CN106364670A

CN106364670A - Non-planar eight-arm and sixteen-rotor aircraft

Info

Publication number: CN106364670A
Application number: CN201510745735.1A
Authority: CN
Inventors: 曹萍
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-11-05
Filing date: 2015-11-05
Publication date: 2017-02-01

Abstract

The invention disclosesa non-planar eight-arm and sixteen-rotor aircraft, belongs to the technical field of aeronautics, and relates to an aircraft with eight pairs of non-planar birotors uniformly distributed surrounding an aircraft body. The aircraft comprises the aircraft body, eight supporting arms connected to the periphery of the aircraft body, eight pairs of birotors respectively arranged at the end portions of all the supporting arms, and an electric control system which is arranged in the aircraft body and is in control connection with every birotor. The aircraft has high mobility, and can realize vertical rising and landing, rapid forward flight, inverted flight and hovering, and change to any direction in the flight process.

Description

On-plane surface eight arm ten six rotorcraft

Technical field

The present invention relates to a kind of multi-rotor aerocraft of new structure.

Background technology

There is VTOL and the unmanned vehicle of hovering function has extensive demand in numerous dual-use fields such as military surveillance, anti-terrorism, public security, fire-fighting, forest inspection, pesticide spraying, nuclear leakage detection and rescue and relief works.And the unmanned vehicle having VTOL with hovering function generally can be divided into two big class: a class is depopulated helicopter, generally comprise single rotor, DCB Specimen, the versions such as tilting rotor, single-rotor helicopter needs tail-rotor structure to offset the torsion that rotor produces to body, tiltrotor needs carry out verting of the aerofoil of rotor in the winged state of the peace that takes off vertically, it is disadvantageous in that the upper main oar diameter of design is larger with respect to body, complex structure, motility is poor with stationarity, and the lift of aircraft is relatively low with weight ratio, if being designed to small aircraft, load capacity is very poor, in addition, because complicated aerodynamic characteristic leads to the flying vehicles control difficulty of the type big, autonomy is poor, safety is not high, have impact on its application development.Another kind of is multi-rotor aerocraft it can be common that quadrotor, six rotorcraft and eight-rotary wing aircraft.Multi-rotor aerocraft compares the bending moment structure that helicopter eliminates complexity, the rotation speed change relying on multiple rotors realizes the control to aircraft, compare depopulated helicopter to have the advantages that structure is simple, flexible operation, stability are high, independently easily realize, achieve successful Application in a lot of fields.With multi-rotor aerocraft industrial circle application, its load-carrying requires increasing, if simply increasing rotor diameter and time delay influence that power of motor the leads to control susceptiveness of many rotors, and increase motor and rotor number make its volume increasing in present planar structure, transport and using very inconvenient.In addition, present plane multi-rotor aerocraft leads to control moment not enough and low-response by the driftage of anti-twisted Torque Control, have impact on the overall performance of aircraft, joining major diameter rotor especially with big motor can make response time slack-off, when serious, even can make controller unstability.More importantly, the gyroscopic couple that existing multi-rotor aerocraft produces in flight course cannot eliminate, and to be overcome by control system only as disturbing in system itself, that is, waste energy and reduce Control platform and motor capacity again.

Content of the invention

For overcoming above-mentioned technical deficiency, it is an object of the invention to provide a kind of can overcome the gyroscopic couple producing during motion aircraft is caused in disturb, respond sensitive, volume compact and there is on-plane surface eight arm ten six rotorcraft of higher lifting capacity.

On-plane surface eight arm ten six rotorcraft of the present invention, eight support arms including body, being connected on around body, eight pairs of birotors being separately positioned on each support arm end and the control being arranged in body connect the electric-control system of each rotor.At grade, the geometric center lines of adjacent two support arms become equal angles to the geometric center lines of eight described support arms, and angle is 45 degree.

Described each pair birotor is to be made up of the base of the upper motor of rotor, the lower motor driving lower rotor and the upper motor of connection and lower motor in upper rotor, lower rotor, driving.The centrage of the rotary shaft of the two-spool upper motor of each pair and lower motor is point-blank, the two-spool upper motor of each pair becomes an equal angle with rotating shaft center's line of lower motor with the geometric center lines place interplanar of described eight support arms, and angle is more than 0 degree and is less than 90 degree.Adjacent two is in opposite direction to two-spool upper rotor wing rotation, and adjacent two is contrary to two-spool lower rotor direction of rotation.On diagonal, two intersect to two-spool upper rotor wing rotation plane, and on diagonal, two intersect to two-spool lower rotor Plane of rotation.The two-spool upper rotor of each pair is parallel with the Plane of rotation of lower rotor, direction of rotation is contrary.The two-spool upper motor of each pair and the centrage of lower electric machine rotational axis and to connect this vertical to the geometric center lines of two-spool support arm.

Respectively by upper and lower Motor drive, so as to torque is equal, in opposite direction, the conjunction moment of torsion to body is zero to the rotary speed controlling upper and lower two rotors of each birotor to two-spool upper and lower two rotors of each pair.In addition, in aircraft flight, two rotors of each pair birotor positive and negative rotation eliminate the gyroscope interference effect to body.The eight pairs of two-spool electric machine rotational axis centrages angles that more than 0 degree are less than 90 degree equal with eight that the geometric center lines place interplanar of described eight support arms becomes make eight to two-spool lift to body make a concerted effort and resultant moment three axial six components difference controlled it is achieved that move and attitude full decoupled.In addition, the centrage of the eight pairs of two-spool electric machine rotational axis angle that more than 0 degree be less than 90 degree equal with eight that the geometric center lines place interplanar of described eight support arms becomes makes the driftage of aircraft be provided by lift, solves low-response and the not enough shortcoming of control moment that plane multi-rotor aerocraft needs to be existed with the driftage of anti-twisted Torque Control.Due to the interference that this aircraft eliminates gyroscopic couple during flight, anti-twisted moment causes, and the coupling between attitude and translation can be decoupled, therefore, this aircraft has the mobility of height, it is possible to achieve VTOL, quickly front fly, inverted flight, hovering, in-flight any direction change.

The dynamical system that two-spool upper and lower two groups of motors form with rotor is compared one group of motor of the plane of multi-rotor aerocraft of planar structure and the dynamical system volume utilization height of rotor composition, is risen force density height, has bigger lifting capacity and longer flight time under equal volume.

Brief description

Fig. 1 is the structural representation of the present invention；

Fig. 2 is the simplified diagram of the present invention；

Fig. 3 is dual-rotor structure schematic diagram shown in Fig. 1；

Fig. 4 is the structural representation of connector combination in Fig. 3；

Fig. 5 is connector 101 structural representation in Fig. 4；

Fig. 6 is connector 102 structural representation in Fig. 4.

Specific embodiment

Below in conjunction with the embodiment that accompanying drawing is given, the present invention is described in further detail.

See figures.1.and.2, on-plane surface eight arm ten six rotorcraft, eight support arms 2 including body 1, being connected on around body 1, eight pairs of rotors 3 being separately positioned on each support arm 2 end and the electric-control system 4 of the control each rotor of connection being arranged in body 1, at grade, the geometric center lines angle of each two adjacent support arms 2 is equal to be 45 degree to the geometric center lines of eight described support arms 2.Rotating shaft center's line of the upper motor 303 of each pair birotor 3 and lower motor 304 is point-blank, in the described driving of each pair birotor 3, the upper motor 303 of rotor 301 becomes equal angles a with the rotating shaft center's line of lower motor 304 driving lower rotor 302 with the geometric center lines place interplanar of described eight support arms 2, and a is more than 0 degree and is less than 90 degree.Upper rotor 301 direction of rotation of adjacent two pairs of birotors 3 is contrary, and lower rotor 302 direction of rotation of adjacent two pairs of birotors 3 is contrary.On diagonal, the Plane of rotation of the upper rotor 301 of two pairs of birotors 3 intersects, and on diagonal, the Plane of rotation of the lower rotor 302 of two pairs of birotors 3 intersects.The upper motor 303 of each pair birotor 3 is vertical with the geometric center lines connecting this support arm 2 to birotor 3 with rotating shaft center's line of lower motor 304.

With reference to Fig. 3, Fig. 4 and Fig. 6, described birotor 3 is to be made up of the base 305 of the upper motor 303 of rotor 301, the lower motor 304 driving lower rotor 302 and the upper motor 303 of connection and lower motor 304 in upper rotor 301, lower rotor 302, driving.Upper motor 303 and lower motor 304 are connected on base 305 by way of being mechanically connected.Upper rotor 301 is connected on upper motor 303 by way of being mechanically connected, and lower rotor 302 is connected on lower motor 304 by way of being mechanically connected.The upper rotor 301 of each pair birotor 3 is parallel with the Plane of rotation of lower rotor 302, direction of rotation is contrary.Birotor 3 is connected on one end of support arm 2 by base 305, and connected mode can be the mode of cementing, mechanical connection or both combinations.On the connector 101 that the other end of support arm 2 is connected to connector combination 10 by way of cementing, mechanical connection or both combinations.The connector 102 of connector combination 10 is connected on body 1 using by way of being mechanically connected by connecting hole 1023,1024,1025 and 1026.

With reference to Fig. 4, Fig. 5 and Fig. 6, connector combination 10 is made up of connector 101 and connector 102.Using bearing pin, the unthreaded hole 1021 of the unthreaded hole 1011 of connector 101 and connector 102 is linked together, the screwed hole 1022 of the unthreaded hole 1012 and connector 102 that pass through connector 101 using bolt links together.Connected by bearing pin, can rotate around bearing pin between connector 101 and connector 102.Unthreaded hole 1011 and the equal diameters of unthreaded hole 1021, the nominal diameter of the diameter of unthreaded hole 1012 and screwed hole 1022 is equal.Connecting hole 1023,1024,1025 and 1026 equal diameters.

Claims

1. on-plane surface eight arm ten six rotorcraft, it is characterized in that, this aircraft includes body, eight support arms, eight pairs of birotors and electric-control system, and eight support arms are connected to around body, eight pairs of birotors are separately positioned on each support arm end, and electric-control system is arranged in body；In one plane, the geometric center lines of adjacent two support arms become equal angles to the geometric center lines of eight support arms, and angle is 45 degree；Birotor is made up of the base of the upper motor of rotor, the lower motor driving lower rotor and the upper motor of connection and lower motor in upper rotor, lower rotor, driving；The centrage of the rotary shaft of the two-spool upper motor of each pair and lower motor is point-blank, the two-spool upper motor of each pair becomes an equal angle with rotating shaft center's line of lower motor with the geometric center lines place interplanar of described eight support arms, and angle is more than 0 degree and is less than 90 degree；Adjacent two is in opposite direction to two-spool upper rotor wing rotation, and adjacent two is contrary to two-spool lower rotor direction of rotation；On diagonal, two intersect to two-spool upper rotor wing rotation plane, and on diagonal, two intersect to two-spool lower rotor Plane of rotation；The two-spool upper rotor of each pair is parallel with the Plane of rotation of lower rotor, direction of rotation is contrary；The two-spool upper motor of each pair and rotating shaft center's line of lower motor and to connect this vertical to the geometric center lines of two-spool support arm.

2. on-plane surface eight arm ten six rotorcraft as claimed in claim 1, it is characterized in that: birotor is connected on support arm by base, connected mode can be the mode of cementing, mechanical connection or both combinations, and support arm is connected on body by connector combination.

3. on-plane surface eight arm ten six rotorcraft as claimed in claim 1 it is characterised in that: connector combination be made up of connector 101 and connector 102, can rotate between connector 101 and connector 102.