bearing with S. A. 104, first fixed part 114 is connected by four bolts with the first adapter plate 112, first cross bar 109 is fixed between the first fixed part 114 and the first adapter plate 112, and control setup 105 is installed on the first fixed part 114.
Control setup 105 is fixed on the first fixed part 114, fixed, makes control setup 105 can control transmission gear 106 well and rotates.When S. A. 104 rotates under the drive of transmission gear 106, bearing rotates, and can either ensure the rotation of S. A. 104, S. A. 104 also can be made to be connected with the first connecting portion 113 securely, and make S. A. 104 skew can not occur or rock, transmission is more accurate.
Refer to Fig. 1, Fig. 2, Fig. 5 ~ Fig. 7, this fixed-wing Multi-axis aircraft also comprises axostylus axostyle bindiny mechanism, the two ends of S. A. 104 are respectively arranged with screw propeller 103, cross bar 108 comprises the first cross bar 109 and the second cross bar 110, for same S. A. 104, first cross bar 109 is connected with S. A. 104 by rotation control mechanism, and the second cross bar 110 is connected with S. A. 104 by axostylus axostyle bindiny mechanism.
Refer to Fig. 1, Fig. 2 and Fig. 7, in the present embodiment, S. A. 104 is two, the two ends of two S. A.s 104 are provided with screw propeller 103, one of them S. A. 104 is connected with the first cross bar 109 and the second cross bar 110 with axostylus axostyle bindiny mechanism respectively by rotation control mechanism, and another S. A. 104 is connected with the first cross bar 109 and the second cross bar 110 with rotation control mechanism respectively by axostylus axostyle bindiny mechanism.That is, one end of the first cross bar 109 is connected by rotation control mechanism with one of them S. A. 104, and the other end is connected by axostylus axostyle bindiny mechanism with another S. A. 104; The S. A. 104 be connected by rotation control mechanism with the first cross bar 109 is connected by axostylus axostyle bindiny mechanism with the second cross bar 110, and the S. A. 104 be connected by axostylus axostyle bindiny mechanism with the first cross bar 109 is connected by rotation control mechanism with the second cross bar 110.
Two screw propellers 103 are installed on same S. A. 104, form one group of screw propeller 103, when this S. A. 104 rotates, two screw propellers 103 and motor are all along with S. A. 104 rotates, the rotational plane of two screw propellers 103 is changed, namely achieves one group of screw propeller 103 co-rotation, the Power output of two screw propellers 103 can be controlled simultaneously, realize the lifting at double of speed, manoevreability is high.The present embodiment can control the co-rotation of two groups of screw propellers 103 simultaneously.
Refer to Fig. 1, Fig. 2, Fig. 5 ~ Fig. 7, axostylus axostyle bindiny mechanism comprises the second attaching parts, second attaching parts comprises the second T-connecting piece 115 and the second adapter plate 116, second T-connecting piece 115 comprises the second connecting portion 117 and the second fixed part 118, second connecting portion 117 is connected by bearing with S. A. 104, second cross bar 110 is fixed between the second fixed part 118 and the second adapter plate 116, second cross bar 110 can be firmly connected with S. A. 104, both ensure that the rotation of S. A. 104, and support and connection function can have been played to S. A. 104 again.
Further, refer to Fig. 7 and Fig. 8, the fixed-wing Multi-axis aircraft that the present embodiment provides have employed detachable rack construction, and namely fixed-wing 101 and multiaxis rotor frame 102 removably connect.Fixed-wing 101 is provided with montant 119, cross bar 108 is arranged in multiaxis rotor frame 102, and cross bar 108 is connected with screw propeller 103, and cross bar 108 and montant 119 are removably connected by bar connecting piece 120.
Bar connecting piece 120 comprises the first rod member connecting portion 121 and the second rod member connecting portion 122, first rod member connecting portion 121 is provided with the first through hole 123, cross bar 108 can pass the first through hole 123, first rod member connecting portion 121 is provided with the first latch segment 125 and the second latch segment 126, first through hole 123 is surrounded by the first latch segment 125 and the second latch segment 126, and the first latch segment 125 is connected by latching device with the second latch segment 126.Second rod member connecting portion 122 is provided with the second through hole 124, montant 119 can pass the second through hole 124, second rod member connecting portion 122 is provided with the 3rd latch segment 127 and the 4th latch segment 128, second through hole 124 is surrounded by the 3rd latch segment 127 and the 4th latch segment 128, and the 3rd latch segment 127 is connected by latching device with the 4th latch segment 128.
Multiaxis rotor frame 102 can be detachable with fixed-wing 101, both ensured to be linked and packed accurately, makes again that aircraft is removable becomes independently Multi-axis aircraft and Fixed Wing AirVehicle, can realize a tractor serves several purposes.
Further, refer to Fig. 9 ~ Figure 13, this fixed-wing Multi-axis aircraft is also provided with angle of attack control system, aircraft can be regulated by the angle of attack in landing and flight course in real time, ensure normally carrying out of landing, ensure smooth flight.This angle of attack control system comprises hinge 129 and angle of attack control mechanism 130, the cross bar 108 of multiaxis rotor frame 102 is connected with montant 119, montant 119 is connected by hinge 129 with fixed-wing 101, and angle of attack control mechanism 130 is for regulating the angle between fixed-wing 101 and multiaxis rotor frame 102.
The angle of attack Control System Design of fixed-wing Multi-axis aircraft, makes aircraft held stationary flight in offline mode switching process.From the switching process vertically rising to horizontal flight, first use multiaxis pattern, four screw propeller 103 entirety turned forward, start flight forward, in the process rotated forward, four motors are in same plane.Multiaxis oar causes the angle of attack to reduce towards aircraft entirety can be caused during top rake to lean forward, and regulates the change in angle of attack because causing in switching process by the control of angle of attack control system.When needing in flight course to change the angle of attack, regulate the angle of attack by angle of attack control system.Fixed-wing 101 pattern can be switched to when the speed of flying reaches when fixed-wing 101 can produce enough lift.
Angle of attack control mechanism 130 comprises angle of attack control module 131, lifting drive and jacking system, angle of attack control module 131 and lifting drive are installed in multiaxis rotor frame 102, angle of attack control module 131 is connected with lifting drive, lifting drive is connected with jacking system, and jacking system is connected with fixed-wing 101.Jacking system comprises lifting bar and elevating drive mechanism, and elevating drive mechanism is connected with lifting drive, and elevating drive mechanism is connected with lifting bar, and lifting bar is connected with fixed-wing 101.
As preferably, lifting bar is tooth bar 132, elevating drive mechanism is lifting driven wheel 133, tooth bar 132 engages with lifting driven wheel 133, tooth bar 132 is connected with fixed-wing 101 away from one end of lifting driven wheel 133, and angle of attack control module 131 is connected with multiaxis rotor frame 102 by pipe link 135.
Under the driving of lifting drive, lifting driven wheel 133 rotates, and band carry-over bar 132 up-and-down movement, tooth bar 132 drives one end of fixed-wing 101 be elevated and rotate around hinge 129.The structure adopting lifting driven wheel 133 and tooth bar 132 to coordinate, can make lifting more quick, stable drive, be easy to control.
The point of connection of lifting bar and fixed-wing 101 is higher than the hinge-point of hinge 129, and angle of attack control mechanism 130 is arranged between the head of hinge 129 and fixed-wing 101.
When taking off, the hinge-point of point of connection higher than hinge 129 of lifting bar and fixed-wing 101 is adjusted by angle of attack control mechanism 130, the head of such fixed-wing 101 upwards lifts, and is formed " positive lift force stagger angle ", can produce positive lift force between fixed-wing 101 and multiaxis rotor frame 102." positive lift force stagger angle " design of fixed-wing Multi-axis aircraft, makes aircraft held stationary flight in offline mode switching process.
Hinge 129 comprises hinge connector 134 and rotating shaft 136, and rotating shaft 136 is connected with fixed-wing 101, and hinge connector 134 is provided with bearing, and rotating shaft 136 is through this bearing, and montant 119 and rotating shaft 136 part 134 that is connected through the hinge is rotationally connected.Hinge connector 134 is two, and the two ends of rotating shaft 136 are connected with fixed-wing 101 respectively.
Hinge connector 134 comprises the 3rd T-connecting piece 137 and the 3rd adapter plate 138, and bearing is arranged on one end of the 3rd T-connecting piece 137, and montant 119 is fixed between the 3rd T-connecting piece 137 and the 3rd adapter plate 138.
Further, this fixed-wing Multi-axis aircraft also comprises propelling screws (not shown in diagram), and propelling screws is arranged at head or the afterbody of fixed-wing 101.As preferably, propelling screws and fixed-wing 101 removably connect.
In the present embodiment, because screw propeller 103 is four, this propelling screws also can think the 5th axle, it can be made when fixed-wing 101 mode of flight like this to have the axle of 5 equidirectional work, make it speed have larger lifting, improve offline mode switching efficiency, the stability that enhancement mode switches.5th axle can allow flying speed promote sooner and reach the speed required for fixed-wing 101 mode flight, solves multiaxis pattern and to raise speed slow problem, guarantee that offline mode switches effective implemention.Meanwhile, propelling screws also can increase thrust further, improves flying speed.
To sum up, the fixed-wing Multi-axis aircraft that the present embodiment provides at least has following characteristics:
1. fixed-wing Multi-axis aircraft has the multi-rotor aerocraft such as vertical takeoff and landing, hovering function, realizes point-to-point flexible flight.Many rotor design of this aircraft are also equipped with corresponding rotation control mechanism, make aircraft can produce lift by the running of rotor, in the running of rotation control mechanism and under ensureing, realize vertical takeoff and landing and hovering, and 6 of multi-rotor aerocraft kinds of mode of motion.Vertical takeoff and landing makes aircraft takeoff no longer retrain by topographic condition, can complete to take off, land in any landform; Hovering makes the application of flying greatly be expanded; 6 kinds of mode of motion make aircraft and flexibly with convenient, its flight path no longer affects by geographical environment, can such as the narrow and small environment of the flight space such as jungle, gully, building under normal flight.For fixed-wing four-axle aircraft, four screw propeller 103 agitation air are also vented downwards, and then make aircraft obtain enough lift in a large number; Rotation control mechanism regulates the rotative speed of each oar to change the size of resultant lift, and then controls the lifting of aircraft; Rotation control mechanism regulates the rotative speed of each oar, regulates each oar lift, produces various flight attitude, realizes 6 kinds of above-mentioned mode of motion.
2. fixed-wing Multi-axis aircraft has the function of Fixed Wing AirVehicle, utilizes wing and airflow function to produce lift in flight course, reduces energy consumption, greatly promotes the flying power of aircraft.In the flight course of certain speed, the air-flow around wing turns to and is formed " purling ", and upper lower aerofoil air rate, pressure change, and forms pressure difference with ambient air, produces lift.Driving engine consumed energy also produces power (thrust), for resisting the resistance that runs in flight course and producing certain flying speed and acceleration/accel.Under certain flying speed condition, while normal vehicle operation, thrust is less than even much smaller than gravity (lift), and then realizes saving energy consumption object.For fixed-wing four-axle aircraft, the flying speed of 60km/ hour both can produce enough lift to resist own wt, and flight resistance is now only 20% of lift, both equivalent weight Multi-axis aircraft energy consumption 20%, energy-saving effect is clearly.The saving of energy consumption also extends cruise duration, work-hours simultaneously, makes up the shortcoming that Multi-axis aircraft energy consumption is high, work-hours is short dramatically.
3. the rotor rotational function of fixed-wing Multi-axis aircraft, greatly strengthens power, promotes flying speed, expansive approach field.For fixed-wing four-axle aircraft, 4 rotor rotational 90 °, by all or part of for the power of the multiaxis pattern thrust changing into fixed-wing 101 and fly, make thrust increase several times, and then improve flying speed, reach more than 200km/h.The flying speed of more than 200km/h has exceeded the main traffic instruments such as such as automobile, steamer, train, possesses the condition of convenient, quick, point-to-point transport, and has significant preceence.Foreseeable application in future comprises the traffic transport industries such as short distance transport, express delivery, deliver goods, the social orientation fields such as Fast Monitoring, patrol, tracking, and even the military field such as low-altitude reconnaissance, shooting, delivery, individual soldier's service.
4. the rotor rotational of fixed-wing Multi-axis aircraft is designed to independent control unit, improves the flight stability of aircraft.The appropriate design of flight structure and parameter designing, makes it can recover flight attitude voluntarily when running into certain External force interference, under the regulating and control of rudder face, keeps flight stability.The independence of each rotor of fixed-wing Multi-axis aircraft controls to produce than rudder face applied moment more greatly, the enhancing efficiency of adjustment.The rotor of Multi-axis aircraft jointly controls attitude technology and principle is applied to fixed-wing Multi-axis aircraft, and expand flight stability and control, usefulness more much higher axle rotor control technology promotes flight stability.
5. the rotor rotational of fixed-wing Multi-axis aircraft is designed to independent control unit, improves the handling of aircraft.Possess multiaxis flight control mode, it be stable, operating feature flexibly.The rudder face of fixing aircraft controls independently to control to combine with rotor, handling greatly in enhancing fixed-wing 101 mode flight.The speed adjustment of front and back co-axial rotor under plane attitude, can change the pitching moment of fixed-wing Multi-axis aircraft, regulates luffing attitude; The rotating speed of left and right rotor under plane attitude independently regulates, and can change the rolling moment of fixed-wing Multi-axis aircraft, regulates roll motion attitude; Independence under co-axial rotor 90 ° of states regulates, and can change the thrust size of the left and right sides, realizes dogled and controls.The high-effect manipulation that rotor brings, it is handling that significant increase flies, and makes the application of fixed-wing Multi-axis aircraft can expand such as complex space environment, special dimension and even Military Application field.
6. " positive lift force stagger angle " design of fixed-wing Multi-axis aircraft, makes aircraft held stationary flight in offline mode switching process.From the switching process vertically rising to horizontal flight, use multijoint control pattern, multiaxis oar, towards top rake, flies forward.Multiaxis oar certainly will cause aircraft entirety to lean forward towards top rake producing the negative angle of attack, hinder wing to produce positive lift force.Initial settling angle and the design of the adjustable angle of attack, take into account multiaxis forward leaning angle, make wing have larger stagger angle with multi-axle planar when mounted, ensureing that wing still can produce positive lift force when leaning forward flight, overcoming the contradiction that multiaxis and fixed-wing 101 merge.Obtain enough horizontal velocities with multiaxis offline mode, reach flying speed when requiring, then switch to fixed-wing 101 pattern, thus ensure that by multiaxis pattern switch to fixed-wing 101 pattern steadily and safety.Be multiaxis pattern from fixed-wing 101 patten transformation and carry out the process of landing, then under fixed-wing 101 offline mode, open multiaxis pattern, reduce flying speed gradually, reduce the lift of wing generation and substituted by rotor lift gradually, multiaxis pattern is taken over after fixed-wing 101 completes, and realizes vertical landing with multiaxis pattern.
7. prolongable 5th axle design, improves offline mode switching efficiency, the stability that enhancement mode switches.Design prolongable before draw or the 5th axle of pusher, can consider whether the 5th axle is installed according to real needs.The existence of the 5th axle can allow flying speed promote sooner and reach the speed required for fixed-wing 101 mode flight, solves multiaxis pattern and to raise speed slow problem, guarantee that offline mode switches effective implemention.Meanwhile, the 5th axle also can increase thrust further, improves flying speed.
8. the demountable structure of fixed-wing Multi-axis aircraft, strengthens Consumer's Experience further, meets the real needs of client.Detouchable structure design, such that fixed-wing Multi-axis aircraft is removable is divided into independently Multi-axis aircraft and independently Fixed Wing AirVehicle.The complete machine weight that independently Multi-axis aircraft can be lighter carries out working flight, completes corresponding task.Independently Fixed Wing AirVehicle can load onto wheel to slide the landing of race mode, and the fixed-wing 101 realized flies.
9. fixed-wing 101 and the Combined design of multiaxis, make an aircraft platforms have multiple flight control mode, strengthens adaptive capacity and the application of aircraft.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " cw ", orientation or the position relationship of the instruction such as " conter clockwise " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the equipment of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise one or more these features.In describing the invention, the implication of " multiple " is two or more, unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score can comprise the first and second features and directly contact, also can comprise the first and second features and not be directly contact but by the other characterisation contact between them.And, fisrt feature second feature " on ", " top " and " above " comprise fisrt feature directly over second feature and oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " comprise fisrt feature immediately below second feature and tiltedly below, or only represent that fisrt feature level height is less than second feature.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a fixed-wing Multi-axis aircraft, it is characterized in that, comprise interconnective fixed-wing and multiaxis rotor frame, described multiaxis rotor frame is provided with multiple rotor mechanism, described rotor mechanism comprises screw propeller and S. A., described screw propeller and actuating device are rotationally connected, and described actuating device is fixedly connected with described S. A., and described S. A. is connected with rotation control mechanism.
2. fixed-wing Multi-axis aircraft according to claim 1, is characterized in that, the wing of described screw propeller and described fixed-wing is positioned at same plane.
3. fixed-wing Multi-axis aircraft according to claim 2, is characterized in that, described screw propeller is positioned at outside the orthogonal projection scope of described fixed-wing.
4. fixed-wing Multi-axis aircraft according to claim 1, it is characterized in that, described rotation control mechanism comprises control setup and transmission gear, and described transmission gear fixed cover is located on described S. A., and described control setup is connected by transmission device with described transmission gear.
5. fixed-wing Multi-axis aircraft according to claim 4, is characterized in that, described multiaxis rotor frame comprises cross bar, and described cross bar is connected by the first attaching parts with described S. A., and described control setup is installed on described first attaching parts.
6. fixed-wing Multi-axis aircraft according to claim 5, it is characterized in that, described first attaching parts comprises interconnective first T-connecting piece and the first adapter plate, described first T-connecting piece comprises the first connecting portion and the first fixed part, described first connecting portion is connected by bearing with described S. A., described cross bar is fixed between described first fixed part and described first adapter plate, and described control setup is installed on described first fixed part.
7. fixed-wing Multi-axis aircraft according to claim 5, it is characterized in that, also comprise axostylus axostyle bindiny mechanism, the two ends of described S. A. are respectively arranged with screw propeller, described cross bar comprises the first cross bar and the second cross bar, described first cross bar is connected with described S. A. by described rotation control mechanism, and described second cross bar is connected with described S. A. by described axostylus axostyle bindiny mechanism.
8. fixed-wing Multi-axis aircraft according to claim 7, it is characterized in that, described S. A. is two, the two ends of two described S. A.s are provided with screw propeller, one of them S. A. is connected with described first cross bar and described second cross bar with described axostylus axostyle bindiny mechanism respectively by described rotation control mechanism, and another S. A. is connected with described first cross bar and described second cross bar with described rotation control mechanism respectively by described axostylus axostyle bindiny mechanism.
9. fixed-wing Multi-axis aircraft according to claim 1, is characterized in that, also comprise propelling screws, and described propelling screws is arranged at head or the afterbody of described fixed-wing.
10. fixed-wing Multi-axis aircraft according to claim 1, is characterized in that, described fixed-wing comprises fixed-wing skeleton and body plate, and described body plate is connected with described fixed-wing skeleton, and described fixed-wing skeleton is connected with described multiaxis rotor frame.
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