CN106427438A - Airphibian with retractable rotor and control method of airphibian with retractable rotor - Google Patents
Airphibian with retractable rotor and control method of airphibian with retractable rotor Download PDFInfo
- Publication number
- CN106427438A CN106427438A CN201610908306.6A CN201610908306A CN106427438A CN 106427438 A CN106427438 A CN 106427438A CN 201610908306 A CN201610908306 A CN 201610908306A CN 106427438 A CN106427438 A CN 106427438A
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- propeller hub
- self
- module
- locking
- main shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/30—Blade pitch-changing mechanisms
- B64C11/44—Blade pitch-changing mechanisms electric
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The invention discloses an airphibian with a retractable rotor and a control method of the airphibian with the retractable rotor. The airphibian comprises an airphibian body, an engine, a rotor module, a variable-collective-pitch module, two front wheels, a horizontal power module and a control module, wherein the rotor module comprises a propeller hub, two propeller blades, a propeller hub spindle, a rotating spindle, a moving ring, a first hydraulic push rod, a second hydraulic push rod, a self-locking ring and at least two self-locking fasteners and is used for making the rotor ascend or descend into a cavity at the upper end of the airphibian body; the variable-collective-pitch module comprises a variable-pitch supporting arm, a variable-pitch motor, a threaded rod and two pull rods and is used for adjusting an inclination angle of the two propeller blades; the horizontal power module comprises two horizontal power units and is used for providing horizontal power during air-ground dual purposes of the airphibian, and each horizontal power unit comprises a ducted fan back wheel, a connecting pipeline, a tee pipe fitting, a folding gear, a folding motor, a drive motor module and a transmission mechanism. The airphibian with the retractable rotor is simple to implement and reliable to operate and has high practical value.
Description
Technical field
The present invention relates to land and air double-used driving field of vehicles, more particularly to a kind of rotor are retractable land and air double-used winged
Car and its control method.
Background technology
Automotive technology development is so far, undoubtedly highly developed advanced.Come out from the first airplane, aviation is also sent out
A whole century is opened up, its safety is highest in all modes of transportation, aeronautical theory is highly developed advanced, incite somebody to action both
Most perfectly select in conjunction with being undoubtedly.Since coming out from first hovercar in 1917, people have just started to hovercar
A large amount of explorations, inventor and airhogs devise the good hovercar of multiple performance for many years.Current high building woods
Vertical, the urban transportation present situation of wagon flow congestion not only causes us the daily line efficiency that goes out to become more and more lower, or even can increase friendship
The incidence rate of interpreter's event.Therefore each state has all obtained hundreds of in the automobile that competitively research and development can be flown, current global range
Hovercar patent, develops the model machine that multiple energy fly, and the model machine that small part country develops has put into small lot batch manufacture.So
The development of hovercar is more and more important, it has also become trend of the times.But the world compares a few money hovercars of main flow at present
（Such as X-Hawk, Airphibian）, the power drive of its ground run and the lift system of mission phase be independent, as
Or lift system is the very big straight fixed-wing of the span, the shortcoming of this driving is that volume is unable to greatly folding and unfolding, and shape is fixed, difficult
To adapt to city complexity traffic.Secondly it is exactly the very big autorotating rotor of size, this rotor structure control is complicated, Er Qie
Travel or during landing on highway, normal traffic order is not only affected, and wing also will be limited by roadside obstructions thing.
Content of the invention
The technical problem to be solved is that providing a kind of rotor can for involved defect in background technology
The land and air double-used driving of folding and unfolding and its control method.
The present invention is employed the following technical solutions for solving above-mentioned technical problem：
A kind of retractable land and air double-used driving of rotor, comprising car body, electromotor, rotor module, becomes always before module, two
Wheel, horizontal power module and control module；
The electromotor is arranged in car body, for exporting power to the rotor module；
The rotor module comprising propeller hub, two panels blade, propeller hub main shaft, live spindle, rotating ring, the first to the second hydraulic push rod,
Self-locking ring and at least two self-locking cards；
The propeller hub main shaft comprising coupling part, axle body part and lock part, wherein, axle body part upper end and connecting portion
Point it is fixedly linked, lower end and lock part are fixedly linked；
The upper end of the propeller hub bottom and the propeller hub main shaft coupling part is fixedly linked；
Some spacing preiections are uniformly provided with the outer wall of the axle body part of the propeller hub main shaft, the spacing preiection is linearly,
Diameter parallel with the propeller hub main shaft；
The lock part of the propeller hub main shaft is comprising the first lock cell and the second lock cell, and wherein, the first lock cell is in
Round table-like, its upper surface is fixedly linked with the lower end of propeller hub main shaft axle body part；Second lock cell is cylindrical, its upper surface
It is fixedly linked with the first lock cell lower surface；The diameter of the first lock cell upper surface and propeller hub main shaft axle body part
Diameter is identical, lower surface is identical with the diameter of the second lock cell；
It is uniformly provided with the outer wall of second lock cell some with the one-to-one locking projections of the self-locking card, the lock
Fixed raised linearly, with the propeller hub main shaft diameter parallel；
The self-locking ring is comprising first from lock unit and second from lock unit, and wherein, described first is in hollow cylinder from lock unit
Shape, its inwall is provided with some with the one-to-one limited impression of the spacing preiection；Described second is in open circles from lock unit
Mesa-shaped, its upper end is fixedly linked from the lower end of lock unit with described first, and inwall is provided with screw thread；
The live spindle is arranged in car body, in hollow cylindrical, has a diameter larger than the diameter of second lock cell, under
End is connected with the output shaft of the electromotor, is uniformly provided with and some correspond with the self-locking card, supply the self-locking on cylinder
Block through through hole；
The outer face of the self-locking card is in the cambered surface for matching from lock unit inwall with described second, and sets in the cambered surface of outer face
Have and the described second screw thread that screw thread matches from lock unit inwall；The inner face of self-locking card includes single with the described first locking
Longitudinally locked end face and the lateral locking end face for matching with the second lock cell outer wall that first outer wall matches, the horizontal stroke
The latch recess for matching with the locking projections is provided with to locking end face；
The axle body of the propeller hub main shaft partially passes through self-locking ring, lock part and stretches in live spindle, propeller hub main shaft axle body part
On spacing preiection limited impression from lock unit inwall is corresponded and is coordinated with self-locking ring first；The second of the self-locking ring
It is socketed in live spindle from lock unit；The self-locking card passes through its corresponding through hole, and outer face is with the self-locking ring second certainly
The inwall laminating of lock unit, inner face is fitted with the propeller hub main shaft；
The rotating ring is fixed in the live spindle；
First hydraulic push rod, the equal one end of the second hydraulic push rod are fixedly linked with the rotating ring, and the other end is solid with the propeller hub
Fixed connected, for adjusting the height of the propeller hub；
The two panels blade is separately positioned on the both sides of propeller hub, and its root is all twisted by level, vertical strand, displacement are twisted with propeller hub even
Connect；
The change is always arranged on propeller hub away from module, for adjusting the inclination angle of two panels blade；
The car body upper end is provided with for accommodating propeller hub, two panels blade, change the first cavity always away from module, and rear portion is provided with for holding
Receive the second cavity of the horizontal power module；
Described two front-wheels are arranged on car body as driven pulley, and the horizontal power module includes two horizontal power units；
The horizontal power unit is comprising ducted fan trailing wheel, connecting pipe, tee pipe fitting, folding gear, folding motor, driving
Motor module and drive mechanism；
The ducted fan trailing wheel is spoke wheel, and its spoke is all in paddle-like, composition ducted fan；
The tee pipe fitting is in T font, comprising galianconism that is long-armed and being arranged on long-armed centre；After the galianconism and ducted fan
The stator of wheel wheel hub is fixedly linked by the connecting pipe；Described long-armed be vertically arranged, hinged with car body, with long-armed can be
Axle is horizontally rotated around car body；
It is circumferentially with along which on the outer wall of the tee pipe fitting and folds, with described, the tooth bar that gear matches；Described folding gear with
Tooth bar engagement on the tee pipe fitting outer wall, and input shaft and the output shaft phase for folding motor being arranged on car body
Even；
The folding motor is used for controlling the tee pipe fitting to horizontally rotate so that ducted fan trailing wheel takes in second cavity
As duct of the driving when the trailing wheel of ground run is used or is deployed into outside second cavity as driving flight in the air
Fan is used；
The drive mechanism is via the tee pipe fitting and connecting pipe, the output shaft for connecting the motor module and duct
The rotor of fan rear-wheel hub, for by the power output of motor module to ducted fan trailing wheel；
The control module respectively with electromotor, the first hydraulic push rod, the second hydraulic push rod, two horizontal power units folding
Motor, the motor module of two horizontal power units are connected, for controlling electromotor, the first hydraulic push rod, the second hydraulic pressure
Push rod, the motor module work for folding motor and two horizontal power units of two horizontal power units.
Used as a kind of further prioritization scheme of the retractable land and air double-used driving of rotor of the present invention, the change is always away from module
Comprising bending moment support arm, displacement motor, threaded rod and two pull bars；
The displacement motor is arranged on the propeller hub top, is electrically connected with the control module, and its output shaft be vertically arranged,
It is fixedly linked with the threaded rod；
The bending moment support arm is in strip, and its center is provided with circular hole, is provided with the screw thread for being matched with the threaded rod in the circular hole；
The threaded rod is threadeded through the circular hole at the bending moment support arm center with which；
One end of described two pull bars is flexibly connected with the two ends of the bending moment support arm respectively, the other end respectively with the two panels oar
The displacement of blade root twists corresponding flexible connection.
As a kind of further prioritization scheme of the retractable land and air double-used driving of rotor of the present invention, after the ducted fan
The hub outside surface of wheel is uniformly provided with some magnetic suspension superconductors.
As a kind of further prioritization scheme of the retractable land and air double-used driving of rotor of the present invention, the propeller hub spindle shaft
The quantity of the spacing preiection on body part is 4.
As a kind of further prioritization scheme of the retractable land and air double-used driving of rotor of the present invention, the propeller hub spindle shaft
The cross sectional shape of the spacing preiection on body part is trapezoidal.
As a kind of further prioritization scheme of the retractable land and air double-used driving of rotor of the present invention, the number of the self-locking card
Measure as 4.
The invention also discloses a kind of control method based on the retractable land and air double-used driving of the rotor, comprising following step
Suddenly：
When driving needs flight in the air：
Step 1）, control module control driven by engine live spindle reversion so that self-locking ring second is from the spiral shell of lock unit inwall
Stricture of vagina is in non-engagement state with the screw thread of self-locking card outer face, and now locking ring is in released state；
Step 2）, control module controls the first hydraulic push rod, the second hydraulic push rod to be extended to default first length threshold,
Propeller hub rising is promoted, and then drives propeller hub main shaft that default first height threshold is risen to, now, self-locking card and propeller hub main shaft
Lock part is in sustained height；
Step 3）, the positive work of control module control driven by engine live spindle, now, self-locking ring second is from lock unit inwall
The screw thread of screw thread and self-locking card outer face be in engagement, self-locking ring forces self-locking card to compress inwardly so that self-locking card is indulged
Fit tightly to locking end face and the outer wall of the first lock cell of propeller hub main shaft, the latch recess on self-locking card lateral locking end face
Match with corresponding locking projections on propeller hub main shaft the second lock cell outer wall, complete lock out action；
Step 4）, the folding motor work of control module two horizontal power units of control, drive two ducted fan trailing wheel exhibitions
Reach and use as ducted fan outside the second cavity；
When driving needs in ground run constantly：
Step A）, control module control live spindle reversion so that self-locking ring second is from screw thread and the self-locking card of lock unit inwall
The screw thread of outer face is in non-engagement state, and now locking ring is in released state；
Step B）, control module controls the first hydraulic push rod, the second hydraulic push rod to carry out being contracted to default second length threshold,
Propeller hub decline is driven, and then drives propeller hub main shaft to drop to default second height threshold, now, the lock part of propeller hub main shaft
All it is contracted in the live spindle with axle body part, propeller hub, two panels blade, change are always received to first cavity away from module
Interior；
Step C）, the folding motor work of control module two horizontal power units of control, drive two ducted fan trailing wheels foldings
It is laminated in the second cavity of car body, uses as common wheel.
The invention also discloses a kind of blade based on the retractable land and air double-used driving of the rotor is always away from control method, wrap
Containing following steps：
When need increase blade always away from when：
Control module control displacement motor work, drives threaded rod to rotate and then bending moment support arm is moved downward, two pull bars
Follow and move downward, drive the displacement of two panels propeller shank to twist and rotate towards the direction that pitch increases, increase the inclination of two panels blade
Angle；
When need reduce blade always away from when：
Control module control displacement motor work, drives threaded rod to rotate and then bending moment support arm is moved upwards, two pull bars
Follow and move upwards, drive the displacement of two panels propeller shank to twist and rotate towards the direction that pitch reduces, reduce the inclination of two panels blade
Angle.
The present invention adopts above technical scheme compared with prior art, with following technique effect：
1. i.e. can urban road travel again can VTOL, hovering, fly before low speed, taken into account automobile floor traveling
Convenience and comfortable, it may have the super low altitude flight ability of helicopter and the agility of height；
2. so that rotor system is taken in for ground run inside driving, rotor system can be stretched out inside driving again
Mechanism, overcome the big limitation of existing driving requisite space, at the same time, it is ensured that transmission engine output；Should
System engages to realize locking using the screw thread of self-locking card, and principle is easily understood, and security of system is good；
3., as driving is by coordinating tailstock ducted fan using manoeuvre is realized, pure helicopter feathering fortune is cancelled
Dynamic, so rotary wing changing can be realized always away from principle is easily understood, and works more reliable by a set of simple mechanism；
4. the ducted fan trailing wheel power of rotor module and horizontal power module is differential uses cooperatively, and realizes the power behaviour of flight
Vertical, so cancelling the motion of pure helicopter feathering, in true car development process, design of control law is simple later, easy to operate.
Description of the drawings
Fig. 1 is the airflight pattern isometric views of the present invention；
Fig. 2 is the airflight pattern top view of the present invention；
Fig. 3 is the ground run pattern isometric views of the present invention；
Fig. 4 is ground run pattern front view of the present invention；
Fig. 5 is the rotor module structural representation of the present invention；
Fig. 6 is the rotor module transverse sectional view of the present invention；
Fig. 7 is the structural representation of propeller hub main shaft in the present invention；
Fig. 8 is the schematic diagram that in the present invention, rotor module propeller hub main shaft and self-locking card coordinate；
Fig. 9 is the structural representation of rotor module self-locking ring in the present invention；
Figure 10 is the upward view of rotor module self-locking ring in the present invention；
Figure 11 is the structural representation of rotor module live spindle in the present invention；
Figure 12 is the structural representation of rotor module self-locking card in the present invention；
Figure 13 is the structural representation of rotor module self-locking card inner face in the present invention；
Figure 14 is the cooperation schematic diagram of rotor module propeller hub main shaft, self-locking card and live spindle in the present invention；
Figure 15 is that in the present invention, rotary wing changing always coordinates top view away from module with propeller hub；
Figure 16 is that in the present invention, rotary wing changing always becomes cooperation transverse views away from module and propeller hub；
Figure 17 be in the present invention rotary wing changing always away from module diagram；
Figure 18 be in the present invention rotary wing changing always away from the displacement motor of module and its schematic diagram of support；
Figure 19 is rotary wing changing pull bar schematic diagram always away from module in the present invention；
Figure 20 is rotary wing changing bending moment support arm schematic diagram always away from module in the present invention；
Figure 21 is driving offline mode horizontal power module diagram in the present invention；
Figure 22 is driving ground mode horizontal power module diagram in the present invention；
Figure 23 is tee pipe fitting schematic diagram in the present invention；
Figure 24 is tee pipe fitting and folding gear, folding motor cooperation schematic diagram in the present invention；
Figure 25 is tee pipe fitting internal drive structural scheme of mechanism in the present invention；
Ducted fan trailing wheel transverse sectional view in Figure 26 present invention；
Ducted fan and its magnetic suspension superconductor schematic diagram in Figure 27 present invention.
In figure, 1- propeller hub, 2- blade, the first hydraulic push rod of 3-, the second hydraulic push rod of 4-, 5- rotating ring, 6- propeller hub main shaft,
7- live spindle, 8- self-locking ring, 9- coupling part, 10- axle body part, 11- lock part, 12- spacing preiection, 13- first locks
Order unit, the second lock cell of 14-, 15- locking projections, 16- first is from lock unit, 17- limited impression, 18- the second self-locking list
Unit, screw thread of the 19- second from lock unit inwall, 20- through hole, 21- self-locking card, the outer face of 22- self-locking card, 23- self-locking card
Longitudinally locked end face, the lateral locking end face of 24- self-locking card, 25- latch recess, 26- rotary wing changing is away from strand, 27- displacement mould
Block, 28- displacement motor, 29- displacement support arm, 30- pull bar, 31- threaded rod, 32- displacement electric machine support, 33- displacement support arm center
Circular hole, 34- connecting pipe, 35- tee pipe fitting, 36- drive mechanism bevel gear, 37- folds motor, and 38- folds gear, 39- spoke
Bar, 40- magnetic suspension superconductor.
Specific embodiment
Below in conjunction with the accompanying drawings technical scheme is described in further detail：
The invention discloses a kind of retractable land and air double-used driving of rotor, comprising car body, electromotor, rotor module, become always away from
Module, two front-wheels, horizontal power module and control module.
Fig. 1 and Fig. 2 are view during present invention flight in the air, and Fig. 3 and Fig. 4 is the present invention in ground run
View.
Electromotor is arranged in car body, for exporting power to the rotor module.
As shown in Fig. 5 Fig. 6, the rotor module comprising propeller hub, two panels blade, propeller hub main shaft, live spindle, rotating ring, the
One to the second hydraulic push rod, self-locking ring and at least two self-locking cards.
As shown in fig. 7, the propeller hub main shaft is comprising coupling part, axle body part and lock part, wherein, the axle body portion
Point upper end and coupling part is fixedly linked, lower end and lock part are fixedly linked；The propeller hub bottom and the propeller hub main shaft are even
The upper end that socket part is divided is fixedly linked.
As shown in figure 8, some spacing preiections on the outer wall of the axle body part of the propeller hub main shaft, are uniformly provided with, described spacing
Raised linearly, with the propeller hub main shaft diameter parallel；The lock part of the propeller hub main shaft includes the first lock cell
With the second lock cell, wherein, the first lock cell is in round table-like, and the lower end of its upper surface and propeller hub main shaft axle body part is fixed
It is connected；Second lock cell is cylindrical, and its upper surface and the first lock cell lower surface are fixedly linked；First locking is single
The diameter of first upper surface is identical with the diameter of propeller hub main shaft axle body part, lower surface is identical with the diameter of the second lock cell；Institute
It is uniformly provided with the outer wall for stating the second lock cell some with the one-to-one locking projections of the self-locking card, the locking projections
Linearly, with the diameter parallel of the propeller hub main shaft.
As shown in Figure 9 and Figure 10, the self-locking ring is comprising first from lock unit and second from lock unit, wherein, described the
One is in hollow cylindrical from lock unit, and its inwall is provided with some with the one-to-one limited impression of the spacing preiection；Described
Second is in shaped hollow round table from lock unit, and its upper end is fixedly linked from the lower end of lock unit with described first, and inwall is provided with spiral shell
Stricture of vagina.
As shown in figure 11, the live spindle is in hollow cylindrical, has a diameter larger than the diameter of second lock cell,
Lower end is connected with the output shaft of the electromotor, is uniformly provided with some described certainly with self-locking card one-to-one corresponding, confession on cylinder
The through hole that pintle hook lock is passed through.
As shown in Figure 12 and Figure 13, the outer face of the self-locking card is in the arc for matching from lock unit inwall with described second
Face, and the cambered surface of outer face is provided with and the described second screw thread that screw thread matches from lock unit inwall；The inner of self-locking card
Bread is matched containing the longitudinally locked end face for being matched with the first lock cell outer wall and with the second lock cell outer wall
The lateral locking end face of conjunction, the lateral locking end face is provided with the latch recess for matching with the locking projections.
As shown in Fig. 5 Figure 14, the axle body of the propeller hub main shaft partially passes through self-locking ring, lock part and stretches into live spindle
In, the limited impression of spacing preiection on propeller hub main shaft axle body part with self-locking ring first from lock unit inwall is corresponded joins
Close；The second of the self-locking ring is socketed in live spindle from lock unit；The self-locking card passes through its corresponding through hole, outer face
Fit from the inwall of lock unit with the self-locking ring second, inner face is fitted with the propeller hub main shaft；The rotating ring is fixed on institute
State in live spindle；First hydraulic push rod, the equal one end of the second hydraulic push rod are fixedly linked with the rotating ring, the other end and institute
State propeller hub to be fixedly linked, for adjusting the height of the propeller hub.
Two panels blade is separately positioned on the both sides of propeller hub, and its root is all twisted by level, vertical strand, displacement are twisted with propeller hub even
Connect.
Become and be always arranged on propeller hub away from module, for adjusting the inclination angle of two panels blade.
Car body upper end is provided with for accommodating propeller hub, two panels blade, change the first cavity always away from module, and rear portion is provided with for holding
Receive the second cavity of the horizontal power module, two front-wheels are arranged on car body as driven pulley, and horizontal power module includes
Two horizontal power units.
As shown in figs. 21 and 22, horizontal power unit is comprising ducted fan trailing wheel, connecting pipe, tee pipe fitting, folding tooth
Wheel, folding motor, motor module and drive mechanism；Wherein Figure 21 is state during flight, and Figure 22 is state during ground.
As shown in figure 26, ducted fan trailing wheel is spoke wheel, and its spoke is all in paddle-like, composition ducted fan, duct wheel
Hub is constrained by tire, and there is fan support inside.
As shown in figure 23, tee pipe fitting is in T font, comprising galianconism that is long-armed and being arranged on long-armed centre；Galianconism and culvert
The stator of road fan rear-wheel hub is fixedly linked by connecting pipe；Long-armed be vertically arranged, hinged with car body, with long-armed can be
Axle is horizontally rotated around car body.
As shown in figure 24, it is circumferentially with along which on the outer wall of tee pipe fitting and folds the tooth bar that gear matches；Fold tooth
Wheel is engaged with the tooth bar on tee pipe fitting outer wall, and input shaft is connected with the output shaft of the folding motor being arranged on car body.
Folding motor is used for controlling tee pipe fitting to horizontally rotate so that ducted fan trailing wheel takes in the second cavity as driving
Ducted fan when the trailing wheel of ground run is used or is deployed into outside the second cavity as driving flight in the air is used；Transmission
Mechanism via tee pipe fitting and connecting pipe, the connection output shaft of motor module and the rotor of ducted fan rear-wheel hub,
For by the power output of motor module to ducted fan trailing wheel.
Control module respectively with electromotor, the first hydraulic push rod, the second hydraulic push rod, two horizontal power units folding
Motor, the motor module of two horizontal power units are connected, for controlling electromotor, the first hydraulic push rod, the second hydraulic pressure
Push rod, the motor module work for folding motor and two horizontal power units of two horizontal power units.
Drive mechanism can be via single travelling gear input power to ducted fan trailing wheel, or symmetrical two
Travelling gear is stretched into from the long-armed two ends of tee pipe fitting, when drive mechanism via single travelling gear input power to ducted fan
During trailing wheel, now motor module only needs to a motor, and works as drive mechanism using as shown in figure 25 symmetrical
When two travelling gears are stretched into from the long-armed two ends of tee pipe fitting, now, motor module needs two motors.
The quantity of the spacing preiection on the propeller hub main shaft axle body part is preferentially set to 4, the section shape of spacing preiection
Shape is preferentially set to trapezoidal.
The quantity of the self-locking card is preferentially set to 4.
As shown in figs, become always away from module comprising bending moment support arm, displacement motor, threaded rod and two pull bars.
As shown in figure 17, bending moment support arm connection two ends are flexibly connected with one end of two pull bars, in the circular hole that middle part is arranged
Wall is engaged with threaded rod.
As shown in figure 18, displacement motor is electrically connected with control module, and its output shaft is vertically arranged and is fixed with threaded rod
It is connected；, motor is supported on propeller hub top by support, keeps geo-stationary position such as Figure 16, and outfan is connected with threaded rod, spiral shell
Rasp bar is used for connecting displacement motor output shaft and the motion thread hole in the middle of bending moment support arm.
As shown in figure 19, bending moment support arm is in strip, and its center is provided with circular hole, is provided with the spiral shell for being matched with threaded rod in circular hole
Stricture of vagina.
As shown in figure 20, one end of two pull bars is flexibly connected with the two ends of bending moment support arm respectively, the other end respectively with two
The displacement of piece propeller shank twists corresponding flexible connection, such as Figure 16.
As shown in figure 27, the hub outside surface of ducted fan trailing wheel can be uniformly arranged some magnetic suspension superconductors, magnetcisuspension
Inner duct wheel hub and outer tire cleverly can be linked together by floating superconductor, can load, again can be to greatest extent
Reduce friction.
The invention also discloses a kind of control method based on the retractable land and air double-used driving of the rotor, comprising following step
Suddenly：
When driving needs flight in the air：
Step 1）, control module control driven by engine live spindle reversion so that self-locking ring second is from the spiral shell of lock unit inwall
Stricture of vagina is in non-engagement state with the screw thread of self-locking card outer face, and now locking ring is in released state；
Step 2）, control module controls the first hydraulic push rod, the second hydraulic push rod to be extended to default first length threshold,
Propeller hub rising is promoted, and then drives propeller hub main shaft that default first height threshold is risen to, now, self-locking card and propeller hub main shaft
Lock part is in sustained height；
Step 3）, the positive work of control module control driven by engine live spindle, now, self-locking ring second is from lock unit inwall
The screw thread of screw thread and self-locking card outer face be in engagement, self-locking ring forces self-locking card to compress inwardly so that self-locking card is indulged
Fit tightly to locking end face and the outer wall of the first lock cell of propeller hub main shaft, the latch recess on self-locking card lateral locking end face
Match with corresponding locking projections on propeller hub main shaft the second lock cell outer wall, complete lock out action；
Step 4）, the folding motor work of control module two horizontal power units of control, drive two ducted fan trailing wheel exhibitions
Reach and use as ducted fan outside the second cavity；
When driving needs in ground run constantly：
Step A）, control module control live spindle reversion so that self-locking ring second is from screw thread and the self-locking card of lock unit inwall
The screw thread of outer face is in non-engagement state, and now locking ring is in released state；
Step B）, control module controls the first hydraulic push rod, the second hydraulic push rod to carry out being contracted to default second length threshold,
Propeller hub decline is driven, and then drives propeller hub main shaft to drop to default second height threshold, now, the lock part of propeller hub main shaft
All it is contracted in the live spindle with axle body part, propeller hub, two panels blade, change are always received to first cavity away from module
Interior；
Step C）, the folding motor work of control module two horizontal power units of control, drive two ducted fan trailing wheels foldings
It is laminated in the second cavity of car body, uses as common wheel.
The invention also discloses the blade based on the retractable land and air double-used driving of the rotor is always away from control method, its feature
It is, comprises the steps of：
When need increase blade always away from when：
Control module control displacement motor work, drives threaded rod to rotate and then bending moment support arm is moved downward, two pull bars
Follow and move downward, drive the displacement of two panels propeller shank to twist and rotate towards the direction that pitch increases, increase the inclination of two panels blade
Angle；
When need reduce blade always away from when：
Control module control displacement motor work, drives threaded rod to rotate and then bending moment support arm is moved upwards, two pull bars
Follow and move upwards, drive the displacement of two panels propeller shank to twist and rotate towards the direction that pitch reduces, reduce the inclination of two panels blade
Angle.
During flight, control module control electromotor is to mast output power and drive shaft rotates, while control
The power drive motor module output power of module control horizontal power module, makes starting fan in ducted fan trailing wheel.At this moment
The winged control signal of control module is issued to blade always away from displacement motor so that the certain angle of blade upset so as to ensure to provide
The lift of needs, driving is liftoff, and a horizontal power unit provides reaction torque, and the folding motor task driven on car body is separately one
Along its circumferential tooth bar on the outer wall of tee pipe fitting in individual horizontal power unit；So that ducted fan trailing wheel is long-armed with tee pipe fitting
Turned on one's side around car body level backward for axle and turn 90 degrees, now fan main axis parallel direction of advance on the car, two wheels exchange role, separately
One ducted fan trailing wheel verts backward.Until pose adjustment well starts well to provide thrust.By control two in flight course
The power of individual duct wheel, it is differential to carry out power, makes two duct wheels provide pulling force in different size, changes vehicle convertible into aircraft
State, realize the flight of driving any attitude.
Those skilled in the art of the present technique it is understood that unless otherwise defined, all terms used herein（Including skill
Art term and scientific terminology）The general understanding identical meaning having with the those of ordinary skill in art of the present invention.Also
It should be understood that those terms defined in such as general dictionary should be understood that have with the context of prior art in
The consistent meaning of meaning, and unless defined as here, will not be explained with idealization or excessively formal implication.
Above-described specific embodiment, has been carried out to the purpose of the present invention, technical scheme and beneficial effect further
Describe in detail, the specific embodiment that the foregoing is only the present invention is should be understood that, is not limited to this
Bright, all any modification, equivalent substitution and improvement that within the spirit and principles in the present invention, is done etc., should be included in the present invention
Protection domain within.
Claims (8)
1. the retractable land and air double-used driving of a kind of rotor, it is characterised in that comprising car body, electromotor, rotor module, become always away from
Module, two front-wheels, horizontal power module and control module；
The electromotor is arranged in car body, for exporting power to the rotor module；
The rotor module comprising propeller hub, two panels blade, propeller hub main shaft, live spindle, rotating ring, the first to the second hydraulic push rod,
Self-locking ring and at least two self-locking cards；
The propeller hub main shaft comprising coupling part, axle body part and lock part, wherein, axle body part upper end and connecting portion
Point it is fixedly linked, lower end and lock part are fixedly linked；
The upper end of the propeller hub bottom and the propeller hub main shaft coupling part is fixedly linked；
Some spacing preiections are uniformly provided with the outer wall of the axle body part of the propeller hub main shaft, the spacing preiection is linearly,
Diameter parallel with the propeller hub main shaft；
The lock part of the propeller hub main shaft is comprising the first lock cell and the second lock cell, and wherein, the first lock cell is in
Round table-like, its upper surface is fixedly linked with the lower end of propeller hub main shaft axle body part；Second lock cell is cylindrical, its upper surface
It is fixedly linked with the first lock cell lower surface；The diameter of the first lock cell upper surface and propeller hub main shaft axle body part
Diameter is identical, lower surface is identical with the diameter of the second lock cell；
It is uniformly provided with the outer wall of second lock cell some with the one-to-one locking projections of the self-locking card, the lock
Fixed raised linearly, with the propeller hub main shaft diameter parallel；
The self-locking ring is comprising first from lock unit and second from lock unit, and wherein, described first is in hollow cylinder from lock unit
Shape, its inwall is provided with some with the one-to-one limited impression of the spacing preiection；Described second is in open circles from lock unit
Mesa-shaped, its upper end is fixedly linked from the lower end of lock unit with described first, and inwall is provided with screw thread；
The live spindle is arranged in car body, in hollow cylindrical, has a diameter larger than the diameter of second lock cell, under
End is connected with the output shaft of the electromotor, is uniformly provided with and some correspond with the self-locking card, supply the self-locking on cylinder
Block through through hole；
The outer face of the self-locking card is in the cambered surface for matching from lock unit inwall with described second, and sets in the cambered surface of outer face
Have and the described second screw thread that screw thread matches from lock unit inwall；The inner face of self-locking card includes single with the described first locking
Longitudinally locked end face and the lateral locking end face for matching with the second lock cell outer wall that first outer wall matches, the horizontal stroke
The latch recess for matching with the locking projections is provided with to locking end face；
The axle body of the propeller hub main shaft partially passes through self-locking ring, lock part and stretches in live spindle, propeller hub main shaft axle body part
On spacing preiection limited impression from lock unit inwall is corresponded and is coordinated with self-locking ring first；The second of the self-locking ring
It is socketed in live spindle from lock unit；The self-locking card passes through its corresponding through hole, and outer face is with the self-locking ring second certainly
The inwall laminating of lock unit, inner face is fitted with the propeller hub main shaft；
The rotating ring is fixed in the live spindle；
First hydraulic push rod, the equal one end of the second hydraulic push rod are fixedly linked with the rotating ring, and the other end is solid with the propeller hub
Fixed connected, for adjusting the height of the propeller hub；
The two panels blade is separately positioned on the both sides of propeller hub, and its root is all twisted by level, vertical strand, displacement are twisted with propeller hub even
Connect；
The change is always arranged on propeller hub away from module, for adjusting the inclination angle of two panels blade；
The car body upper end is provided with for accommodating propeller hub, two panels blade, change the first cavity always away from module, and rear portion is provided with for holding
Receive the second cavity of the horizontal power module；
Described two front-wheels are arranged on car body as driven pulley, and the horizontal power module includes two horizontal power units；
The horizontal power unit is comprising ducted fan trailing wheel, connecting pipe, tee pipe fitting, folding gear, folding motor, driving
Motor module and drive mechanism；
The ducted fan trailing wheel is spoke wheel, and its spoke is all in paddle-like, composition ducted fan；
The tee pipe fitting is in T font, comprising galianconism that is long-armed and being arranged on long-armed centre；After the galianconism and ducted fan
The stator of wheel wheel hub is fixedly linked by the connecting pipe；Described long-armed be vertically arranged, hinged with car body, with long-armed can be
Axle is horizontally rotated around car body；
It is circumferentially with along which on the outer wall of the tee pipe fitting and folds, with described, the tooth bar that gear matches；Described folding gear with
Tooth bar engagement on the tee pipe fitting outer wall, and input shaft and the output shaft phase for folding motor being arranged on car body
Even；
The folding motor is used for controlling the tee pipe fitting to horizontally rotate so that ducted fan trailing wheel takes in second cavity
As duct of the driving when the trailing wheel of ground run is used or is deployed into outside second cavity as driving flight in the air
Fan is used；
The drive mechanism is via the tee pipe fitting and connecting pipe, the output shaft for connecting the motor module and duct
The rotor of fan rear-wheel hub, for by the power output of motor module to ducted fan trailing wheel；
The control module respectively with electromotor, the first hydraulic push rod, the second hydraulic push rod, two horizontal power units folding
Motor, the motor module of two horizontal power units are connected, for controlling electromotor, the first hydraulic push rod, the second hydraulic pressure
Push rod, the motor module work for folding motor and two horizontal power units of two horizontal power units.
2. the retractable land and air double-used driving of rotor according to claim 1, it is characterised in that the change is always away from module bag
Support arm containing bending moment, displacement motor, threaded rod and two pull bars；
The displacement motor is arranged on the propeller hub top, is electrically connected with the control module, and its output shaft be vertically arranged,
It is fixedly linked with the threaded rod；
The bending moment support arm is in strip, and its center is provided with circular hole, is provided with the screw thread for being matched with the threaded rod in the circular hole；
The threaded rod is threadeded through the circular hole at the bending moment support arm center with which；
One end of described two pull bars is flexibly connected with the two ends of the bending moment support arm respectively, the other end respectively with the two panels oar
The displacement of blade root twists corresponding flexible connection.
3. the retractable land and air double-used driving of rotor according to claim 1, it is characterised in that the ducted fan trailing wheel
Hub outside surface be uniformly provided with some magnetic suspension superconductors.
4. the retractable land and air double-used driving of rotor according to claim 1, it is characterised in that the propeller hub main shaft axle body
The quantity of the spacing preiection on part is 4.
5. the retractable land and air double-used driving of rotor according to claim 1, it is characterised in that the propeller hub main shaft axle body
The cross sectional shape of the spacing preiection on part is trapezoidal.
6. the retractable land and air double-used driving of rotor according to claim 1, it is characterised in that the quantity of the self-locking card
For 4.
7. the control method based on the retractable land and air double-used driving of rotor described in claim 1, it is characterised in that comprising with
Lower step：
When driving needs flight in the air：
Step 1）, control module control driven by engine live spindle reversion so that self-locking ring second is from the spiral shell of lock unit inwall
Stricture of vagina is in non-engagement state with the screw thread of self-locking card outer face, and now locking ring is in released state；
Step 2）, control module controls the first hydraulic push rod, the second hydraulic push rod to be extended to default first length threshold,
Propeller hub rising is promoted, and then drives propeller hub main shaft that default first height threshold is risen to, now, self-locking card and propeller hub main shaft
Lock part is in sustained height；
Step 3）, the positive work of control module control driven by engine live spindle, now, self-locking ring second is from lock unit inwall
The screw thread of screw thread and self-locking card outer face be in engagement, self-locking ring forces self-locking card to compress inwardly so that self-locking card is indulged
Fit tightly to locking end face and the outer wall of the first lock cell of propeller hub main shaft, the latch recess on self-locking card lateral locking end face
Match with corresponding locking projections on propeller hub main shaft the second lock cell outer wall, complete lock out action；
Step 4）, the folding motor work of control module two horizontal power units of control, drive two ducted fan trailing wheel exhibitions
Reach and use as ducted fan outside the second cavity；
When driving needs in ground run constantly：
Step A）, control module control live spindle reversion so that self-locking ring second is from screw thread and the self-locking card of lock unit inwall
The screw thread of outer face is in non-engagement state, and now locking ring is in released state；
Step B）, control module controls the first hydraulic push rod, the second hydraulic push rod to carry out being contracted to default second length threshold,
Propeller hub decline is driven, and then drives propeller hub main shaft to drop to default second height threshold, now, the lock part of propeller hub main shaft
All it is contracted in the live spindle with axle body part, propeller hub, two panels blade, change are always received to first cavity away from module
Interior；
Step C）, the folding motor work of control module two horizontal power units of control, drive two ducted fan trailing wheels foldings
It is laminated in the second cavity of car body, uses as common wheel.
8. the blade based on the retractable land and air double-used driving of rotor described in claim 2 is always away from control method, and its feature exists
In comprising the steps of：
When need increase blade always away from when：
Control module control displacement motor work, drives threaded rod to rotate and then bending moment support arm is moved downward so that two
Pull bar is followed and is moved downward, and is driven the displacement of two panels propeller shank to twist and is rotated towards the direction that pitch increases, increases two panels blade
Inclination angle；
When need reduce blade always away from when：
Control module control displacement motor work, drives threaded rod to rotate and then bending moment support arm is moved upwards so that two
Pull bar is followed and is moved upwards, is driven the displacement of two panels propeller shank to twist and is rotated towards the direction that pitch reduces, reduces two panels blade
Inclination angle.
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| CN201610908306.6A CN106427438B (en) | 2016-10-18 | 2016-10-18 | A kind of retractable land and air double-used driving of rotor and its control method |
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| CN201610908306.6A CN106427438B (en) | 2016-10-18 | 2016-10-18 | A kind of retractable land and air double-used driving of rotor and its control method |
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| CN108438210A (en) * | 2017-12-07 | 2018-08-24 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of piston aviation engine Propeller variable pitch method |
| CN110001930A (en) * | 2019-03-28 | 2019-07-12 | 蔡闯 | A kind of wheel paddle assembly of propeller and the aircraft automobile using the propeller |
| CN110450589A (en) * | 2019-09-16 | 2019-11-15 | *** | A kind of flight instruments |
| CN111907274A (en) * | 2020-07-22 | 2020-11-10 | 淮阴工学院 | Duct fan opening and closing device and using method thereof |
| CN112591083A (en) * | 2020-12-25 | 2021-04-02 | 中国直升机设计研究所 | Folding collection rectification structure of paddle |
| CN114043831A (en) * | 2021-11-01 | 2022-02-15 | 广东汇天航空航天科技有限公司 | Flying car |
| CN114889378A (en) * | 2022-06-01 | 2022-08-12 | 佛山市神风航空科技有限公司 | Air-ground dual-purpose aerocar |
| CN115123539A (en) * | 2021-03-25 | 2022-09-30 | 南京航空航天大学 | Helicopter magnetic suspension electric tail rotor |
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| CN114889378A (en) * | 2022-06-01 | 2022-08-12 | 佛山市神风航空科技有限公司 | Air-ground dual-purpose aerocar |
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| CN106427438B (en) | 2018-10-16 |
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