CN111152611A - Folding flying car - Google Patents

Folding flying car Download PDF

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Publication number
CN111152611A
CN111152611A CN202010137193.0A CN202010137193A CN111152611A CN 111152611 A CN111152611 A CN 111152611A CN 202010137193 A CN202010137193 A CN 202010137193A CN 111152611 A CN111152611 A CN 111152611A
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China
Prior art keywords
motor
wing
shaft
intelligent controller
flying
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CN202010137193.0A
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Chinese (zh)
Inventor
朱幕松
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Individual
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Individual
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Priority to CN202010137193.0A priority Critical patent/CN111152611A/en
Publication of CN111152611A publication Critical patent/CN111152611A/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R3/00—Arrangements of steps or ladders facilitating access to or on the vehicle, e.g. running-boards
    • B60R3/007—Removable steps or ladders, e.g. foldable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C19/00—Aircraft control not otherwise provided for
    • B64C19/02—Conjoint controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C3/00—Wings
    • B64C3/38—Adjustment of complete wings or parts thereof
    • B64C3/56—Folding or collapsing to reduce overall dimensions of aircraft
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

A folding flying car is composed of an aircraft and a power generating car, the folding flying car can vertically take off and land, the left wing and the right wing have small occupied area under a folding state, the folding flying car runs on the ground, 4-wheel drive is adopted, the left wing and the right wing generate large lifting force for supporting the flying car during flying, small air flow resistance and high pneumatic efficiency, the power generating car has large fuel energy and light weight and is specially used for supplying power for the aircraft, the continuous driving range of the aircraft is long, the running time is short, an intelligent controller respectively controls the inclination angles of a front inclination angle motor and a rear inclination angle motor, the front propeller and the rear propeller generate different vector lifting forces, the balance of the front end and the rear end of the flying car is adjusted, the intelligent controller respectively controls the different rotating speeds of the left propeller and the right propeller, the balance of the left end and the right end of the flying car is adjusted, left turning and right turning are realized, and, automatic flight is realized.

Description

Folding flying car
Technical Field
The invention relates to a flying automobile, in particular to a folding flying automobile.
Background
The flying automobile is a dual-purpose automobile capable of flying in the air and running on the land, and for many years, the heat tide for researching and developing the flying automobile in all countries in the world is high all the time, the technology is continuously improved, but the main defects in the prior flying automobile technology are as follows: the flying automobile has the advantages of large volume, short continuous flight mileage and poor safety, because the flying automobile generally has large weight, wings or rotors have large volume to meet the necessary lifting force of the flying automobile, otherwise, the volume of the flying automobile is reduced by adopting a method of increasing the pushing power and increasing the flying speed, and the continuous flight mileage and the poor safety are caused, so the combination of the aircraft system and the automobile system of the conventional flying automobile is difficult to achieve perfect unification technically.
Disclosure of Invention
In order to overcome the defects of the prior aerocar technology, the invention discloses a folding aerocar.
The technical scheme of the folding flying automobile is that the folding flying automobile consists of an aircraft and a power generation automobile, wherein the aircraft and the power generation automobile are closely combined, and the folding flying automobile is integrated mechanically and electrically and is characterized in that: the foldable flying car is provided with a power generation car, the power generation car is provided with a car body shell, the front end part of the car body shell is provided with a cab, the front end of the cab is provided with a windshield, the upper end of the windshield is provided with an information display, the front lower end of the cab is provided with an intelligent controller, the intelligent controller is provided with a control box shell, an engine control module, a generator voltage regulation module, 4 outer rotor thrust motor control modules, 4 hub motor control modules, 5 harmonic speed reduction motor control modules and program control modules of all systems are respectively arranged in the control box shell, the output end of each motor control module is connected with a corresponding motor output line, a navigator and a gyro sensor are arranged in the control box shell, the output lines of the navigator and the gyro sensor are connected with the relevant input ends of the intelligent controller, and send navigation signals and balance signals to the intelligent controller, the rear end of the control box shell is provided with an operating platform, the upper end of the operating platform is provided with an operating keyboard, an output line of the operating keyboard is connected with a relevant input end of the intelligent controller and sends various operating signals to the intelligent controller, the operating keyboard is provided with a take-off and landing key, a flight mode key, a straight-going and turning key and an accelerating and decelerating key of a power generation automobile, a straight-going and turning key and a starting and braking key; the lower end of a machine body shell is provided with an arched chassis, an arched duct is arranged in the center line of the arched chassis, the arched duct and the arched chassis are equal in length and parallel to each other, a cabin shell is arranged at the upper end of the arched chassis, a driver seat is arranged at the front end of the cabin shell, handrails are arranged on two sides of the seat, an operating rod is arranged at the upper end of each handrail, an output line of each operating rod is connected with a relevant input end of an intelligent controller to send various operating signals of straight running, turning, acceleration, deceleration, starting and braking of an aircraft and a power generation automobile to the intelligent controller, an oil tank is arranged at the rear end in the cabin shell, an engine is arranged at the front end of the oil tank, the engine is an energy-saving and environment-friendly light fuel engine, a direct-current generator matched with the power and the rotating speed of the engine is arranged at, the output end of the lithium battery pack is connected with the power supply end of the intelligent controller, the engine is provided with various sensors, the output lines of the various sensors are connected with the relevant input ends of the intelligent controller, various engine parameters are sent to the intelligent controller, the engine works in an automatic control mode, the engine automatically adjusts the size of an accelerator according to information output by an operation keyboard, the engine is automatically started and stopped, and the lithium battery pack is charged by automatic power generation; the rear end of the machine body shell is provided with a vehicle door, the middle part of the rear end of the arched chassis is fixed with a vehicle door servo motor, the vehicle door servo motor is provided with a long driving shaft, the vehicle door servo motor is positioned in the middle part of the long driving shaft, the left end and the right end of the long driving shaft are connected with the left end and the right end of the lower end of the vehicle door, the vehicle door is in a cover shape, the back of the vehicle door is provided with a stair, the vehicle door servo motor rotates the long driving shaft anticlockwise, the long driving shaft rotates to open the vehicle door, when the vehicle door rotates 180 degrees, the upper end of the vehicle door falls to the ground, the stair surface turns over to the front surface, a driver can conveniently board a cab on the stair, the vehicle door servo motor is provided with a barrel-shaped shell, the upper left end of the barrel-shaped shell is provided with a sensing hole, a door closing Hall sensor, when the vehicle door is in a closed state, the door closing Hall sensor is aligned with the permanent magnet particles, when the vehicle door is in an open state, the door opening Hall sensor is aligned with the permanent magnet particles, and output lines of the door opening Hall sensor and the door closing Hall sensor are connected with relevant input ends of the intelligent controller to send an automatic shutdown signal to the intelligent controller; the foldable flying car is provided with an aircraft, the aircraft is provided with an electric control foldable left wing and an electric control foldable right wing, the electric control foldable left wing is taken as an example below, the aircraft is provided with an arch duct, the lower end of the arch duct is provided with a front connecting plate, a rear connecting plate and a middle connecting plate, the middle parts of the front connecting plate, the rear connecting plate and the middle connecting plate are all arch-shaped, arch arcs at the upper ends of the front connecting plate, the rear connecting plate and the middle connecting plate are inosculated with arch arcs at the lower end of the arch duct, the left ends of the front connecting plate, the rear connecting plate and the middle connecting plate are all welded at the left end of an arch chassis, a left servo motor is fixedly installed at the left lower end of the front connecting plate, a crankshaft is installed on a driving shaft of the left servo motor, the overlooking figure of the crankshaft is a 180, the inner circle of the rear connecting sleeve is fixedly connected with the short shaft, the rear end of the short shaft is provided with a shaft sleeve, the shaft sleeve is welded at the left lower end of the rear connecting plate, the short shaft is in sliding fit in the shaft sleeve, the left end of the crankshaft is connected with a left wing, the left wing is provided with a front framework and a rear framework, the big end of the front framework is welded at the left front end of the crankshaft, the big end of the rear framework is welded at the left rear end of the crankshaft, the upper end and the lower end of the front framework and the rear framework are provided with a left wing shell, the left end section graph of the left wing shell is small in size and is in; the power generation automobile is provided with 4 wheels, the front end of a body shell is provided with a front left wheel and a front right wheel, the rear end of the body shell is provided with a rear left wheel and a rear right wheel, an electric control folding type left wing and an electric control folding type right wing are in a vertical state after being folded, the 4 wheels are in a vertical state after being followed by the left wing and the right wing, the centers of the 4 wheels are respectively provided with a hub motor, the excircle of each hub motor is provided with a tire, the left end and the right end of a front connecting sleeve of the left wing are welded with a left support and a right support, the lower ends of the left support and the right support are provided with a left wheel shaft groove and a right wheel shaft groove, the left support and the right support form a straight fork frame, the rear view figure of the straight fork frame is n-shaped, the lower end in the straight fork frame is provided with a front hub motor, the left end of a hub shaft of the front hub motor is installed in the left wheel, The right end is welded with a left support and a right support, the lower ends of the left support and the right support are provided with a left wheel shaft groove and a right wheel shaft groove, the left support and the right support form an inclined fork frame, the rear view figure of the inclined fork frame is n-shaped, the lower end in the inclined fork frame is provided with a rear hub motor, the left end of a hub shaft of the rear hub motor is arranged in the left wheel shaft groove and is fastened by a left nut, the right end of the hub shaft of the rear hub motor is arranged in the right wheel shaft groove and is fastened by a right nut, when the left wing is unfolded to be in a horizontal state, a front tire and a rear tire are positioned at the lower end of the arched chassis in a horizontal state, when a driving shaft of the left servo motor rotates clockwise, the crankshaft drives the left wing to be in a vertical state; the left servo motor is provided with a barrel-shaped shell, the rear right end of the barrel-shaped shell is provided with a sensing hole, a horizontal Hall sensor is arranged in the sensing hole, the rear lower end of the barrel-shaped shell is provided with a sensing hole, a vertical Hall sensor is arranged in the sensing hole, a driving shaft is provided with a nut hole, a screw rod is arranged in the nut hole, permanent magnet particles are arranged at the lower end of the screw rod, the horizontal Hall sensor is aligned with the permanent magnet particles when the left wing is in a horizontal state, the vertical Hall sensor is aligned with the permanent magnet particles when the left wing is in a vertical state, output lines of the two Hall sensors are connected with the relevant input end of an intelligent controller, an automatic shutdown signal is sent to the intelligent controller, the structural characteristics of the electric control folding type left wing and the electric control folding type right wing are completely the same and are symmetrical to the left end and the right end, the 4 wheels land, the volume of the folding type flying automobile is reduced to form a power generation automobile, the power generation automobile can run on a road under the 4-wheel driving state, the intelligent controller respectively controls the rotating speed of the left hub motor and the right hub motor to enable the power generation automobile to turn left and right during running, the intelligent controller simultaneously controls the 4 hub motors to reversely charge a power supply, the 4 tires can be electromagnetically braked to enable the power generation automobile to decelerate or stop, and the intelligent controller respectively controls the forward rotation energy and the reverse rotation energy of the left hub motor and the right hub motor to enable the power generation automobile to turn in place during stopping of the power generation automobile; the aircraft is provided with a front vector motor, a rear vector motor, a left rotary wing motor and a right rotary wing motor, wherein 4 motors are composed of an outer rotor thrust motor and a propeller, the propeller is arranged on the circumference of the outer rotor thrust motor shell, the specifications and the models of the 4 outer rotor thrust motors are the same, the specifications and the models of the 4 propellers are the same, the steering directions of the left propeller and the right propeller are opposite, the steering directions of the front propeller and the rear propeller are opposite, the outer rotor thrust motor is provided with an installation shaft which is provided with a central screw hole, a connecting screw is arranged in the central screw hole, the central screw hole of the installation shaft of each outer rotor thrust motor is respectively arranged on the corresponding connecting screw nail, the left end of the middle connecting plate is provided with a screw hole and a connecting screw, the left lower end of the middle connecting plate is provided with the left rotary wing motor, the right end of the middle connecting plate is provided with a screw hole and a connecting screw, the right lower end of the middle connecting plate is provided with a right rotor motor, the connecting screw fastens the installation shaft of the right rotor motor, the front end of the arched duct is welded with a front fork frame, the rear end of the arched duct is welded with a rear fork frame, the rear view shapes of the front fork frame and the rear fork frame are both n-shaped, the lower end of the front fork frame is provided with a front rake motor, the front rake motor is provided with two-end drive shafts, the left end and the right end of the two-end drive shafts are both provided with a left nut and a right nut, the lower end of the front fork frame is provided with a left wheel shaft groove and a right wheel shaft groove, the left end of the two-end drive shafts is arranged in the left wheel shaft groove and is fastened by parallel connection of the left nut and the right nut, the right end of the two-end drive shafts is, the back rake motor and the front rake motor are installed in the same way and structure, the lower end of the back rake motor is welded with a screw, the connecting screw fastens the installation shaft of the back vector motor, the front and back vector motor is symmetrical to the middle connection plate, the left and right rotary wing motor is symmetrical to the arched duct, the fixed left and right rotary wing motor keeps the left and right propellers in horizontal state, the front and back rake motor respectively rotates the angle of the front vector motor and the back vector motor in the range of 90 degrees, can synchronously control the front and back propellers to transit from horizontal state to vertical state, push air backwards when the front and back propellers rotate in vertical state, form backwards pushed air flow under the arched duct, push the folding flying car to fly forwards, the front and back rake motors can also respectively control the inclination angles of the front propeller and the back propeller, provide different vector thrusts for the folding flying car, the front end and the rear end of the folding type flying automobile are balanced; the lower end of the arched chassis is provided with a wire pipe, the front end of the arched chassis is provided with a wire hole, the model specifications of the 4 hub motors are the same, a hub shaft of the hub motor is a hollow shaft, an output line of the hub motor is led out of the hollow shaft, the output lines of the 4 hub motors are respectively led to the lower end of the arched chassis through the straight fork frame and the inclined fork frame, the combined output line penetrates into the wire pipe and enters a cab through the wire hole, the output lines of the front vector motor and the rear vector motor and the output lines of the front inclination angle motor and the rear inclination angle motor are respectively led to the lower end of the arched chassis through the front fork frame and the rear fork frame, the combined output line penetrates into the wire pipe and enters the cab through the wire hole, the output lines of the left rotary wing motor and the right rotary wing motor, the output lines of the left servo motor and the right servo motor and the output, the combined output wires penetrate into the wire pipe, pass through the wire hole and enter the cab.
The front vector motor, the rear vector motor, the left rotary wing motor and the right rotary wing motor are all outer rotor thrust motors with the same structure, each outer rotor thrust motor is provided with an installation shaft, each installation shaft is provided with a central screw hole, the lower end of each central screw hole is provided with an inclined hole, the lower end of each installation shaft is provided with an armature shaft, a stator core is installed on the outer circle of each armature shaft and is formed by overlapping a plurality of silicon steel sheets, the periphery of each stator core is provided with a plurality of tooth grooves, 3-phase coil windings are wound in the tooth grooves and are connected into a Y-shaped circuit, 3 Hall elements at different positions are respectively arranged in the tooth grooves at the outer ends of the 3-phase coils, the output lines of the 3-phase coil windings and the output lines of the 3 Hall elements are combined into a motor line, the motor line is led out of the installation shaft through the inclined holes, each armature, the lower end of the rotor shaft is provided with a lower end cover, the excircle of the lower end cover is provided with a magnetic conduction ring, the inner circle of the magnetic conduction ring is provided with a permanent magnetic ring, the permanent magnetic ring is formed by splicing 8 arc permanent magnets, the arc permanent magnets are strong magnets made of neodymium iron boron materials, the magnetic pole direction of each arc permanent magnet is radial, the polarities of the adjacent arc permanent magnets are opposite to each other, the inner circle of the upper end of the magnetic conduction ring is provided with an internal screw, the lower end of the internal screw is provided with a stop table, the inner circle of the upper end of the magnetic conduction ring is provided with an upper end cover, the excircle of the upper end cover is provided with an external screw which is matched with the internal screw, the upper end cover is screwed on the inner circle of the upper end of the magnetic conduction ring, the rotor shaft, the upper end cover, the lower end cover, the permanent magnetic ring and the magnetic conduction ring form an outer rotor and motor shell, the upper end of the armature shaft is provided with an outer, the four-propeller type aircraft is in a horizontal state, the rotor shaft is pressed to the thrust steel balls by the aid of lifting forces of the 4 propellers, when the aircraft is pushed to fly by the propellers of the front vector motor and the rear vector motor in a vertical state, the rotor shaft is pressed to the thrust steel balls by the aid of the thrust forces of the front propeller and the rear propeller, the rotor shaft and the thrust steel balls are in point contact, friction force is small, no force is applied between the central shaft hole and the rotor shaft, and the friction force is small, so that bearing loss of the outer rotor thrust motor during loading is small.
The front servo motor, the rear servo motor, the car door servo motor, the front inclination angle motor and the rear inclination angle motor are harmonic speed reducing motors with the same structure, the front servo motor, the rear servo motor and the hall sensor of the car door servo motor have the same structure, the car door servo motor is taken as an example for explanation, the structural description of the front servo motor, the rear servo motor, the front inclination angle motor and the rear inclination angle motor is not repeated, the harmonic speed reducing motor is provided with a cylindrical shell, the cylindrical shell is provided with a right end cover, the cylindrical shell and the right end cover are integrally manufactured and molded, the middle part of the right end cover is provided with a right bearing, the cylindrical shell is provided with a left end cover, the left end cover is positioned at the right ends of the door opening hall sensor and the door closing hall sensor, the left end cover is fixed by a plurality of end cover screws, the middle part of the left end cover is provided with a left bearing, the left inner bearing and the right inner bearing are coaxially installed with the left bearing and the right bearing, the left inner bearing and the right inner bearing are installed in a cylindrical bearing frame, the right end of the cylindrical bearing frame is provided with a driving disc, the left end of the driving disc is provided with an upper plastic pulley and a lower plastic pulley which form a wave generator, a common driving shaft is provided with a conical disc support, the circumference of the conical disc support is provided with a flexible outer gear ring, the flexible outer gear ring is changed into an elliptical outer gear ring under the support of the upper plastic pulley and the lower plastic pulley, the right end of a left end cover is provided with a rigid inner gear ring, the flexible outer gear ring is meshed with the rigid inner gear ring to form a harmonic reducer, the outer circle of the driving disc is provided with a magnetic conduction ring, the inner circle of the magnetic conduction ring is provided with a ring-shaped inner stator, the ring-shaped inner stator is provided with three-phase, the three-phase coil output line and the three Hall sensor output lines are combined to form a motor line, the cylindrical shell is provided with a wire outlet hole, the motor line is led out from the wire outlet hole, the permanent magnet outer rotor and the annular inner stator form an outer rotor brushless motor, the outer rotor brushless motor drives the upper plastic pulley and the lower plastic pulley to revolve for a circle, the revolution value of the flexible outer gear ring is equal to the linear distance between the number of teeth of the inner teeth and the difference between the number of teeth of the outer teeth, and the speed reduction ratio of the harmonic reducer is very large, so that the rotating speed of a common driving shaft of the harmonic reducer and the outer rotor brushless motor is very low, the common driving shaft is the output shaft of the harmonic reducer motor, and.
The folding flying automobile has the beneficial effects that: the folding flying automobile can take off and land vertically without an airport runway, the left and right wings of the folding flying automobile occupy small area in a folding state, which is beneficial to parking in urban areas and running on roads, when the folding flying automobile is in a flying state, the unfolded wings have large aspect ratio, large lift force, small airflow resistance and high pneumatic efficiency, compared with the automobile running on land, the folding flying automobile consumes the same amount of fuel, the folding flying automobile has long continuous driving range and short running time, the power generation automobile has large fuel energy and light weight, a direct current generator of the power generation automobile supplies power to the aircraft through an over-voltage regulator, so that the continuous flying range of the folding flying automobile is increased, when the folding flying automobile is in a vertical state, the 4 propellers are all in a horizontal state, and the loaded folding flying automobile has the problems of low pneumatic takeoff efficiency and high power consumption, therefore, the intelligent controller controls the power generation automobile to increase the accelerator and increase the power of the generator according to the set program, a power supply with higher power is provided for 4 outer rotor thrust motors, after the folding type flying automobile takes off to a certain height, the intelligent controller controls the left servo motor and the right servo motor to rotate according to the set program, the left wing and the right wing are unfolded towards two sides at the same time, the left wing and the right wing are changed into a horizontal state from a vertical state, the horizontal Hall sensor is aligned with the permanent magnet particles, the horizontal Hall sensor signals are sent to the intelligent controller, the intelligent controller controls the left servo motor and the right servo motor to stop automatically at the same time, the servo motor has a locking function, the left wing and the right wing are locked in the horizontal state, the folding type flying automobile gradually changes into rapid forward horizontal flight after vertical flight, the intelligent controller controls the forward and backward tilt angle motors, the front and back vector motors are synchronously lifted upwards and backwards, the inclination angles of the front and back propellers are gradually transited from a horizontal state to a vertical state, the thrust generated by the front and back propellers is the forward flying power of the aerocar, the inclination angles of the front and back propellers are in the transition period, the horizontal signal of the gyro sensor is transmitted to the intelligent controller, the intelligent controller respectively controls the inclination angles of the front inclination angle motor and the back inclination angle motor, the front and back propellers generate different vector lift forces, so that the folding aerocar keeps the balance of the front and back ends of the aerocar body during the transition period of taking off and flying, the forward flying speed of the aerocar enables the left wing and the right wing to generate the lift force for supporting the aerocar, the support lift force is far larger than that of the left and right propellers, the intelligent controller respectively reduces the rotating speeds of the left-rotor motor and the right-rotor motor, and the left and right propellers adjust the left and right propellers under different rotating, The balance of the right end acts on the left and right turning of the aerocar in the air on one hand, and the different rotating speeds of the left and right screw propellers act on the automatic balance of the left and right ends of the aerocar when the aerocar flies straight on the other hand, in the process of rapid horizontal flight, the intelligent controller respectively controls the inclination angle of the front inclination angle motor and the inclination angle of the rear inclination angle motor, so that the front propeller and the rear propeller generate thrust with different vectors, the automatic balance of the front end and the rear end of the flying automobile is realized, the 4 outer rotor thrust motors and 2 dip motors of the folding type hovercar are flexibly and mechanically combined to control respectively, so that the operability and the stability of the hovercar are improved, the aspect ratio of the left wing and the right wing is large, the required lift force can be satisfied under the middle and low speed flying state, the safety of the aerocar is improved, when the aerocar flies in the air, the intelligent controller controls the advancing direction of the hovercar to realize automatic flight according to the navigation signal.
Drawings
FIG. 1 is a schematic view of the unfolded top view structure of the left and right wings of a foldable flying car.
Fig. 2 is a structural diagram of a folding type aerocar in a right-view in a horizontal flight state.
Fig. 3 is a rear view structural diagram of a folding type aerocar in a road driving state.
Fig. 4 is a rear view structural diagram of the folding type aerocar in a vertical take-off and landing state.
FIG. 5 is a right side view schematic structural diagram of a folding type hovercar door in a road driving state.
FIG. 6 is a schematic diagram of a right-side view of a foldable hovercar door in a stair-like configuration when opened.
FIG. 7 is a schematic view of a rear view structure of a foldable hovercar in a state that left and right wings are unfolded and rotor motors are arranged.
Fig. 8 is a rear view structural diagram of the left and right wheels of the foldable hovercar in horizontal flight.
Fig. 9 is a rear sectional view of the outer rotor thrust motor.
Fig. 10 is a schematic rear sectional view of the tilt motor.
Fig. 11 is a schematic rear sectional view of the door servo motor.
Fig. 12 is a schematic top sectional view of the left servo motor.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
In fig. 1-12, the foldable flying car is provided with a power generating car, the power generating car is provided with a car body shell 1, the front end part of the car body shell is provided with a cab, the front end of the cab is provided with a windshield 2, the upper end of the windshield is provided with an information display 3, the front lower end of the cab is provided with an intelligent controller 4, the intelligent controller is provided with a control box shell, an engine control module, a generator voltage regulating module, 4 outer rotor thrust motor control modules, 4 hub motor control modules, 5 harmonic speed reducing motor control modules and program control modules of various systems are respectively arranged in the control box shell, the output end of each motor control module is connected with a corresponding motor output line, a navigator and a gyro sensor are arranged in the control box shell, the output lines of the navigator and the gyro sensor are connected with the relevant input ends of the intelligent controller to send navigation signals and balance signals to the intelligent controller, an operation panel 5 is arranged at the rear end of the control box shell, an operation keyboard 6 is arranged at the upper end of the operation panel, an output line of the operation keyboard is connected with a relevant input end of the intelligent controller and sends various operation signals to the intelligent controller, mode conversion keys of the aircraft and the power generation automobile, a take-off and landing conversion key, a flight mode conversion key and an automatic and manual conversion key are arranged on the operation keyboard, and backup keys for acceleration and deceleration, straight going and turning, starting and braking of the aircraft and the power generation automobile are arranged on the operation keyboard; the lower end of a machine body shell is provided with an arched chassis 7, the center line of the arched chassis is provided with an arched duct 8, the arched duct and the arched chassis are equal in length and parallel, the upper end of the arched chassis is provided with a cabin shell 9, the front end of the cabin shell is provided with a driver seat, both sides of the seat are provided with handrails, the upper ends of the handrails are provided with operating rods 10, the output lines of the operating rods are connected with the relevant input ends of an intelligent controller to send various operating signals of straight movement, turning, acceleration, deceleration, starting and braking of an aircraft and a generating automobile to the intelligent controller, the rear end in the cabin shell is provided with an oil tank 11, the front end of the oil tank is provided with an engine 12, the engine is an energy-saving and environment-friendly light fuel engine, the front end of the engine is provided with a direct current generator 13 matched with the power and the rotating speed of the, the output end of the lithium battery pack is connected with the power supply end of the intelligent controller, the engine is provided with various sensors, the output lines of the various sensors are connected with the relevant input ends of the intelligent controller, various engine parameters are sent to the intelligent controller, the engine works in an automatic control mode, the engine automatically adjusts the size of an accelerator according to information output by an operation keyboard, the engine is automatically started and stopped, and the lithium battery pack is charged by automatic power generation; the rear end of the machine body shell is provided with a vehicle door 15, the middle part of the rear end of the arched chassis is fixed with a vehicle door servo motor 16, the vehicle door servo motor is provided with a long driving shaft 17, the vehicle door servo motor is positioned in the middle of the long driving shaft, the left end and the right end of the long driving shaft are connected with the left end and the right end of the lower end of the vehicle door, the vehicle door is in a cover shape, the back of the vehicle door is provided with a stair 18, the vehicle door servo motor rotates the long driving shaft anticlockwise, the long driving shaft rotates to open the vehicle door, when the vehicle door rotates 180 degrees, the upper end of the vehicle door falls to the ground, the stair surface turns to the front, a driver can conveniently go upstairs to a cab, the vehicle door servo motor is provided with a barrel-shaped shell 19, the left upper end of the barrel-shaped shell is provided with a sensing hole, a door closing, the permanent magnet particles 23 are arranged at the lower end of the screw rod, the door closing Hall sensor is aligned with the permanent magnet particles when the vehicle door is in a closed state, the door opening Hall sensor is aligned with the permanent magnet particles when the vehicle door is in an open state, and output lines of the door opening Hall sensor and the door closing Hall sensor are connected with the relevant input ends of the intelligent controller to send an automatic shutdown signal to the intelligent controller; the foldable flying car is provided with an aircraft, the aircraft is provided with an electric control foldable left wing and an electric control foldable right wing, the electric control foldable left wing is taken as an example below, the aircraft is provided with an arch duct, the lower end of the arch duct is provided with a front connecting plate 24, a rear connecting plate 25 and a middle connecting plate 26, the middle parts of the front, rear and middle connecting plates are all arch-shaped, arch arcs at the upper ends of the front, rear and middle connecting plates are inosculated with arch arcs at the lower end of the arch duct, the left ends of the front, rear and middle connecting plates are all welded at the left end of an arch chassis, the right ends of the front, rear and middle connecting plates are all welded at the right end of the arch chassis, the left lower end of the front connecting plate is fixedly provided with a left servo motor 27, a crankshaft 29 is arranged on a driving shaft 28 of the left servo motor, the overlooking figure of the, the inner circle of the rear connecting sleeve is fixedly connected with a short shaft 32, the rear end of the short shaft is provided with a shaft sleeve 33, the shaft sleeve is welded at the left lower end of the rear connecting plate, the short shaft is in sliding fit in the shaft sleeve, the left end of the crankshaft is connected with a left wing 34, the left wing is provided with a front framework 35 and a rear framework 36, the big end of the front framework is welded at the left front end of the crankshaft, the big end of the rear framework is welded at the left rear end of the crankshaft, the upper end and the lower end of the front framework and the lower framework are provided with a left wing shell, the left end section graph of the left wing shell is small in size and is a small streamline shell 37; the power generation automobile is provided with 4 wheels, the front end of a body shell is provided with a front left wheel 39 and a front right wheel 40, the rear end of the body shell is provided with a rear left wheel 41 and a rear right wheel 42, an electric control folding type left wing and an electric control folding type right wing are in a vertical state after being folded, the 4 wheels are in a vertical state along with the left wing and the right wing, the centers of the 4 wheels are respectively provided with a hub motor 43, the outer circle of the hub motor is respectively provided with a tire 44, the left support and the right support are welded at the left end and the right end of a front connecting sleeve of the left wing, the lower ends of the left support and the right support are provided with a left wheel shaft groove and a right wheel shaft groove, the left support and the right support form a straight fork frame 45, the rear view figure of the straight fork frame is n-shaped, the lower end in the straight fork frame is provided with a front hub motor, the left end of a hub shaft of the front, a left support 46 and a right support 47 are welded at the left end and the right end of a rear connecting sleeve of a left wing, a left wheel shaft groove and a right wheel shaft groove are arranged at the lower ends of the left support and the right support, an inclined fork frame 48 is formed by the left support and the right support, the rear view figure of the inclined fork frame is n-shaped, a rear hub motor 49 is arranged at the lower end in the inclined fork frame, the left end of a hub shaft 50 of the rear hub motor is arranged in the left wheel shaft groove and is fastened by a left nut 51, the right end of the hub shaft of the rear hub motor is arranged in the right wheel shaft groove and is fastened by a right nut 52, when the left wing is unfolded to be in a horizontal state, a front tire and a rear tire are positioned at the lower end of the arched chassis in a horizontal state, when the left servo motor rotates clockwise, and a driving shaft of the left servo motor; the left servo motor is provided with a barrel-shaped shell 53, the rear right end of the barrel-shaped shell is provided with a sensing hole, a horizontal Hall sensor 54 is arranged in the sensing hole, the rear lower end of the barrel-shaped shell is provided with a sensing hole, a vertical Hall sensor 55 is arranged in the sensing hole, a driving shaft is provided with a nut hole, a screw rod 56 is arranged in the nut hole, permanent magnet particles 57 are arranged at the lower end of the screw rod, the horizontal Hall sensor is aligned with the permanent magnet particles when the left wing is in a horizontal state, the vertical Hall sensor is aligned with the permanent magnet particles when the left wing is in a vertical state, the output lines of the Hall sensors of the left wing and the vertical Hall sensor are connected with the relevant input end of an intelligent controller to send an automatic shutdown signal to the intelligent controller, the structural characteristics of the electric control folding type left wing and the electric control folding type right wing are, The right wing is in a vertical state after being folded, 4 wheels land, the volume of the folding type flying automobile is reduced to be changed into a power generation automobile, the power generation automobile can run on a road under a 4-wheel driving state, an intelligent controller respectively controls the rotating speed of a left hub motor and a right hub motor to enable the power generation automobile to turn left and right during running, the intelligent controller simultaneously controls the 4 hub motors to reversely charge a power supply, 4 tires can be electromagnetically braked to enable the power generation automobile to decelerate or stop, and the intelligent controller respectively controls the forward rotation and the reverse rotation of the left hub motor and the right hub motor to enable the power generation automobile to turn in place during stopping of the power generation automobile; the aircraft is provided with a front vector motor 58, a rear vector motor 59, a left-handed wing motor 60 and a right-handed wing motor 61, wherein 4 motors are composed of an outer rotor thrust motor 62 and a propeller 63, the propellers are arranged on the circumference of the outer rotor thrust motor shell, the specifications and the models of the 4 outer rotor thrust motors are the same, the specifications and the models of the 4 propellers are the same, the turning directions of the left and right propellers are opposite, the turning directions of the front and rear propellers are opposite, the outer rotor thrust motor is provided with an installation shaft 64, the installation shaft is provided with a central screw hole 65, a connecting screw 66 is arranged in the central screw hole, the central screw hole of the installation shaft of each outer rotor thrust motor is respectively arranged on the corresponding connecting screw, the left end of a middle connecting plate is provided with a screw hole and a connecting screw, the left-handed wing motor is arranged at the left lower end of the middle connecting plate, the right end of the middle connecting plate is provided with a screw hole and a connecting screw, the right lower end of the middle connecting plate is provided with a right rotary wing motor 61, the connecting screw 66 fastens an installation shaft 64 of the right rotary wing motor, the front end of the arched duct is welded with a front fork 67, the rear end of the arched duct is welded with a rear fork 68, the rear view shapes of the front fork and the rear fork are both n-shaped, the lower end of the front fork is provided with a front rake motor 69, the front rake motor is provided with a two-end driving shaft 70, the left end and the right end of the two-end driving shaft are both provided with a left nut 71 and a right nut 72, the lower end of the front fork is provided with a left wheel shaft groove and a right wheel groove, the left end of the two-end driving shaft is arranged in the left wheel shaft groove and is connected and fastened by the left nut and the right nut, the right end of the two-end driving, the back rake motor 73 is installed at the lower end of the back fork frame, the installation mode and the structure form of the back rake motor are the same, the lower end of the back rake motor is welded with a screw 66, the connecting screw fastens the installation shaft of the back vector motor, the front vector motor and the back vector motor are symmetrical to the middle connecting plate, the left wing motor and the right wing motor are symmetrical to the arch duct, the fixed left wing motor and the fixed right wing motor enable the left propeller and the right propeller to be kept in a horizontal state, the front vector motor and the back rake motor respectively rotate the angle of the front vector motor and the back vector motor within the range of 90 degrees, the front propeller and the back propeller can be synchronously controlled to be transited from the horizontal state to the vertical state, the air is pushed backwards when the front propeller and the back propeller rotate in the vertical state, air flow pushed backwards is formed below the arch duct, the folding type flying automobile is pushed to fly forwards, the front rake motor and the back, providing thrust with different vectors for the folding aerocar to balance the front end and the rear end of the folding aerocar; the lower end of the arched chassis is provided with a wire pipe, the front end of the arched chassis is provided with a wire hole 74, the model specifications of the 4 hub motors are the same, a hub shaft of the hub motor is a hollow shaft, an output line of the hub motor is led out from the hollow shaft, the output lines of the 4 hub motors are respectively led to the lower end of the arched chassis through a straight fork frame and an inclined fork frame, 4 combined output lines penetrate into the wire pipe and enter a cab through the wire hole, the output lines of the front vector motor and the rear vector motor and the output lines of the front inclination angle motor and the rear inclination angle motor are respectively led to the lower end of the arched chassis through the front fork frame and the rear fork frame, the 4 combined output lines penetrate into the wire pipe and enter the cab through the wire hole, the output lines of the left rotary wing motor and the right rotary wing motor, the output lines of the left servo motor and the right servo motor and the output lines of each, after being combined, the output wires penetrate into the wire pipe and enter the cab through the wire hole.
The front vector motor, the rear vector motor, the left rotary wing motor and the right rotary wing motor are all outer rotor thrust motors 62 with the same structure, the outer rotor thrust motors are provided with mounting shafts 64, the mounting shafts are provided with central screw holes 65, the lower ends of the central screw holes are provided with inclined holes 75, the lower ends of the mounting shafts are provided with armature shafts 76, stator cores 77 are arranged on the outer circles of the armature shafts, the stator cores are formed by overlapping a plurality of silicon steel sheets, the circumferences of the stator cores are provided with a plurality of tooth spaces, 3-phase coil windings 78 are wound in the tooth spaces, the 3-phase coil windings are connected into a Y-shaped circuit, 3 Hall elements 79 at different positions are respectively arranged in the tooth spaces at the outer ends of the 3-phase coils, the output lines of the 3-phase coil windings and the output lines of the 3 Hall elements are combined into a motor line 80, the motor line is led out of the, a rotor shaft 82 is arranged in the central shaft hole, a lower end cover 83 is arranged at the lower end of the rotor shaft, a magnetic conduction ring 84 is arranged on the excircle of the lower end cover, a permanent magnet ring 85 is arranged in the inner circle of the magnetic conduction ring, the permanent magnet ring is formed by splicing 8 arc permanent magnets, the arc permanent magnets are strong magnets made of neodymium iron boron materials, the magnetic pole direction of each arc permanent magnet is radial, the polarities of adjacent arc permanent magnets are opposite to each other, an inner screw is arranged in the inner circle of the upper end of the magnetic conduction ring, a stop table is arranged at the lower end of the inner screw, an upper end cover 86 is arranged in the inner circle of the upper end of the magnetic conduction ring, an outer screw is arranged on the excircle of the upper end cover and is matched with the inner screw, the upper end cover is screwed on the inner circle of the magnetic conduction ring, an outer rotor shaft, the upper end cover, the lower end cover, the permanent magnet ring and the magnetic conduction ring form an outer, the propellers of the front vector motor, the rear vector motor, the left rotary wing motor and the right rotary wing motor are all in a horizontal state at the lower end of the outer rotor thrust motor, the rotor shaft is pressed to the thrust steel balls by the lifting force of the 4 propellers, when the propellers of the front vector motor and the rear vector motor push the hovercar to fly in a vertical state, the rotor shaft is pressed to the thrust steel balls by the thrust of the front propeller and the rear propeller, the rotor shaft is in point contact with the thrust steel balls, the friction force is small, no force is applied between the central shaft hole and the rotor shaft, and the friction force is small, so the bearing loss of the outer rotor thrust motor is small when the outer rotor thrust motor is loaded.
The front servo motor, the rear servo motor, the vehicle door servo motor, the front rake motor, the rear rake motor and the harmonic speed reducing motor with the same structure are selected, the harmonic speed reducing motor is provided with a cylindrical shell 19, the cylindrical shell is provided with a right end cover 88, the cylindrical shell and the right end cover are integrally manufactured and molded, the middle part of the right end cover is provided with a right bearing 89, the cylindrical shell is provided with a left end cover 90, the left end cover is positioned at the right end of a door opening Hall sensor and a door closing Hall sensor, the left end cover is fixed by a plurality of end cover screws 91, the middle part of the left end cover is provided with a left bearing 92, a common driving shaft 17 is arranged in the left and right bearings, a left inner bearing 93 and a right inner bearing 94 are arranged between the left and right bearings, the left inner bearing and the right inner bearing are coaxially arranged with the left and right bearings, the left inner bearing and the right inner bearing are arranged in a cylindrical bearing frame 95, the right end, a conical disc support 99 is arranged on the common driving shaft, a flexible outer gear ring 100 is arranged on the circumference of the conical disc support, the flexible outer gear ring is an elliptical outer gear ring supported by an upper plastic pulley and a lower plastic pulley, a rigid inner gear ring 101 is arranged at the right end of a left end cover, a harmonic reducer is formed by meshing the flexible outer gear ring and the rigid inner gear ring, a magnetic conductive ring (102) is arranged on the outer circle of the driving disc, a permanent magnetic ring (103) is arranged on the inner circle of the magnetic conductive ring, an annular inner stator 104 is arranged on the outer circle of the rigid inner gear ring, a three-phase coil 105 is arranged on the annular inner stator, three Hall sensors 106 at different positions are arranged between the three-phase coils, the three-phase coils are connected into a Y-shaped circuit, a three-phase coil output line is led out, the three-phase coil output line and the three Hall sensor output lines, the outer rotor brushless motor drives the upper plastic pulley and the lower plastic pulley to revolve for a circle, the revolution value of the flexible outer gear ring is equal to the linear distance between the number of the inner teeth and the difference between the number of the outer teeth, and the speed reduction ratio of the harmonic reducer is very large, so that the rotating speed of a common driving shaft of the harmonic reducer and the outer rotor brushless motor is very low, the common driving shaft is an output shaft of the harmonic reducer motor, and the output shaft has a locking function after the harmonic reducer motor is stopped.
The folding flying automobile has the beneficial effects that: the folding flying automobile can take off and land vertically without an airport runway, the left and right wings of the folding flying automobile occupy small area in a folding state, which is beneficial to parking in urban areas and running on roads, when the folding flying automobile is in a flying state, the unfolded wings have large aspect ratio, large lift force, small airflow resistance and high pneumatic efficiency, compared with the automobile running on land, the folding flying automobile consumes the same amount of fuel, the folding flying automobile has long continuous driving range and short running time, the power generation automobile has large fuel energy and light weight, a direct current generator of the power generation automobile supplies power to the aircraft through an over-voltage regulator, so that the continuous flying range of the folding flying automobile is increased, when the folding flying automobile is in a vertical state, the 4 propellers are all in a horizontal state, and the loaded folding flying automobile has the problems of low pneumatic takeoff efficiency and high power consumption, therefore, the intelligent controller controls the power generation automobile to increase the accelerator and increase the power of the generator according to the set program, a power supply with higher power is provided for 4 outer rotor thrust motors, after the folding type flying automobile takes off to a certain height, the intelligent controller controls the left servo motor and the right servo motor to rotate according to the set program, the left wing and the right wing are unfolded towards two sides at the same time, the left wing and the right wing are changed into a horizontal state from a vertical state, the horizontal Hall sensor is aligned with the permanent magnet particles, the horizontal Hall sensor signals are sent to the intelligent controller, the intelligent controller controls the left servo motor and the right servo motor to stop automatically at the same time, the servo motor has a locking function, the left wing and the right wing are locked in the horizontal state, the folding type flying automobile gradually changes into rapid forward horizontal flight after vertical flight, the intelligent controller controls the forward and backward tilt angle motors, the front and back vector motors are synchronously lifted upwards and backwards, the inclination angles of the front and back propellers are gradually transited from a horizontal state to a vertical state, the thrust generated by the front and back propellers is the forward flying power of the aerocar, the inclination angles of the front and back propellers are in the transition period, the horizontal signal of the gyro sensor is transmitted to the intelligent controller, the intelligent controller respectively controls the inclination angles of the front inclination angle motor and the back inclination angle motor, the front and back propellers generate different vector lift forces, so that the folding aerocar keeps the balance of the front and back ends of the aerocar body during the transition period of taking off and flying, the forward flying speed of the aerocar enables the left wing and the right wing to generate the lift force for supporting the aerocar, the support lift force is far larger than that of the left and right propellers, the intelligent controller respectively reduces the rotating speeds of the left-rotor motor and the right-rotor motor, and the left and right propellers adjust the left and right propellers under different rotating, The balance of the right end acts on the left and right turning of the aerocar in the air on one hand, and the different rotating speeds of the left and right screw propellers act on the automatic balance of the left and right ends of the aerocar when the aerocar flies straight on the other hand, in the process of rapid horizontal flight, the intelligent controller respectively controls the inclination angle of the front inclination angle motor and the inclination angle of the rear inclination angle motor, so that the front propeller and the rear propeller generate thrust with different vectors, the automatic balance of the front end and the rear end of the flying automobile is realized, the 4 outer rotor thrust motors and 2 dip motors of the folding type hovercar are flexibly and mechanically combined to control respectively, so that the operability and the stability of the hovercar are improved, the aspect ratio of the left wing and the right wing is large, the required lift force can be satisfied under the middle and low speed flying state, the safety of the aerocar is improved, when the aerocar flies in the air, the intelligent controller controls the advancing direction of the hovercar to realize automatic flight according to the navigation signal. The foldable flying car is provided with a power generation car, the power generation car is provided with a car body shell (1), the front end part of the car body shell is provided with a cab, the front end of the cab is provided with a windshield (2), the upper end of the windshield is provided with an information display (3), the front lower end of the cab is provided with an intelligent controller (4), the intelligent controller is provided with a control box shell, an engine control module, a generator voltage adjusting module, 4 outer rotor thrust motor control modules, 4 hub motor control modules, 5 harmonic speed reduction motor control modules and program control modules of all systems are respectively arranged in the control box shell, the output end of each motor control module is connected with a corresponding motor output line, a navigator and a gyro sensor are arranged in the control box shell, the output lines of the navigator and the gyro sensor are connected with the related input ends of the intelligent controller, and send navigation signals and balance signals to the intelligent controller, an operation panel (5) is arranged at the rear end of the control box shell, an operation keyboard (6) is arranged at the upper end of the operation panel, an output line of the operation keyboard is connected with a relevant input end of the intelligent controller and sends various operation signals to the intelligent controller, a takeoff and landing key, a flight mode key, a straight-going key and a turning key of the aircraft are arranged on the operation keyboard, and an acceleration key, a deceleration key, a straight-going key, a turning key and a starting key and a braking key of the power generation automobile are arranged on the operation keyboard; the lower end of a machine body shell is provided with an arched chassis (7), the central line of the arched chassis is provided with an arched duct (8), the arched duct and the arched chassis are equal in length and parallel, the upper end of the arched chassis is provided with a cabin shell (9), the front end of the cabin shell is provided with a driver seat (10), the rear end in the cabin shell is provided with an oil tank (1) (11), the front end of the oil tank is provided with an engine (12), the engine selects an energy-saving and environment-friendly light fuel engine, the front end of the engine is provided with a direct current generator (13) matched with the power and the rotating speed of the engine, the engine directly drives the direct current generator, the output end of the direct current generator is connected with the output end of a lithium battery pack (14) through a generator voltage adjusting module, the output end of the lithium battery pack is connected, various engine parameters are sent to the intelligent controller, the engine works in an automatic control mode, the size of an accelerator is automatically adjusted by the engine according to information output by an operation keyboard, the engine is automatically started and shut down, and the lithium battery pack is automatically charged by power generation; the rear end of the machine body shell is provided with a vehicle door (15), the middle part of the rear end of the arched chassis is fixed with a vehicle door servo motor (16), the vehicle door servo motor is provided with a long driving shaft (17), the vehicle door servo motor is positioned in the middle part of the long driving shaft, the left end and the right end of the long driving shaft are connected with the left end and the right end of the lower end of the vehicle door, the vehicle door is in a cover shape, the back of the vehicle door is provided with a stair (18), the vehicle door servo motor rotates the long driving shaft anticlockwise, the long driving shaft rotates to open the vehicle door, when the vehicle door rotates 180 degrees, the upper end of the vehicle door falls to the ground, the stair surface is turned to the front, a driver can conveniently board a cab on the stair, the vehicle door servo motor is provided with a barrel-shaped shell (19), the left upper end of the barrel-shaped shell is provided with a, a screw rod (22) is arranged in a nut hole, permanent magnet particles (23) are arranged at the lower end of the screw rod, a door-closing Hall sensor is aligned with the permanent magnet particles when the vehicle door is in a closed state, a door-opening Hall sensor is aligned with the permanent magnet particles when the vehicle door is in an open state, output lines of the door-opening Hall sensor and the door-closing Hall sensor are connected with relevant input ends of an intelligent controller, and an automatic shutdown signal is sent to the intelligent controller; the foldable flying car is provided with an aircraft, the aircraft is provided with an electric control foldable left wing and an electric control foldable right wing, the electric control foldable left wing is taken as an example below, the aircraft is provided with an arch duct, the lower end of the arch duct is provided with a front connecting plate (24), a rear connecting plate (25) and a middle connecting plate (26), the middle parts of the front, rear and middle connecting plates are all arch-shaped, arch arcs at the upper ends of the front, rear and middle connecting plates are coincided with arch arcs at the lower end of the arch duct, the left ends of the front, rear and middle connecting plates are all welded at the left end of an arch chassis, a left servo motor (27) is fixedly arranged at the left lower end of the front connecting plate, a crankshaft (29) is arranged on a driving shaft (28) of the left servo motor, the overlooking graph of the crankshaft is in a 180-degree arc shape, The rear end is welded with a rear connecting sleeve 31, the front connecting sleeve is tightly connected with a driving shaft, the inner circle of the rear connecting sleeve is tightly connected with a short shaft 32, the rear end of the short shaft is provided with a shaft sleeve 33, the shaft sleeve is welded at the left lower end of a rear connecting plate, the short shaft is in sliding fit in the shaft sleeve, the left end of a crankshaft is connected with a left wing 34, the left wing is provided with a front framework 35 and a rear framework 36, the big end of the front framework is welded at the left front end of the crankshaft, the big end of the rear framework is welded at the left rear end of the crankshaft, the upper end and the lower end of the front framework and the rear framework are provided with a left wing shell, the left end of the left wing shell is small in; the power generation automobile is provided with 4 wheels, the front end of a body shell is provided with a front left wheel 39 and a front right wheel 40, the rear end of the body shell is provided with a rear left wheel 41 and a rear right wheel 42, an electric control folding type left wing and an electric control folding type right wing are in a vertical state after being folded, the 4 wheels are in a vertical state along with the left wing and the right wing, the centers of the 4 wheels are respectively provided with a hub motor 43, the outer circle of the hub motor is respectively provided with a tire 44, the left support and the right support are welded at the left end and the right end of a front connecting sleeve of the left wing, the lower ends of the left support and the right support are provided with a left wheel shaft groove and a right wheel shaft groove, the left support and the right support form a straight fork frame 45, the rear view figure of the straight fork frame is n-shaped, the lower end in the straight fork frame is provided with a front hub motor, the left end of a hub shaft of the front, a left support 46 and a right support 47 are welded at the left end and the right end of a rear connecting sleeve of a left wing, a left wheel shaft groove and a right wheel shaft groove are arranged at the lower ends of the left support and the right support, an inclined fork frame 48 is formed by the left support and the right support, the rear view figure of the inclined fork frame is n-shaped, a rear hub motor 49 is arranged at the lower end in the inclined fork frame, the left end of a hub shaft 50 of the rear hub motor is arranged in the left wheel shaft groove and is fastened by a left nut 51, the right end of the hub shaft of the rear hub motor is arranged in the right wheel shaft groove and is fastened by a right nut 52, when the left wing is unfolded to be in a horizontal state, a front tire and a rear tire are positioned at the lower end of the arched chassis in a horizontal state, when the left servo motor rotates clockwise, and a driving shaft of the left servo motor; the left servo motor is provided with a barrel-shaped shell 53, the rear right end of the barrel-shaped shell is provided with a sensing hole, a horizontal Hall sensor 54 is arranged in the sensing hole, the rear lower end of the barrel-shaped shell is provided with a sensing hole, a vertical Hall sensor 55 is arranged in the sensing hole, a driving shaft is provided with a nut hole, a screw rod 56 is arranged in the nut hole, permanent magnet particles 57 are arranged at the lower end of the screw rod, the horizontal Hall sensor is aligned with the permanent magnet particles when the left wing is in a horizontal state, the vertical Hall sensor is aligned with the permanent magnet particles when the left wing is in a vertical state, the output lines of the Hall sensors of the left wing and the vertical Hall sensor are connected with the relevant input end of an intelligent controller to send an automatic shutdown signal to the intelligent controller, the structural characteristics of the electric control folding type left wing and the electric control folding type right wing are, The right wing is in a vertical state after being folded, 4 wheels land, the volume of the folding type flying automobile is reduced to be changed into a power generation automobile, the power generation automobile can run on a road under a 4-wheel driving state, an intelligent controller respectively controls the rotating speed of a left hub motor and a right hub motor to enable the power generation automobile to turn left and right during running, the intelligent controller simultaneously controls the 4 hub motors to reversely charge a power supply, 4 tires can be electromagnetically braked to enable the power generation automobile to decelerate or stop, and the intelligent controller respectively controls the forward rotation and the reverse rotation of the left hub motor and the right hub motor to enable the power generation automobile to turn in place during stopping of the power generation automobile; the aircraft is provided with a front vector motor 58, a rear vector motor 59, a left-handed wing motor 60 and a right-handed wing motor 61, wherein 4 motors are composed of an outer rotor thrust motor 62 and a propeller 63, the propellers are arranged on the circumference of the outer rotor thrust motor shell, the specifications and the models of the 4 outer rotor thrust motors are the same, the specifications and the models of the 4 propellers are the same, the turning directions of the left and right propellers are opposite, the turning directions of the front and rear propellers are opposite, the outer rotor thrust motor is provided with an installation shaft 64, the installation shaft is provided with a central screw hole 65, a connecting screw 66 is arranged in the central screw hole, the central screw hole of the installation shaft of each outer rotor thrust motor is respectively arranged on the corresponding connecting screw, the left end of a middle connecting plate is provided with a screw hole and a connecting screw, the left-handed wing motor is arranged at the left lower end of the middle connecting plate, the right end of the middle connecting plate is provided with a screw hole and a connecting screw, the right lower end of the middle connecting plate is provided with a right rotary wing motor 61, the connecting screw 66 fastens an installation shaft 64 of the right rotary wing motor, the front end of the arched duct is welded with a front fork 67, the rear end of the arched duct is welded with a rear fork 68, the rear view shapes of the front fork and the rear fork are both n-shaped, the lower end of the front fork is provided with a front rake motor 69, the front rake motor is provided with a two-end driving shaft 70, the left end and the right end of the two-end driving shaft are both provided with a left nut 71 and a right nut 72, the lower end of the front fork is provided with a left wheel shaft groove and a right wheel groove, the left end of the two-end driving shaft is arranged in the left wheel shaft groove and is connected and fastened by the left nut and the right nut, the right end of the two-end driving, the back rake motor 73 is installed at the lower end of the back fork frame, the installation mode and the structure form of the back rake motor are the same, the lower end of the back rake motor is welded with a screw 66, the connecting screw fastens the installation shaft of the back vector motor, the front vector motor and the back vector motor are symmetrical to the middle connecting plate, the left wing motor and the right wing motor are symmetrical to the arch duct, the fixed left wing motor and the fixed right wing motor enable the left propeller and the right propeller to be kept in a horizontal state, the front vector motor and the back rake motor respectively rotate the angle of the front vector motor and the back vector motor within the range of 90 degrees, the front propeller and the back propeller can be synchronously controlled to be transited from the horizontal state to the vertical state, the air is pushed backwards when the front propeller and the back propeller rotate in the vertical state, air flow pushed backwards is formed below the arch duct, the folding type flying automobile is pushed to fly forwards, the front rake motor and the back, providing thrust with different vectors for the folding aerocar to balance the front end and the rear end of the folding aerocar; the lower end of the arched chassis is provided with a wire pipe, the front end of the arched chassis is provided with a wire hole 74, the model specifications of the 4 hub motors are the same, a hub shaft of the hub motor is a hollow shaft, an output line of the hub motor is led out from the hollow shaft, the output lines of the 4 hub motors are respectively led to the lower end of the arched chassis through a straight fork frame and an inclined fork frame, 4 combined output lines penetrate into the wire pipe and enter a cab through the wire hole, the output lines of the front vector motor and the rear vector motor and the output lines of the front inclination angle motor and the rear inclination angle motor are respectively led to the lower end of the arched chassis through the front fork frame and the rear fork frame, the 4 combined output lines penetrate into the wire pipe and enter the cab through the wire hole, the output lines of the left rotary wing motor and the right rotary wing motor, the output lines of the left servo motor and the right servo motor and the output lines of each, after being combined, the output wires penetrate into the wire pipe and enter the cab through the wire hole.
The front vector motor, the rear vector motor, the left rotary wing motor and the right rotary wing motor are all outer rotor thrust motors 62 with the same structure, the outer rotor thrust motors are provided with mounting shafts 64, the mounting shafts are provided with central screw holes 65, the lower ends of the central screw holes are provided with inclined holes 75, the lower ends of the mounting shafts are provided with armature shafts 76, stator cores 77 are arranged on the outer circles of the armature shafts, the stator cores are formed by overlapping a plurality of silicon steel sheets, the circumferences of the stator cores are provided with a plurality of tooth spaces, 3-phase coil windings 78 are wound in the tooth spaces, the 3-phase coil windings are connected into a Y-shaped circuit, 3 Hall elements 79 at different positions are respectively arranged in the tooth spaces at the outer ends of the 3-phase coils, the output lines of the 3-phase coil windings and the output lines of the 3 Hall elements are combined into a motor line 80, the motor line is led out of the, a rotor shaft 82 is arranged in the central shaft hole, a lower end cover 83 is arranged at the lower end of the rotor shaft, a magnetic conduction ring 84 is arranged on the excircle of the lower end cover, a permanent magnet ring 85 is arranged in the inner circle of the magnetic conduction ring, the permanent magnet ring is formed by splicing 8 arc permanent magnets, the arc permanent magnets are strong magnets made of neodymium iron boron materials, the magnetic pole direction of each arc permanent magnet is radial, the polarities of adjacent arc permanent magnets are opposite to each other, an inner screw is arranged in the inner circle of the upper end of the magnetic conduction ring, a stop table is arranged at the lower end of the inner screw, an upper end cover 86 is arranged in the inner circle of the upper end of the magnetic conduction ring, an outer screw is arranged on the excircle of the upper end cover and is matched with the inner screw, the upper end cover is screwed on the inner circle of the magnetic conduction ring, an outer rotor shaft, the upper end cover, the lower end cover, the permanent magnet ring and the magnetic conduction ring form an outer, the propellers of the front vector motor, the rear vector motor, the left rotary wing motor and the right rotary wing motor are all in a horizontal state at the lower end of the outer rotor thrust motor, the rotor shaft is pressed to the thrust steel balls by the lifting force of the 4 propellers, when the propellers of the front vector motor and the rear vector motor push the hovercar to fly in a vertical state, the rotor shaft is pressed to the thrust steel balls by the thrust of the front propeller and the rear propeller, the rotor shaft is in point contact with the thrust steel balls, the friction force is small, no force is applied between the central shaft hole and the rotor shaft, and the friction force is small, so the bearing loss of the outer rotor thrust motor is small when the outer rotor thrust motor is loaded.
The front servo motor, the rear servo motor, the car door servo motor, the front inclination angle motor and the rear inclination angle motor are harmonic speed reducing motors with the same structure, the front servo motor, the rear servo motor and the hall sensor of the car door servo motor have the same structure, the car door servo motor is taken as an example for explanation, the structural description of the front servo motor, the rear servo motor, the front inclination angle motor and the rear inclination angle motor is not repeated, the harmonic speed reducing motor is provided with a cylindrical shell 19, the cylindrical shell is provided with a right end cover 88, the cylindrical shell and the right end cover are integrally manufactured and molded, the middle part of the right end cover is provided with a right bearing 89, the cylindrical shell is provided with a left end cover 90, the left end cover is positioned at the right ends of the door opening hall sensor and the door closing hall sensor, the left end cover is fixed by a plurality of end cover screws 91, the middle, a left inner bearing 93 and a right inner bearing 94 are arranged between the left bearing and the right bearing, the left inner bearing and the right inner bearing are coaxially arranged with the left bearing and the right bearing, the left inner bearing and the right inner bearing are arranged in a cylindrical bearing frame 95, the right end of the cylindrical bearing frame is provided with a driving disc 96, the left end of the driving disc is provided with an upper plastic pulley 97 and a lower plastic pulley 98 to form a wave generator, a conical disc support 99 is arranged on a common driving shaft, the circumference of the conical disc support is provided with a flexible outer gear ring 100, the flexible outer gear ring is changed into an elliptical outer gear ring under the support of the upper plastic pulley and the lower plastic pulley, the right end of a left end cover is provided with a rigid inner gear ring 101, the flexible outer gear ring and the rigid inner gear ring are engaged to form a harmonic reducer, the excircle of the driving disc is provided with a magnetic conduction ring 102, the inner circle of the magnetic conduction ring is provided with a permanent magnetic ring, the three-phase coil is connected into a Y-shaped circuit, a three-phase coil output line is led out, the three-phase coil output line and three Hall sensor output lines are combined to form a motor line 107, a wire outlet hole 108 is formed in the cylindrical shell, the motor line is led out from the wire outlet hole, the permanent magnet outer rotor and the annular inner stator form an outer rotor brushless motor, the outer rotor brushless motor drives the upper plastic pulley and the lower plastic pulley to revolve for one circle, the revolution value of the flexible outer gear ring is equal to the line distance between the number of teeth of the inner teeth and the number of teeth of the outer teeth, the speed reduction ratio of the harmonic reducer is very large, therefore, the rotating speed of a common driving shaft of the harmonic reducer and the outer rotor brushless motor is very low, the common driving shaft is the output shaft of the harmonic.
The folding flying automobile can take off and land vertically without an airport runway, the left and right wings of the folding flying automobile occupy small area in a folding state, which is beneficial to parking in urban areas and running on roads, when the folding flying automobile is in a flying state, the unfolded wings have large aspect ratio, large lift force, small airflow resistance and high pneumatic efficiency, compared with the automobile running on land, the folding flying automobile consumes the same amount of fuel, the folding flying automobile has long continuous driving range and short running time, the power generation automobile has large fuel energy and light weight, a direct current generator of the power generation automobile supplies power to the aircraft through an over-voltage regulator, so that the continuous flying range of the folding flying automobile is increased, when the folding flying automobile is in a vertical state, the 4 propellers are all in a horizontal state, and the loaded folding flying automobile has the problems of low pneumatic takeoff efficiency and high power consumption, therefore, the intelligent controller controls the power generation automobile to increase the accelerator and increase the power of the generator according to the set program, a power supply with higher power is provided for 4 outer rotor thrust motors, after the folding type flying automobile takes off to a certain height, the intelligent controller controls the left servo motor and the right servo motor to rotate according to the set program, the left wing and the right wing are unfolded towards two sides at the same time, the left wing and the right wing are changed into a horizontal state from a vertical state, the horizontal Hall sensor is aligned with the permanent magnet particles, the horizontal Hall sensor signals are sent to the intelligent controller, the intelligent controller controls the left servo motor and the right servo motor to stop automatically at the same time, the servo motor has a locking function, the left wing and the right wing are locked in the horizontal state, the folding type flying automobile gradually changes into rapid forward horizontal flight after vertical flight, the intelligent controller controls the forward and backward tilt angle motors, the front and back vector motors are synchronously lifted upwards and backwards, the inclination angles of the front and back propellers are gradually transited from a horizontal state to a vertical state, the thrust generated by the front and back propellers is the forward flying power of the aerocar, the inclination angles of the front and back propellers are in the transition period, the horizontal signal of the gyro sensor is transmitted to the intelligent controller, the intelligent controller respectively controls the inclination angles of the front inclination angle motor and the back inclination angle motor, the front and back propellers generate different vector lift forces, so that the folding aerocar keeps the balance of the front and back ends of the aerocar body during the transition period of taking off and flying, the forward flying speed of the aerocar enables the left wing and the right wing to generate the lift force for supporting the aerocar, the support lift force is far larger than that of the left and right propellers, the intelligent controller respectively reduces the rotating speeds of the left-rotor motor and the right-rotor motor, and the left and right propellers adjust the left and right propellers under different rotating, The balance of the right end acts on the left and right turning of the aerocar in the air on one hand, and the different rotating speeds of the left and right screw propellers act on the automatic balance of the left and right ends of the aerocar when the aerocar flies straight on the other hand, in the process of rapid horizontal flight, the intelligent controller respectively controls the inclination angle of the front inclination angle motor and the inclination angle of the rear inclination angle motor, so that the front propeller and the rear propeller generate thrust with different vectors, the automatic balance of the front end and the rear end of the flying automobile is realized, the 4 outer rotor thrust motors and 2 dip motors of the folding type hovercar are flexibly and mechanically combined to control respectively, so that the operability and the stability of the hovercar are improved, the aspect ratio of the left wing and the right wing is large, the required lift force can be satisfied under the middle and low speed flying state, the safety of the aerocar is improved, when the aerocar flies in the air, the intelligent controller controls the advancing direction of the hovercar to realize automatic flight according to the navigation signal.

Claims (4)

1. The utility model provides a foldable hovercar, comprises aircraft and electricity generation car, and the two is the foldable hovercar of the mechatronic of close coupling, its characterized in that: the foldable flying car is provided with a power generation car, the power generation car is provided with a car body shell (1), the front end part of the car body shell is provided with a cab, the front end of the cab is provided with a windshield (2), the upper end of the windshield is provided with an information display (3), the front lower end of the cab is provided with an intelligent controller (4), the intelligent controller is provided with a control box shell, an engine control module, a generator voltage adjusting module, 4 outer rotor thrust motor control modules, 4 hub motor control modules, 5 harmonic speed reduction motor control modules and program control modules of all systems are respectively arranged in the control box shell, the output end of each motor control module is connected with a corresponding motor output line, a navigator and a gyro sensor are arranged in the control box shell, the output lines of the navigator and the gyro sensor are connected with the related input ends of the intelligent controller, and send navigation signals and balance signals to the intelligent controller, an operation panel (5) is arranged at the rear end of the control box shell, an operation keyboard (6) is arranged at the upper end of the operation panel, an output line of the operation keyboard is connected with a relevant input end of the intelligent controller and sends various operation signals to the intelligent controller, a takeoff and landing key, a flight mode key, a straight-going key and a turning key of the aircraft are arranged on the operation keyboard, and an acceleration key, a deceleration key, a straight-going key, a turning key and a starting key and a braking key of the power generation automobile are arranged on the operation keyboard; fuselage shell lower extreme is equipped with arch chassis (7), arch chassis central line is equipped with arch duct (8), arch duct equals with arch chassis length, the two is parallel, arch chassis upper end is equipped with cabin shell (9), cabin shell front end is equipped with the driver seat, the seat both sides are equipped with the handrail, the handrail upper end is equipped with action bars (10), the output line connection intelligent control's of action bars relevant input, send aircraft and generating vehicle's the straight-line and turn for intelligent control ware, various operating signal with acceleration and deceleration and start and brake, rear end is equipped with oil tank (11) in the cabin shell, the oil tank front end is equipped with engine (12), the light-duty fuel engine of energy-concerving and environment-protective is selected for use to the engine, the engine front end is equipped with power with the engine, DC generator (13) that the rotational speed matches, engine direct drive DC generator, the output of DC generator passes through the output that generator voltage regulation module connects lithium cell group The output end of the lithium battery pack is connected with the power supply end of the intelligent controller, the engine is provided with various sensors, the output lines of the various sensors are connected with the relevant input end of the intelligent controller to send various engine parameters to the intelligent controller, the engine works in an automatic control mode, the engine automatically adjusts the size of an accelerator according to the information output by an operation keyboard, the engine is automatically started and stopped, the lithium battery pack is automatically charged by power generation, the rear end of a shell of a machine body is provided with a vehicle door (15), the middle part of the rear end of an arched chassis is fixed with a vehicle door servo motor (16), the vehicle door servo motor is provided with a long driving shaft (17), the vehicle door servo motor is positioned in the middle part of the long driving shaft, the left end and the right end of the long driving shaft are connected with the left end and the right end of the lower end of the vehicle door, when the vehicle door rotates 180 degrees, the upper end of the vehicle door falls to the ground, the stair surface turns over to the front, a driver can conveniently go upstairs to board a cab, the vehicle door servo motor is provided with a barrel-shaped shell (19), the left upper end of the barrel-shaped shell is provided with a sensing hole, a door closing Hall sensor (20) is installed in the sensing hole, the left lower end of the barrel-shaped shell is provided with a sensing hole, a door opening Hall sensor (21) is installed in the sensing hole, a driving shaft is provided with a nut hole, a screw rod (22) is installed in the nut hole, the lower end of the screw rod is provided with permanent magnet particles (23), the vehicle door is in a closed state, the door closing Hall sensor is aligned with the permanent magnet particles, the door opening Hall sensor is aligned with the permanent magnet particles when the vehicle door is in an open state; the foldable flying car is provided with an aircraft, the aircraft is provided with an electric control foldable left wing and an electric control foldable right wing, the electric control foldable left wing is taken as an example below, the aircraft is provided with an arch duct, the lower end of the arch duct is provided with a front connecting plate (24), a rear connecting plate (25) and a middle connecting plate (26), the middle parts of the front, rear and middle connecting plates are all arch-shaped, arch arcs at the upper ends of the front, rear and middle connecting plates are matched with arch arcs at the lower end of the arch duct, the left ends of the front, rear and middle connecting plates are all welded at the left end of an arch chassis, a left servo motor (27) is fixedly installed at the left lower end of the front connecting plate, a crankshaft (29) is installed on a driving shaft (28) of the left servo motor, the overlooking graph of the crankshaft is in a 180-degree arc shape, and a front, The rear end of the rear connecting sleeve is welded with a rear connecting sleeve (31), the front connecting sleeve is fixedly connected with the driving shaft, the inner circle of the rear connecting sleeve is fixedly connected with a short shaft (32), a shaft sleeve (33) is installed at the rear end of the short shaft, the shaft sleeve is welded at the left lower end of a rear connecting plate, the short shaft is in sliding fit in the shaft sleeve, the left end of the crankshaft is connected with a left wing (34), the left wing is provided with a front framework (35) and a rear framework (36), the large head of the front framework is welded at the left front end of the crankshaft, the large head of the rear framework is welded at the left rear end of the crankshaft, the upper end and the lower end of the front framework and the lower end of the rear framework are provided with a left wing shell, the left end section figure; the power generation automobile is provided with 4 wheels, the front end of a machine body shell is provided with a front left wheel (39) and a front right wheel (40), the rear end of the machine body shell is provided with a rear left wheel (41) and a rear right wheel (42), an electric control folding type left wing and an electric control folding type right wing are in a vertical state after being folded, the 4 wheels are in a vertical state along with the left wing and the right wing, the centers of the 4 wheels are respectively provided with a hub motor (43), the outer circles of the 4 hub motors are respectively provided with a tire (44), the left end and the right end of a front connecting sleeve of the left wing are welded with a left bracket and a right bracket, the lower ends of the left bracket and the right bracket are provided with a left wheel shaft groove and a right wheel shaft groove, the left bracket and the right bracket form a straight fork frame (45), the rear view figure of the straight fork frame is n-shaped, the lower end in the straight fork frame is provided with a front hub motor, the left end of a, the left and right ends of a rear connecting sleeve of a left wing are welded with a left support (46) and a right support (47), the lower ends of the left and right supports are provided with a left wheel shaft groove and a right wheel shaft groove, the left and right supports form an inclined fork frame (48), the rear view of the inclined fork frame is n-shaped, the lower end in the inclined fork frame is provided with a rear hub motor (49), the left end of a hub shaft (50) of the rear hub motor is installed in the left wheel shaft groove and is fastened by a left nut (51), the right end of the hub shaft of the rear hub motor is installed in the right wheel shaft groove and is fastened by a right nut (52), when the left wing is unfolded to be in a horizontal state, a front wheel and a rear wheel are positioned at the lower end of an arched chassis in a horizontal state, when the left servo motor rotates clockwise, and a driving shaft (28) of the left servo motor rotates a crankshaft by 90 degrees, the crankshaft drives the left wing to be in; the left servo motor is provided with a barrel-shaped shell (53), the rear right end of the barrel-shaped shell is provided with a sensing hole, a horizontal Hall sensor (54) is arranged in the sensing hole, the rear lower end of the barrel-shaped shell is provided with a sensing hole, a vertical Hall sensor (55) is arranged in the sensing hole, a driving shaft is provided with a nut hole, a screw rod (56) is arranged in the nut hole, permanent magnet particles (57) are arranged at the lower end of the screw rod, the horizontal Hall sensor is aligned with the permanent magnet particles when the left wing is in a horizontal state, the vertical Hall sensor is aligned with the permanent magnet particles when the left wing is in a vertical state, output lines of the Hall sensors of the left wing and the vertical Hall sensor are connected with relevant input ends of an intelligent controller, an automatic shutdown signal is sent to the intelligent controller, the structural characteristics of the electric control folding left wing and the electric control folding, the left wing and the right wing are in a vertical state after being folded, 4 wheels land, the volume of the folding type flying automobile is reduced to be changed into a power generation automobile, the power generation automobile can run on a road under a 4-wheel driving state, an intelligent controller respectively controls the rotating speed of a left hub motor and a right hub motor to enable the power generation automobile to turn left and right during running, the intelligent controller simultaneously controls the 4 hub motors to reversely charge a power supply, 4 tires can be electromagnetically braked to enable the power generation automobile to decelerate or stop, and the intelligent controller respectively controls the forward rotation and the reverse rotation of the left hub motor and the right hub motor to enable the power generation automobile to turn in place during stopping of the power generation automobile; the aircraft is provided with a front vector motor (58), a rear vector motor (59), a left rotary wing motor (60) and a right rotary wing motor (61), wherein 4 motors are respectively composed of an outer rotor thrust motor (62) and a propeller (63), the propellers are arranged on the circumference of a shell of the outer rotor thrust motor, the specifications and the models of the 4 outer rotor thrust motors are the same, the specifications and the models of the 4 propellers are the same, the turning directions of the left and right propellers are opposite, the turning directions of the front and rear propellers are opposite, the outer rotor thrust motor is provided with an installation shaft (64), the installation shaft is provided with a central screw hole (65), a connection screw (66) is arranged in the central screw hole, the central screw hole of each outer rotor thrust motor installation shaft is respectively arranged on the corresponding connection screw, the left end of a middle connection plate is provided with a screw hole and a connection screw, the left rotary wing motor is arranged at the left, the connecting screw is used for fastening the mounting shaft of the left rotor motor, the right end of the middle connecting plate is provided with a screw hole and the connecting screw, the right lower end of the middle connecting plate is provided with a right rotor motor (61), the connecting screw (66) is used for fastening the mounting shaft (64) of the right rotor motor, the front end of the arched duct is welded with a front fork frame (67), the rear end of the arched duct is welded with a rear fork frame (68), the rear view shapes of the front fork frame and the rear fork frame are both n-shaped, the lower end of the front fork frame is provided with a front rake motor (69), the front rake motor is provided with two-end driving shafts (70), the left end and the right end of each two-end driving shaft are both provided with a left nut (71) and a right nut (72), the lower end of the front fork frame is provided with a left wheel shaft groove and a right wheel shaft groove, the left end of each two-end, the lower end of the front pitch angle motor is welded with a connecting screw (66) which is used for fastening the mounting shaft of the front vector motor, the lower end of the rear fork frame is provided with a rear pitch angle motor (73), the mounting mode and the structural form of the rear pitch angle motor are the same, the lower end of the rear pitch angle motor is welded with the connecting screw (66) which is used for fastening the mounting shaft of the rear vector motor, the front vector motor and the rear vector motor are symmetrical to the middle connecting plate, the left wing motor and the right wing motor are symmetrical to the arched duct, the fixed left wing motor and the fixed right wing motor enable the left propeller and the right propeller to be kept in a horizontal state, the front pitch angle motor and the rear pitch angle motor respectively rotate the angle of the front vector motor and the angle of the rear vector motor within the range of 90 degrees, the front propeller and the rear propeller can be synchronously controlled to be transited from the horizontal state to the vertical state, the, the foldable flying automobile is pushed to fly forwards, the front and rear inclination motors can also respectively control the inclination angles of the front propeller and the rear propeller, so that different vector thrusts are provided for the foldable flying automobile, and the front end and the rear end of the foldable flying automobile are balanced; the lower end of the arched chassis is provided with a wire pipe, the front end of the arched chassis is provided with a wire hole (74), the model specifications of the 4 hub motors are the same, a hub shaft of the hub motor is a hollow shaft, an output line of the hub motor is led out from the hollow shaft, the output lines of the 4 hub motors are respectively led to the lower end of the arched chassis through a straight fork frame and an inclined fork frame, 4 combined output lines penetrate into the wire pipe and enter a cab through the wire hole, the output lines of the front vector motor and the rear vector motor and the output lines of the front inclination angle motor and the rear inclination angle motor are respectively led to the lower end of the arched chassis through the front fork frame and the rear fork frame, the 4 combined output lines penetrate into the wire pipe and enter the cab through the wire hole, the output lines of the left rotary wing motor and the right rotary wing motor, the output lines of the left servo motor and the right servo motor and the output lines of each, after being combined, the output wires penetrate into the wire pipe and enter the cab through the wire hole.
2. The folding flying automobile of claim 1, wherein: the front vector motor, the rear vector motor, the left rotary wing motor and the right rotary wing motor are all outer rotor thrust motors (62) with the same structure, each outer rotor thrust motor is provided with an installation shaft (64), each installation shaft is provided with a central screw hole (65), the lower end of each central screw hole is provided with an inclined hole (75), the lower end of each installation shaft is provided with an armature shaft (76), a stator core (77) is installed on the outer circle of each armature shaft, each stator core is formed by laminating a plurality of silicon steel sheets, the circumference of each stator core is provided with a plurality of tooth spaces, 3-phase coil windings (78) are wound in the plurality of tooth spaces, the 3-phase coil windings are connected into a Y-shaped circuit, 3 Hall elements (79) at different positions are respectively arranged in the tooth spaces at the outer ends of the 3-phase coils, output lines of the 3-phase coil windings and output lines of the 3 Hall elements, the upper end of the central shaft hole is provided with a thrust steel ball (81), the central shaft hole is provided with a rotor shaft (82), the lower end of the rotor shaft is provided with a lower end cover (83), the excircle of the lower end cover is provided with a magnetic conduction ring (84), the inner circle of the magnetic conduction ring is provided with a permanent magnet ring (85), the permanent magnet ring is formed by splicing 8 arc permanent magnets, the arc permanent magnets are strong magnets made of neodymium iron boron materials, the magnetic pole direction of each arc permanent magnet is radial, the polarities of the adjacent arc permanent magnets are opposite, the inner circle of the upper end of the magnetic conduction ring is provided with an inner screw, the lower end of the inner screw is provided with a stop table, the inner circle of the upper end of the magnetic conduction ring is provided with an upper end cover (86), the excircle of the upper end cover is provided with an outer screw, the outer screw is matched with the inner screw, the upper end cover is screwed at the upper, the upper end of the armature shaft is provided with an outer snap spring (87), the outer snap spring blocks the upper end cover, when the aerocar vertically rises and falls, propellers of the front vector motor, the rear vector motor, the left rotary wing motor and the right rotary wing motor are all arranged at the lower end of the outer rotor thrust motor and are in a horizontal state, the rotor shaft is pressed to the thrust steel balls by the lift force of 4 propellers, when the propellers of the front vector motor and the rear vector motor push the aerocar to fly in a vertical state, the thrust of the front propeller and the rear propeller enables the rotor shaft to be pressed to the thrust steel balls, the rotor shaft and the thrust steel balls are in point contact, the friction force is small, no force is applied between the central shaft hole and the rotor shaft, and the friction force is small, so the bearing loss when the outer.
3. The folding flying automobile of claim 1, wherein: the front servo motor, the rear servo motor, the car door servo motor, the front inclination angle motor and the rear inclination angle motor are harmonic speed reducing motors with the same structure, the front servo motor, the rear servo motor and the hall sensor of the car door servo motor are partially of the same structure, the car door servo motor is taken as an example for explanation, the structural description of the front servo motor, the rear servo motor, the front inclination angle motor and the rear inclination angle motor is not repeated, the harmonic speed reducing motor is provided with a cylindrical shell (19), the cylindrical shell is provided with a right end cover (88), the cylindrical shell and the right end cover are integrally manufactured and molded, the middle part of the right end cover is provided with a right bearing (89), the cylindrical shell is provided with a left end cover (90), the left end cover is positioned at the right ends of the door opening hall sensor and the door closing hall sensor, the left end cover is fixed by a plurality of end cover screws (91), the middle, a left inner bearing (93) and a right inner bearing (94) are arranged between the left bearing and the right bearing, the left inner bearing and the right inner bearing are coaxially arranged with the left bearing and the right bearing, the left inner bearing and the right inner bearing are arranged in a cylindrical bearing frame (95), the right end of the cylindrical bearing frame is provided with a driving disc (96), the left end of the driving disc is provided with an upper plastic pulley (97) and a lower plastic pulley (98) to form a wave generator, a conical disc support (99) is arranged on a common driving shaft, the circumference of the conical disc support is provided with a flexible outer gear ring (100), the flexible outer gear ring is changed into an elliptic outer gear ring under the support of the upper plastic pulley and the lower plastic pulley, the right end of a left end cover is provided with a rigid inner gear ring (101), a harmonic reducer is formed by meshing between the flexible outer gear ring and the rigid inner gear ring, the excircle of the driving disc is, the annular inner stator is provided with three-phase coils (105), three Hall sensors (106) at different positions are arranged among the three-phase coils, the three-phase coils are connected into a Y-shaped circuit, three-phase coil output lines are led out, the three-phase coil output lines and the three Hall sensor output lines are combined to form a motor line (107), the cylindrical shell is provided with a wire outlet (108), the motor line is led out from the wire outlet, the permanent magnet outer rotor and the annular inner stator form an outer rotor brushless motor, the outer rotor brushless motor drives the upper plastic pulley and the lower plastic pulley to revolve for one circle, the revolution value of the flexible outer gear ring is equal to the line distance between the number of teeth of the inner teeth and the number of teeth of the outer teeth, the deceleration ratio of the harmonic reducer is very large, therefore, the rotating speed of a common driving shaft of the harmonic reducer and the outer rotor brushless motor is very low, the, the output shaft has a locking function.
4. The folding flying automobile of claim 1, wherein: the folding flying automobile can take off and land vertically without an airport runway, the left and right wings of the folding flying automobile occupy small area in a folding state, which is beneficial to parking in urban areas and running on roads, when the folding flying automobile is in a flying state, the unfolded wings have large aspect ratio, large lift force, small airflow resistance and high pneumatic efficiency, compared with the automobile running on land, the folding flying automobile consumes the same amount of fuel, the folding flying automobile has long continuous driving range and short running time, the power generation automobile has large fuel energy and light weight, a direct current generator of the power generation automobile supplies power to the aircraft through an over-voltage regulator, so that the continuous flying range of the folding flying automobile is increased, when the folding flying automobile is in a vertical state, the 4 propellers are all in a horizontal state, and the loaded folding flying automobile has the problems of low pneumatic takeoff efficiency and high power consumption, therefore, the intelligent controller controls the power generation automobile to increase the accelerator and increase the power of the generator according to the set program, a power supply with higher power is provided for 4 outer rotor thrust motors, after the folding type flying automobile takes off to a certain height, the intelligent controller controls the left servo motor and the right servo motor to rotate according to the set program, the left wing and the right wing are unfolded towards two sides at the same time, the left wing and the right wing are changed into a horizontal state from a vertical state, the horizontal Hall sensor is aligned with the permanent magnet particles, the horizontal Hall sensor signals are sent to the intelligent controller, the intelligent controller controls the left servo motor and the right servo motor to stop automatically at the same time, the servo motor has a locking function, the left wing and the right wing are locked in the horizontal state, the folding type flying automobile gradually changes into rapid forward horizontal flight after vertical flight, the intelligent controller controls the forward and backward tilt angle motors, the front and back vector motors are synchronously lifted upwards and backwards, the inclination angles of the front and back propellers are gradually transited from a horizontal state to a vertical state, the thrust generated by the front and back propellers is the forward flying power of the aerocar, the inclination angles of the front and back propellers are in the transition period, the horizontal signal of the gyro sensor is transmitted to the intelligent controller, the intelligent controller respectively controls the inclination angles of the front inclination angle motor and the back inclination angle motor, the front and back propellers generate different vector lift forces, so that the folding aerocar keeps the balance of the front and back ends of the aerocar body during the transition period of taking off and flying, the forward flying speed of the aerocar enables the left wing and the right wing to generate the lift force for supporting the aerocar, the support lift force is far larger than that of the left and right propellers, the intelligent controller respectively reduces the rotating speeds of the left-rotor motor and the right-rotor motor, and the left and right propellers adjust the left and right propellers under different rotating, The balance of the right end acts on the left and right turning of the aerocar in the air on one hand, and the different rotating speeds of the left and right screw propellers act on the automatic balance of the left and right ends of the aerocar when the aerocar flies straight on the other hand, in the process of rapid horizontal flight, the intelligent controller respectively controls the inclination angle of the front inclination angle motor and the inclination angle of the rear inclination angle motor, so that the front propeller and the rear propeller generate thrust with different vectors, the automatic balance of the front end and the rear end of the flying automobile is realized, the 4 outer rotor thrust motors and 2 dip motors of the folding type hovercar are flexibly and mechanically combined to control respectively, so that the operability and the stability of the hovercar are improved, the aspect ratio of the left wing and the right wing is large, the required lift force can be satisfied under the middle and low speed flying state, the safety of the aerocar is improved, when the aerocar flies in the air, the intelligent controller controls the advancing direction of the hovercar to realize automatic flight according to the signals of the navigator.
CN202010137193.0A 2020-03-02 2020-03-02 Folding flying car Withdrawn CN111152611A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111890858A (en) * 2020-08-17 2020-11-06 西北工业大学 Cross-medium aircraft
CN114030653A (en) * 2021-09-26 2022-02-11 北京控制工程研究所 Control method and system for high-reliability use of three-floating gyroscope
WO2024017420A1 (en) * 2023-11-09 2024-01-25 Su Wu A oval folding fixed wing household small manned aircraft

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111890858A (en) * 2020-08-17 2020-11-06 西北工业大学 Cross-medium aircraft
CN111890858B (en) * 2020-08-17 2024-06-04 西北工业大学 Cross-medium aircraft
CN114030653A (en) * 2021-09-26 2022-02-11 北京控制工程研究所 Control method and system for high-reliability use of three-floating gyroscope
WO2024017420A1 (en) * 2023-11-09 2024-01-25 Su Wu A oval folding fixed wing household small manned aircraft

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Application publication date: 20200515