CN108621728A - A kind of hovercar center of gravity automatic regulating system and method and hovercar - Google Patents
A kind of hovercar center of gravity automatic regulating system and method and hovercar Download PDFInfo
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- CN108621728A CN108621728A CN201810617771.3A CN201810617771A CN108621728A CN 108621728 A CN108621728 A CN 108621728A CN 201810617771 A CN201810617771 A CN 201810617771A CN 108621728 A CN108621728 A CN 108621728A
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- 230000005484 gravity Effects 0.000 title claims abstract description 85
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Classifications
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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
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C5/00—Stabilising surfaces
- B64C5/10—Stabilising surfaces adjustable
- B64C5/12—Stabilising surfaces adjustable for retraction against or within fuselage or nacelle
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a kind of hovercar center of gravity automatic regulating system and method and hovercars, including center of gravity detecting system, homophony system and micro-tensioning system.Homophony system is located at vehicle right and left both sides, including the front wing in vehicle body main body close to lower part is arranged, with the rear wing in automobile frame close to top is set, the front wing and rear wing it is equal there are two, and it is symmetrical to prolong automobile direction of advance, it is rotated by front wing and rear wing, changes its sweep angle with vehicle body main body to adjust centre of gravity of vehicle；Micro-tensioning system is located at vehicle body body tail section, including the telescopic empennage mechanism in tail portion, by the empennage mechanism that stretches, the stop place of empennage mechanism is controlled, to adjust centre of gravity of vehicle.
Description
Technical field
The present invention relates to a kind of hovercar center of gravity automatic regulating system and method and hovercars, belong to hovercar skill
Art field.
Background technology
The existing hovercar scheme in the world wouldn't have the function of changing adjustment center of gravity front and back position according to car load.
Only center of gravity adjusting is the positioning of real-time three-dimensional center of gravity, the sensing determination system of automotive system Three-Dimensional Dynamic center of gravity now
System and algorithm, principle are by the height sensor system and spring damper system on four wheel suspensions of automobile
In pressure sensor systems cooperate, during motor racing unlimited automatic measurement with calculating motor racing process work as
In real-time three-dimensional center of gravity positioning.The unlimited number of dynamic realtime is needed to measure, it is in practical applications and impracticable, it is empty to occupy operation
Between, the data provided have no reference value.
Invention content
Above-mentioned in order to solve the problems, such as, the invention discloses a kind of hovercar center of gravity automatic regulating system and methods
And hovercar, specific technical solution are as follows：
A kind of hovercar center of gravity automatic regulating system, including：
Center of gravity detecting system：Including the sensor-based system in vehicle body main body is arranged, the sensor-based system can be analyzed to obtain
The center of gravity of hovercar；
Homophony system at left and right sides of vehicle body main body：Including being arranged the front wing in vehicle body main body close to lower part, and setting exists
Automobile frame close to top rear wing, the front wing and rear wing it is equal there are two, and it is symmetrical to prolong automobile direction of advance, by front wing and
Rear wing rotates, and changes its sweep angle with vehicle body main body to adjust centre of gravity of vehicle；
The micro-tensioning system of vehicle body body tail section：Control is passed through by the empennage mechanism that stretches including the telescopic empennage mechanism in tail portion
The stop place of empennage mechanism processed, to adjust centre of gravity of vehicle.Empennage telescoping mechanism is realized using telescopic hydraulic cylinder mechanism, is advanced
When, fluid enters most thick level-one cylinder barrel, and thick cylinder advances；When reaching the top, thin cylinder can be pushed to move on.When retreating, oil
Road is commutated, and the check valve between thick and thin cylinder oil circuit is opened so that thin cylinder is first retracted.
The front wing is provided with preceding rotor close to its end, and rear wing is provided with rear rotor close to its end.
The front wing setting, close to lower edge position, is located at front vehicle wheel rear in vehicle body main body；
The rear wing setting is in vehicle body main body close to roof location, close automobile tail；
The head end of two front wings is oppositely arranged, and is located in vehicle body main body, and front wing can surround the end towards car tail
Portion rotates horizontally, and two front wing synchronous rotaries enter in vehicle body main body, it is adjacent side by side, and it is reversed again rotate horizontally, front wing
After end screws out vehicle body main body, it is in the position of arbitrary sweep angle that front wing, which can be rested on vehicle body main body,；
The head end of two rear wings is oppositely arranged, and is located in vehicle body main body, and rear wing can surround the end towards vehicle head
Portion rotates horizontally, and two rear wing synchronous rotaries enter in vehicle body main body, it is adjacent side by side, and it is reversed again rotate horizontally, rear wing
After end screws out vehicle body main body, it is in the position of arbitrary acute angle sweep angle that rear wing, which can be rested on vehicle body main body,.
The empennage mechanism includes：
Lower foot piece：Lower foot piece can be reached towards automobile rear outside car body from vehicle body main body, and be retracted into vehicle body
In main body；
Anti-torque rotor：It is set to the lower section of lower foot piece, generation air-flow can be rotated, upward liter is provided to hovercar
Power；
Vertical fin：The stretching end of lower foot piece is provided with vertical fin, and the vertical fin straight up, or towards automobile rear inclines
Tiltedly；
Horizontal tail：Horizontal tail is arranged at the top of vertical fin, and horizontal tail is horizontally disposed, and when foot piece is withdrawn instantly, horizontal tail is tightly attached to automobile
Tail portion plays the role of determining wind empennage.
When hovercar needs flight, lower foot piece stretches out, anti-torque rotor high speed rotation, provides and is flown upwards to automobile
Boosting power, the main control direction of vertical fin.When hovercar regards general-utility car on the ground when driving, anti-torque rotor can be shunk
Into vehicle body main body, horizontal tail regard automobile empennage, play the role of the above-mentioned vehicle top tail of the peak wing simultaneously automobile tail fin stretch
Also function to the effect of fine adjustment center of gravity.
The head end center of each front wing is vertically installed with front wing fixing axle, and the head end of two front wings is horizontally disposed
There is front wing fluted disc, the center of front wing fixing axle circle where front wing fluted disc, front wing fixing axle is fixed with front wing fluted disc to be connected
It connects, two front wing fluted disc engagement contacts, one of front wing fluted disc engages connection, the center of the front wing gear with front wing gear
Axis connection has the drive shaft of front wing motor；
The head end center of each rear wing is vertically installed with rear wing fixing axle, and the head end of two rear wings is horizontally disposed
There is rear wing fluted disc, the center of rear wing fixing axle circle where rear wing fluted disc, rear wing fixing axle is fixed with rear wing fluted disc to be connected
It connects, two rear wing fluted disc engagement contacts, one of rear wing fluted disc engages connection, the center of the rear wing gear with rear wing gear
Axis connection has the drive shaft of rear wing motor.
The front wing fluted disc selects fan-shaped front wing fluted disc, and the fan-shaped aperture of the sector front wing fluted disc is more than semicircle, described
The end set of fan-shaped front wing fluted disc has the supporting rod for being connected to front wing fixing axle, when two front wing collapsed side-by-sides are in vehicle body main body
When interior, the center of the fan-shaped cambered surface of two front wing fluted discs is opposite to engage,；
The rear wing fluted disc selects fan-shaped rear wing fluted disc, and the fan-shaped aperture of the sector rear wing fluted disc is more than semicircle, described
The end set of fan-shaped rear wing fluted disc has the supporting rod for being connected to rear wing fixing axle, when two rear wing collapsed side-by-sides are in vehicle body main body
When interior, the center of the fan-shaped cambered surface of two rear wing fluted discs is opposite to engage,.
Above-mentioned center of gravity is arranged certainly in a kind of hovercar of center of gravity automatic adjustment, including vehicle body main body, the vehicle body main body
Dynamic regulating system；
The vehicle body main body is provided with the front wing chamber for accommodating front wing close to its bottom, before the front wing can surround it
End is rotated into front wing chamber,
The vehicle body main body is provided with the rear wing chamber for accommodating rear wing close to its top, before the rear wing can surround it
End rotates into rear wing chamber；
The tail portion of the vehicle body main body is provided with the empennage chamber for accommodating empennage mechanism.
The front wing motor and rear wing motor are centrosymmetric arrangement along the center of vehicle body main body.
The upper and lower ends of the front wing fixing axle are arranged with front wing bearing, and the bearing block of front wing bearing is fixed on vehicle
Corresponding position in body main body,
The upper and lower ends of the rear wing fixing axle are arranged with rear wing bearing, and the bearing block of rear wing bearing is fixed on vehicle
Corresponding position in body main body.
The empennage chamber includes half chamber of anti-torque rotor chamber, vertical fin chamber and horizontal tail；
The anti-torque rotor chamber is located at automobile tail close to lower position, and half chamber of the horizontal tail is located at position at the top of automobile tail
It sets, the vertical fin chamber is located in the longitudinal central axis line of automobile tail, and is connected to anti-torque rotor chamber and half chamber of horizontal tail.
After the horizontal tail is recovered in half chamber of horizontal tail, the side of horizontal tail towards car body is inserted into half chamber of horizontal tail, another
Side is exposed at outside car body, determines wind empennage as automobile；
When retracted mode, lower foot piece and anti-torque rotor are fully retracted in anti-torque rotor chamber, and vertical fin is completely into vertical fin
In chamber；
The lower edge of half chamber of the horizontal tail is equipped with the platform extended towards automobile tail, when horizontal tail lower surface is contradicted described
On platform.
A kind of hovercar center of gravity Automatic adjustment method, including following operating procedure：
Step 1：Measure state of flight center of gravity：When the homophony system and micro-tensioning system of hovercar are unfolded, member and load
After lotus determines, vehicle body main body is by center of gravity detecting system automatic measurement on four wheels and calculates to obtain center of gravity institute under state of flight
In position；
Step 2：Calculate eccentricity：By vehicle body main body static state gravity plane compared with the standard gravity plane of hovercar,
Obtain the two eccentricity；
Step 3：Calculate adjusting parameter：The sweep angle and empennage mechanism calculated between front wing, rear wing and vehicle body main body is stretched
Go out length；
Step 4：Adjust state of flight center of gravity：Front wing, rear wing are adjusted to the sweep angle position of step 3 calculating, and empennage mechanism is stretched
Go out the length of step 3 calculating；
Step 5：Measure the state of flight center of gravity of hovercar again, if the eccentricity that is calculated of step 2 eliminate or
Less than allowable offset away from then terminating, if the eccentricity that is calculated of step 2 is more than allowable offset away from carrying out step 3 and 4；
Step 6：Circulation step 5, until eccentricity is eliminated or less than allowable offset away from end.
The present invention measuring principle and adjustment principle be：
According to member, the loading combination of luggage and the different situations of position, sensor-based system includes the height positioned at four wheels
Sensor and pressure sensor are spent, with seat occupancy sensor inside hovercar, luggage compartment take sensor, sensor-based system is certainly
Dynamic to measure and transfer signals to chassis control unit (ECU), the preset algorithm as built in control unit calculates whole band load
The static state axial gravity plane position of car body.
Static gravity plane position signal is transferred to flight system control unit by chassis control unit by communication bus,
And by flight system control unit for the purpose of eliminating the eccentricity between ideal flight gravity plane and static gravity plane, from
It is dynamic to be calculated, and the adjustment of wing sweep angle and the flexible command signal adjusted of foot piece are exported by communication bus.
It is automatically adjusted by wing rotary actuator and the flexible executing agency of foot piece.
The beneficial effects of the invention are as follows：
After member and load determine, body is by sensor-based system automatic measurement on four wheels and static state is calculated
The front and back position of gravity plane；Automatically automatic comparison is carried out with longitudinal front and back position of design standard gravity plane needed for flight to obtain
Go out eccentricity；Adjusting parameter (master) and foot piece empennage mechanism axis needed for the automatic wing sweep angle for calculating front and back twin shaft distribution
To negative direction extension elongation adjusting parameter (auxiliary)；Carry out the adjusting (master) of wing sweep angle automatically by wing rotation and detent mechanism,
Length adjustment and positioning (auxiliary) are carried out by foot piece empennage telescoping mechanism automatically；It realizes before take off and static center of gravity and flight is set
The heart is counted weight, compensates and eliminates as much as the eccentricity between static center of gravity gravity plane and Flight Design gravity plane；Finally make
It obtains entire body before take off, is automatically adjusted car body gravity plane relevant parameter in the front-back direction, to meet flight
Demand.
The present invention is not related to center of gravity three-dimensional localization, pertains only to the single dimension positioning of longitudinal center of gravity plane；It is real dynamic is not related to
When unlimited number measure, pertain only to the stable state unitary determination under static state；It measures more efficient.
Description of the drawings
Fig. 1 is the state of flight figure of the present invention in actual use；
Fig. 2 is the state of flight vertical view of the present invention in actual use；
Fig. 3 is the state of flight side view of the present invention in actual use；
Fig. 4 be the present invention land face when driving, the state diagram that aviation mechanism is withdrawn；
Tail portion vertical view when Fig. 5 is hovercar state of flight of the present invention；
Fig. 6 is the tail portion front view of state of flight in actual use of the invention；
Tail portion view when Fig. 7 is state of flight in actual use of the invention；
Fig. 8 is the view that protective cover of the present invention covers on boost motor；
Fig. 9 is the state diagram of front wing of the present invention being recovered in vehicle body main body；
Figure 10 is the state diagram of front wing Unscrew of the present invention；
Figure 11 is the state diagram that rear wing of the present invention is recovered in vehicle body main body；
The partial enlarged view of its junction when Figure 12 is rear wing Unscrew of the present invention；
Reference numerals list：1-vehicle body main body, 2-rear wings, 3-rear rotors, 4-rotation paddles, 41-rotation paddle shafts, 42-paddles
Leaf, 5-horizontal tails, 51-horizontal tail stabilizations, 52-horizontal tail elevators, 6-vertical fins, 61-vertical fin stabilizations, 62-vertical fin directions
Rudder, 7-lower foot pieces, 8-anti-torque rotors, 9-front wings, 10-preceding rotors, 11-rear wing chambers, 12-front wing chambers, 13-head rods,
14-head rotors, 15-front wing fluted discs, 16-front wing gears, 17-rear wing fluted discs, 18-rear wing gears, 19-motors,
20-protective covers, 21-front wing fixing axles, 22-supporting rods, 23-rear wing fixing axles, 24-Telescopic-cylinder bars, the rotation of 25-tail portions
Wing chamber, 26-vertical fin chambers, 27-horizontal tail, half chamber.
Specific implementation mode
With reference to the accompanying drawings and detailed description, the present invention is furture elucidated.It should be understood that following specific implementation modes are only
For illustrating the present invention rather than limiting the scope of the invention.
" preceding " alleged by the present invention refers to direction of advance when hovercar normally travel or flight, otherwise is " rear "；
When "upper" alleged by the present invention refers to hovercar normally travel or flight, it is located at the vertical direction of hovercar
Top is "upper", otherwise is "lower".
Fig. 2 is the adjustment process schematic of the present invention, and dotted line indicates the position of front wing or rear wing movement, this flight vapour in figure
Car weight heart automatic regulating system, front wing and rear wing by vehicle body main body both sides are the homophony system of centre of gravity of vehicle, automobile tail
Flexible empennage mechanism be centre of gravity of vehicle micro-tensioning system.
The vehicle body of the automobile is provided with the front wing chamber for accommodating front wing, and the empennage chamber for accommodating empennage, described
Front wing can be rotated into front wing chamber, and the rear wing can rotate into rear wing chamber.
The front wing is located at vehicular connecting terminal below automobile dress circle, and front wing rotates into front wing towards automobile tail
Intracavitary, the rear wing are located at vehicular connecting terminal above automobile rear position, and rear wing rotates into rear wing chamber towards automobile head
It is interior.
The homophony system of the centre of gravity of vehicle of the present invention is tandem double-vane extension and retraction system, which is set to flight vapour
The both sides of vehicle direction of advance, in conjunction with Fig. 1 and 2 as it can be seen that the system includes：
Two front wings 9：1 both sides of vehicle body main body are symmetrically positioned in, are arranged in vehicle body main body 1 close to lower edge position, before being located at
Wheel rear；
Two rear wings 2：1 both sides of vehicle body main body are symmetrically positioned in, setting is in vehicle body main body 1 close to roof location, close automobile
Tail portion；
Two preceding rotors 10：Each front wing 9 is respectively provided with that there are one preceding rotors 10 close to terminal position, and preceding rotor 10 is located at
9 lower section of front wing；
Rotor 3 after two：After each rear wing 2 is respectively provided with close to terminal position there are one rear rotor 3, and rear rotor 3 is located at
2 lower section of the wing.
Referring to Fig. 2, the head end of two front wings 9 is oppositely arranged, and is located in vehicle body main body 1, front wing 9 can surround the end
Rotated horizontally towards automobile tail, two 9 synchronous rotaries of front wing enter in vehicle body main body 1, it is adjacent side by side, and reversed water again
Flat rotation, 9 end of front wing screw out vehicle body main body 1；
Referring to Fig. 2, the head end of two rear wings 2 is oppositely arranged, and is located in vehicle body main body 1, rear wing 2 can surround the end
Rotated horizontally towards automobile head, two 2 synchronous rotaries of rear wing enter in vehicle body main body 1, it is adjacent side by side, and reversed water again
Flat rotation, 2 end of rear wing screw out vehicle body main body 1.
Referring to Fig. 9 and Figure 10, the head end center of each front wing 9 is vertically installed with front wing fixing axle 21, before two
The head end of the wing 9 is horizontally disposed to have front wing fluted disc 15, the center of the front wing fixing axle 21 circle where front wing fluted disc 15 preceding
Wing fixing axle 21 is fixedly connected with front wing fluted disc 15, and two engagement contacts of front wing fluted disc 15, one of front wing fluted disc 15 is with before
The engagement connection of wing gear 16, the central shaft of the front wing gear 16 are connected with the drive shaft of 9 motor of front wing；
Referring to Figure 11 and Figure 12, the head end center of each rear wing 2 is vertically installed with rear wing fixing axle 23, after two
The head end of the wing 2 is horizontally disposed to have rear wing fluted disc 17, the rear wing fixing axle 23 to run through the center of circle where rear wing fluted disc 17, after
Wing fixing axle 23 is fixedly connected with rear wing fluted disc 17, and two engagement contacts of rear wing fluted disc 17, one of rear wing fluted disc 17 is with after
The engagement connection of wing gear 18, the central shaft of the rear wing gear 18 are connected with the drive shaft of 2 motor of rear wing.
Front wing 9 and rear wing 2 rotate synchronously, and start front wing 9, rear wing 2,2 motor of 9 motor of front wing and rear wing every time to realize
Steering it is identical, 9 motor of the front wing is located at the opposite slightly to the right or left of 2 motor of rear wing, be located at vehicle body main body 1 both sides.
The upper and lower ends of the front wing fixing axle 21 are arranged with 9 bearing of front wing, and the bearing block installation of 9 bearing of front wing is fixed
The corresponding position in vehicle body main body 1.
The upper and lower ends of the rear wing fixing axle 23 are arranged with 2 bearing of rear wing, and the bearing block installation of 2 bearing of rear wing is fixed
The corresponding position in vehicle body main body 1.
In order to reduce the weight of front wing fluted disc 15 and rear wing fluted disc 17, the middle part of front wing fluted disc 15 and rear wing fluted disc 17 is engraved
Sky, and corresponding fan-shaped fluted disc is selected, in rotary area, the part fluted disc that will not be used removes for front wing 9 and rear wing 2,
Whole semicircular in shape falls off at semicircular edge in order to prevent, in semicircular marginal stretch point, forms sector structure,
Specially：The front wing fluted disc 15 selects fan-shaped front wing fluted disc 15, the fan-shaped aperture of the sector front wing fluted disc 15 to be more than semicircle,
The end set of the sector front wing fluted disc 15 has the supporting rod 22 for being connected to front wing fixing axle 21, when two front wings 9 are received side by side
When contracting is in vehicle body main body 1, the center of the fan-shaped cambered surface of two front wing fluted discs 15 is opposite to engage, when two front wings 9 screw out outward
When vehicle body main body 1, the center of the fan-shaped cambered surface of two front wing fluted discs 15 is towards automobile tail, the fan-shaped arc of two front wing fluted discs 15
The edge engagement connection in face；
The rear wing fluted disc 17 selects fan-shaped rear wing fluted disc 17, the fan-shaped aperture of the sector rear wing fluted disc 17 to be more than half
The end set of circle, the sector rear wing fluted disc 17 has the supporting rod 22 for being connected to rear wing fixing axle 23, when two rear wings 2 side by side
When being contracted in vehicle body main body 1, the center of the fan-shaped cambered surface of two rear wing fluted discs 17 is opposite to engage, when two rear wings 2 are to outward turning
When going out vehicle body main body 1, the center of the fan-shaped cambered surface of two rear wing fluted discs 17 is towards automobile head, the sector of two rear wing fluted discs 17
The edge engagement connection of cambered surface.
Front wing fluted disc 15 is consistent with the specification of rear wing fluted disc 17, and front wing gear 16 is consistent with the specification of rear wing gear 18, this
When sample, 9 motor of front wing and 2 motor of rear wing are by a switch control, it can realize that front wing 9 is synchronous with 2 rotation angle of rear wing.Front wing
Fluted disc 15 and 17 specification of rear wing fluted disc can not also be identical, as long as so that the revolute that front wing fluted disc 15 and front wing gear 16 form
The revolute formed with rear wing fluted disc 17 and rear wing gear 18 reaches rotation angle synchronization.
The same switch control of parallel connection of 2 motor of 9 motor of the front wing and rear wing, the control switch are set to automobile and drive
It sails on the control panel of room；After starting control switch, the back-out synchronous with rear wing 2 of front wing 9 or precession vehicle body main body 1, the control
Duration occurs for switch setting single execution action, this when a length of duration just completed front wing 9 or rear wing 2 and rotated, the control
Switch setting arbitrary continuation execution action twice is on the contrary, the steering that continuously performs of 9 motor of front wing and 2 motor of rear wing is opposite.It is real
Existing synchronization control.
Referring to Fig. 1 and Fig. 3, vehicle body main body 1 offers front wing chamber 12 close to bottom of frame, and the front wing chamber 12 is for storing
Front wing 9 and preceding rotor 10；
Vehicle body main body 1 offers rear wing chamber 11 at the top of vehicle frame, and the rear wing chamber 11 is for storing rear wing 2 and rear rotor
3。
The head end of two front wings 9 is symmetrically disposed on front wing chamber 12 close to the one end on automobile head, two rear wings 2
Head end be symmetrically disposed on rear wing chamber 11 close to one end of automobile tail.
The micro-tensioning system of the tail portion of the present invention is telescopic empennage mechanism, which is set to hovercar tail portion, in conjunction with
Attached drawing 3,7 and 8 is as it can be seen that the mechanism includes：
Lower foot piece 7：Lower foot piece 7 stretches out at automobile rear, and the lower foot piece 7 is located at automobile and is located at below automobile frame
Position；
Anti-torque rotor 8：It is set to the lower section of lower foot piece 7, generation air-flow can be rotated, upward liter is provided to hovercar
Power；
Vertical fin 6：Vertical fin 6 is located at the stretching end of lower foot piece 7, vertical fin 6 straight up, or towards automobile back sweep to
On；
Horizontal tail 5：Horizontal tail 5 is arranged at the top of vertical fin 6, and horizontal tail 5 is horizontally disposed.
The horizontal tail 5 is in fusiformis shape, including horizontal tail stabilization 51 and horizontal tail elevator 52,51 He of horizontal tail stabilization
Horizontal tail elevator 52 is connected by direction steering engine, horizontal tail stabilization 51 towards automobile, and towards the one side edge of automobile be in circular arc
The free margins of shape, horizontal tail elevator 52 is pointed；
The vertical fin 6 includes vertical fin stabilization 61 and vertical fin rudder 62, the vertical fin stabilization 61 and vertical fin rudder
62 are connected by direction steering engine, and vertical fin 6 is also in fusiformis shape, and the vertical fin 6 is vertical symmetrical structure.61 equal court of vertical fin stabilization
To automobile tail.
The lower end of vertical fin stabilization 61 and the end of lower foot piece 7 are welded and fixed, the upper end of the vertical fin stabilization 61 with it is flat
The center of tail stabilization 51 is fixedly connected.
The tail portion of vehicle body main body 1 is provided with the accommodating chamber mating with telescopic empennage mechanism, the telescopic empennage mechanism
Accommodating chamber can be retracted into.
The accommodating chamber includes half chamber 27 of anti-torque rotor chamber 25, vertical fin chamber 26 and horizontal tail；
The anti-torque rotor chamber 25 is located at automobile tail close to lower position, and half chamber 27 of the horizontal tail is located at automobile tail top
Portion position, the vertical fin chamber 26 are located in the longitudinal central axis line of automobile tail, and are connected to anti-torque rotor chamber 25 and half chamber 27 of horizontal tail.
After the horizontal tail 5 is recovered in half chamber 27 of horizontal tail, horizontal tail stabilization 51 is inserted into half chamber 27 of horizontal tail, horizontal tail liter
Drop rudder 52 be exposed at outside car body, the horizontal tail elevator 52 connect side with horizontal tail stabilization 51 around it and rotates up, as to
Upper inclined automobile tail fin；Lower foot piece 7 and anti-torque rotor are fully retracted in anti-torque rotor chamber 25, vertical fin 6 completely into hang down
In tail chamber 26.The tail portion of hovercar is similar to traditional normal automotive, does not increase the length of hovercar.
Telescopic-cylinder bar 24, the lower foot piece 7 towards the one of anti-torque rotor chamber 25 are provided in the anti-torque rotor chamber 25
End is fixedly connected with Telescopic-cylinder bar 24；Realize that lower foot piece 7 extends and retracts by driving Telescopic-cylinder bar 24.Operation letter
It is single, it is easy to implement.
The controller of the Telescopic-cylinder bar 24 is set on car steering control panel；Controller starting duration is set,
After reaching setting duration, Telescopic-cylinder bar 24 is automatically stopped operation, this when a length of lower tail bar 7 be moved to work from fully retracted state
Make the duration needed for state.The length that lower foot piece 7 extends and retracts every time is set, realization automatically controls.
In order to whole clean and tidy, protection circuit is also prevented from circuit leakage, causes unsightly, the central shaft of the anti-torque rotor
The drive shaft of motor is connected, the power cord of the motor is through in lower foot piece 7, from lower foot piece 7 and 24 connecting pin of Telescopic-cylinder bar
It stretches out, and connects automobile power source, the control button of motor is set on car steering control panel.
As priority, telescopic empennage mechanism one-touch control, the controller of the Telescopic-cylinder bar 24 can also be realized
It is connected with the control button coordinated signals of motor, and merges into a control key, be set on car steering control panel；Setting
Coordinated signals process is：Control key is clicked, controller starts, and after Telescopic-cylinder bar 24 releases lower foot piece 7 in place, controller is disconnected
It opens, Telescopic-cylinder bar 24 stops protracting, startup anti-torque rotor motor, anti-torque rotor rotating operation, when again tapping on control key, tail
Portion's rotor motor is stopped, and Telescopic-cylinder bar 24 is retracted, and lower foot piece 7 is reduced in 7 chamber of lower foot piece, completely into lower tail chamber
In, and horizontal tail 5 is stuck in 5 chamber of horizontal tail, forms empennage, is stopped Telescopic-cylinder bar 24 and is worked.Pass through the telescopic empennage of one-key start
Mechanism is stretched out, and after stretching out in place, starts anti-torque rotor, execution action is coherent, avoids two actions from being separately controlled, in causing
Between having time waste.Retract action is opposite with work is stretched out.
Center of gravity automatic regulating system of the present invention, referring to Fig. 2, wherein there are two front wing 9 and rear wing 2, tables per side for hovercar
Show the motion track of front wing 9 and rear wing 2, the regulating system is by means of the above-mentioned telescopic empennage mechanism of hovercar and tandem
Double-vane extension and retraction system is detected the gravity plane of hovercar by center of gravity detecting system, adjusts the extension elongation of empennage mechanism, preceding
The wing 9 and rear wing 2 and the sweep angle of hovercar carry out center-of-gravity regulating plane, which includes：
Center of gravity detecting system：Including the height in vehicle body main body 1 and pressure capsule system, the height and pressure is arranged
Sensor-based system can be analyzed to obtain the center of gravity of hovercar；
The homophony system of 1 left and right sides of vehicle body main body：Including the above-mentioned front wing 9 being arranged in vehicle body main body 1 close to lower part, and
The rear wing 2 close to top in automobile frame is set, the front wing 9 and rear wing 2 there are two, and it is symmetrical to prolong automobile direction of advance,
It is rotated by front wing 9 and rear wing 2, changes its sweep angle with vehicle body main body 1 to adjust centre of gravity of vehicle；
The micro-tensioning system of 1 tail portion of vehicle body main body：Passed through by the empennage mechanism that stretches including the telescopic empennage mechanism in tail portion
The stop place for controlling empennage mechanism, to adjust centre of gravity of vehicle.
There are two types of the structures of the homophony system of 1 left and right sides of vehicle body main body, a kind of and above-mentioned tandem double-vane folding and unfolding system
The structure of system is identical, also one is being not provided with preceding rotor 10 and rear rotor 3, other and tandem double-vane extension and retraction system structure one
It causes.9 motor of front wing and 2 motor of rear wing are not connected, and are connect respectively with center of gravity detecting system, and front wing 9 and rear wing 2 are independently controlled
Sweep angle between automobile.
The micro-tensioning system of 1 tail portion of vehicle body main body is identical as the telescopic empennage mechanism in above-mentioned tail portion, uses telescopic hydraulic cylinder machine
Structure realizes that empennage telescoping mechanism is flexible, and when advance, fluid enters most thick level-one cylinder barrel, and thick cylinder advances；When reaching the top, can push away
Thin cylinder is moved to move on.When retreating, oil circuit commutation, the check valve between thick and thin cylinder oil circuit is opened so that thin cylinder
First retract.The controller of telescopic hydraulic cylinder is connect with center of gravity detecting system, and according to center of gravity detecting system feedack, adjustment is stretched
The stop place for going out and retracting.
Realize center of gravity Automatic adjustment method, including following operating procedure：
Step 1：Measure state of flight center of gravity：After member and load determine, vehicle body main body 1 is uploaded by four wheels
Sensing system automatic measurement and the position on 1 front-rear direction of vehicle body main body that the static gravity plane of vehicle body main body 1 is calculated；
Step 2：Calculate eccentricity：By the static gravity plane of vehicle body main body 1 compared with the standard gravity plane of hovercar,
Obtain eccentricity of the two in automobile direction of advance；
Step 3：Calculate adjusting parameter：Calculate the sweep angle and empennage machine between front wing 9, rear wing 2 and vehicle body main body 1
Structure extension elongation；
Step 4：The static center of gravity of adjustment：Front wing 9, rear wing 2 are adjusted to the sweep angle position of step 3 calculating, and empennage mechanism stretches out
The length that step 3 calculates；
Step 5：The static center of gravity of hovercar is measured again, if the eccentricity that step 2 is calculated is eliminated or is less than
Allowable offset is away from then terminating, if the eccentricity that is calculated of step 2 is more than allowable offset away from carrying out step 3 and 4；
Step 6：Circulation step 5, until eccentricity is eliminated or less than allowable offset away from end.
In order to improve stability of the hovercar in practical flight, it can be achieved that property, quickly take off, smooth flight and drop
It falls, saves energy consumption, hovercar of the present invention in practical applications, is not only provided with hovercar center of gravity automatic regulating system, also
It is provided with the double paddle tail portion propellers of double hairs and head rotor 14.
Double double paddle tail portion propellers of hair, are set to hovercar tail portion, for providing forward motive force to hovercar,
Referring to Fig. 5, the double paddle tail portion propellers of this pair hair include：
Two motors 19：It is set in automobile close to tail position, two motors 19 are symmetrically positioned in hovercar both sides, often
Platform motor connects a rotation paddle shaft 41, and motor can drive rotation paddle shaft 41 to rotate；
Two groups of rotation paddles 4：41 end of each rotation paddle shaft connects one group of rotation paddle 4, and each paddle shaft of revolving is located at automobile close to both sides
Position, every group of rotation paddle 4 include at least two blades 42.
After blade 42 rotates, two groups of blades 42 do not contact, and rotation paddle shaft 41, in this way can be most close proximity to automobile both sides of the edge
Extend to limits the length of blade 42.42 length of blade and the wind-force that the rotation of blade 42 generates are proportional, wide in hovercar
In the range of degree allows, the boosting power that double double paddle tail portion propellers of hair generate is maximum.
Allow rotation paddle shaft 41 close proximity to automobile both sides of the edge to realize, the propeller shaft sleeve of the motor is equipped with belt pulley,
One end that the rotation paddle shaft 41 is located at automotive interior is also arranged with belt pulley, is tightened on two belt pulleys and is arranged with belt, passed through
Belt drives the parallel rotation paddle shaft being transferred to positioned at automobile edge by motor.This is only a specific implementation means, can also
Be arranged by the drive shaft of the motor and be fixed with driving gear, it is described rotation paddle shaft be arranged be fixed with engaged with driving gear from
The driving force of motor is transferred to the rotation paddle shaft positioned at automobile edge, Huo Zheqi by driving gear and driven gear by moving gear
His means are transferred to the driving of motor is parallel positioned at automobile edge.
One end that each blade 42 is connect with rotation paddle shaft 41 is both provided with the stepped section axially inclined with blade 42,
The stepped section is located at close to 42 axial centre line position of blade, and the stepped section is met to 41 direction of rotation of rotation paddle shaft, platform
42 end of blade is divided into plane on the step lower plane and step for have difference in height by rank section, and rotation paddle shaft 41 runs through all blades
42 step lower plane, and after 42 high speed rotation of blade, under the blocking of corresponding stepped section, blade 42 is along rotation paddle shaft
41 even circumferentials disperse, and after rotary shaft does not rotate, all blades 42 are freely sagging to be hung in rotation paddle shaft 41.
When hovercar flight, motor drives corresponding 4 high speed rotation of rotation paddle, and forward push away is provided to hovercar
Power.
Referring to the rotation paddle of the realization part in Fig. 6, when regarding running car, blade 42 does not rotate, freely sagging, will not give
Running car brings resistance.In order to protect propeller, protective cover 20 on mask, blade 42 are overlapped on it, the body of protective cover 20
Product is small.
Referring to the hovercar head of Fig. 1,2 and 3, head rod 13 is set on hovercar head, the setting of head rotor 14 exists
Head rod 13 is located at the lower section of the outer one end of vehicle, and the end of the direction car of head rod 13 connects a head cylinder, passes through head liquid
Cylinder pressure controls 13 telescopic moving of head rod.Set the motor and head cylinder coordinated signals of head rotor 14, when taking off, head rod
After 13 is fully extended, start the rotation of 14 motor of head rotor, after landing, stops the work of 14 motor of head rotor, restart head
Portion's hydraulic cylinder retracts head rod 13.
The technical means disclosed in the embodiments of the present invention is not limited to the technical means disclosed in the above technical means, and further includes
By the above technical characteristic arbitrarily the formed technical solution of combination.
It is enlightenment with above-mentioned desirable embodiment according to the present invention, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to determine its technical scope according to right.
Claims (10)
1. a kind of hovercar center of gravity automatic regulating system, which is characterized in that including：
Center of gravity detecting system：Including the height in vehicle body main body and pressure capsule system, the height and pressure sensing is arranged
System can be analyzed to obtain the center of gravity of hovercar,
Homophony system at left and right sides of vehicle body main body：Including the front wing in vehicle body main body close to lower part, and setting is arranged in automobile
Vehicle frame close to top rear wing, the front wing and rear wing it is equal there are two, and it is symmetrical to prolong automobile direction of advance, passes through front wing and rear wing
Rotation changes its sweep angle with vehicle body main body to adjust centre of gravity of vehicle；
The micro-tensioning system of vehicle body body tail section：Empennage machine is controlled by the empennage mechanism that stretches including the telescopic empennage mechanism in tail portion
The stop place of structure, to adjust centre of gravity of vehicle.
2. a kind of hovercar center of gravity automatic regulating system according to claim 1, which is characterized in that the front wing is close
Its end is provided with preceding rotor, and rear wing is provided with rear rotor close to its end.
3. a kind of hovercar center of gravity automatic regulating system according to claim 1, which is characterized in that
The front wing setting, close to lower edge position, is located at front vehicle wheel rear in vehicle body main body；
The rear wing setting is in vehicle body main body close to roof location, close automobile tail；
The head end of two front wings is oppositely arranged, and is located in vehicle body main body, and front wing can surround the end towards automobile tail water
Flat rotation, two front wing synchronous rotaries enter in vehicle body main body, it is adjacent side by side, and resynchronisation is reversed rotates horizontally, front wing
After end screws out vehicle body main body, it is in the position of arbitrary sweep angle that front wing, which can be rested on vehicle body main body,；
The head end of two rear wings is oppositely arranged, and is located in vehicle body main body, and rear wing can surround the end towards automobile head water
Flat rotation, two rear wing synchronous rotaries enter in vehicle body main body, it is adjacent side by side, and it is reversed again rotate horizontally, rear wing end
After screwing out vehicle body main body, it is in the position of arbitrary acute angle sweep angle that rear wing, which can be rested on vehicle body main body,.
4. a kind of hovercar center of gravity automatic regulating system according to claim 1, which is characterized in that the empennage mechanism
Including：
Lower foot piece：Lower foot piece can be reached towards automobile rear outside car body from vehicle body main body, and be retracted into vehicle body main body
It is interior；
Anti-torque rotor：It is set to the lower section of lower foot piece, generation air-flow can be rotated, upward lift is provided to hovercar；
Vertical fin：The stretching end of lower foot piece is provided with vertical fin, the vertical fin straight up, or towards automobile back sweep；
Horizontal tail：Horizontal tail is arranged at the top of vertical fin, and horizontal tail is horizontally disposed, and when foot piece is withdrawn instantly, horizontal tail is tightly attached to automobile tail,
Play the role of determining wind empennage.
5. a kind of hovercar center of gravity automatic regulating system according to claim 1-5, which is characterized in that it is each it is described before
The head end center of the wing is vertically installed with front wing fixing axle, and the head end of two front wings is horizontally disposed front wing fluted disc, before described
The center of wing fixing axle circle where front wing fluted disc, front wing fixing axle are fixedly connected with front wing fluted disc, and two front wing fluted discs are nibbled
Splice grafting touches, and one of front wing fluted disc engages connection with front wing gear, and the central shaft of the front wing gear is connected with front wing motor
Drive shaft；
The head end center of each rear wing is vertically installed with rear wing fixing axle, and the head end of two rear wings is horizontally disposed with after having
Wing fluted disc, the center of rear wing fixing axle circle where rear wing fluted disc, rear wing fixing axle are fixedly connected with rear wing fluted disc, and two
A rear wing fluted disc engagement contact, one of rear wing fluted disc engage connection with rear wing gear, and the central shaft of the rear wing gear connects
It is connected to the drive shaft of rear wing motor.
6. a kind of hovercar center of gravity automatic regulating system according to claim 1-5, which is characterized in that the front wing tooth
Disk selects fan-shaped front wing fluted disc, the fan-shaped aperture of the sector front wing fluted disc to be more than semicircle, the end of the sector front wing fluted disc
It is provided with the supporting rod for being connected to front wing fixing axle, when two front wing collapsed side-by-sides are in vehicle body main body, two front wing fluted discs
The center of fan-shaped cambered surface opposite engage；
The rear wing fluted disc selects fan-shaped rear wing fluted disc, the fan-shaped aperture of the sector rear wing fluted disc to be more than semicircle, the sector
The end set of rear wing fluted disc has the supporting rod for being connected to rear wing fixing axle, when two rear wing collapsed side-by-sides are in vehicle body main body
When, the center of the fan-shaped cambered surface of two rear wing fluted discs is opposite to engage.
7. a kind of hovercar of center of gravity automatic adjustment, including vehicle body main body, which is characterized in that the vehicle body main body setting is above-mentioned
Center of gravity automatic regulating system described in any claim；
The vehicle body main body is provided with the front wing chamber for accommodating front wing close to its bottom, and the front wing can surround its front end and revolve
Turn to enter front wing chamber；
The vehicle body main body is provided with the rear wing chamber for accommodating rear wing close to its top, and the rear wing can surround its front end and revolve
It rotates into rear wing chamber；
The tail portion of the vehicle body main body is provided with the empennage chamber for accommodating empennage mechanism.
8. a kind of hovercar of center of gravity automatic adjustment according to claim 7, which is characterized in that the front wing motor and
Rear wing motor is centrosymmetric arrangement along the center of vehicle body main body.
9. a kind of hovercar of center of gravity automatic adjustment according to claim 7, which is characterized in that the front wing fixing axle
Upper and lower ends be arranged with front wing bearing, the bearing block of front wing bearing is fixed on corresponding position in vehicle body main body,
The upper and lower ends of the rear wing fixing axle are arranged with rear wing bearing, and the bearing block of rear wing bearing is fixed on vehicle body master
Corresponding position in body.
10. a kind of hovercar center of gravity Automatic adjustment method, which is characterized in that including following operating procedure：
Step 1：Measure state of flight center of gravity：When the homophony system and micro-tensioning system of hovercar are unfolded, member and load are true
After fixed, vehicle body main body by center of gravity detecting system automatic measurement on four wheels and calculate under state of flight center of gravity institute it is in place
It sets；
Step 2：Calculate eccentricity：By vehicle body main body static state gravity plane compared with the standard gravity plane of hovercar, obtain
The two eccentricity；
Step 3：Calculate adjusting parameter：The sweep angle and empennage mechanism calculated between front wing, rear wing and vehicle body main body stretches out length
Degree；
Step 4：Adjust state of flight center of gravity：Front wing, rear wing are adjusted to the sweep angle position of step 3 calculating, and empennage mechanism stretches out step
Rapid 3 length calculated；
Step 5：The state of flight center of gravity of hovercar is measured again, if the eccentricity that step 2 is calculated is eliminated or is less than
Allowable offset is away from then terminating, if the eccentricity that is calculated of step 2 is more than allowable offset away from carrying out step 3 and 4；
Step 6：Circulation step 5, until eccentricity is eliminated or less than allowable offset away from end.
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