CN207631494U - Rotor system and unmanned vehicle - Google Patents

Abstract

A kind of rotor system of the utility model offer and unmanned vehicle.The rotor system of the utility model, applied to more rotor unmanned aircrafts, the blade that can be rotated around the rotary shaft including rotary shaft and at least two, it further include the first connection component, first connection component is arranged between the rotary shaft and the blade, first connection component be used to make the blade can the Plane of rotation of the relatively described blade swing up and down.It is more steady when the unmanned vehicle flight of the utility model, it is not likely to produce vibration.

Description

Rotor system and unmanned vehicle

Technical field

The utility model is related to aircraft field more particularly to a kind of rotor systems and unmanned vehicle.

Background technology

With science and technology be constantly progressive, the smart machines such as unmanned vehicle more and more apply people work and In life.

Currently, unmanned vehicle usually rely on rotor equal power device generate lift, to realize landing, hovering or Fly to wait operation before person.Specifically, rotor has a rotating blade, blade when rotated, can relative to air movement, from And lift is generated, maintain the flight of unmanned vehicle.

However, when flying to wait operation before unmanned vehicle carries out high speed, since body itself has certain forward speed, So the advancing blade and retreating blade in rotor there can be different speed relative to front incoming, thus generate different liters Power.In this way under the effect of periodic lift difference, larger vibration is will produce, the normal flight and work of unmanned vehicle are influenced Make.

Utility model content

The utility model provides a kind of rotor system and unmanned vehicle, and when flight is more steady, is not likely to produce vibration.

In a first aspect, the utility model provides a kind of rotor system, it is applied to more rotor unmanned aircrafts, including rotary shaft The blade that can be rotated around rotary shaft at least two, further includes the first connection component, the setting of the first connection component in rotary shaft and Between blade, the first connection component is for making blade that can be swung up and down with respect to the Plane of rotation of blade.

Optionally, the first connection component includes flapping hinge, waves and is hinged and connected between rotary shaft and blade, and blade is around waving The axis of dance hinge is swung up and down relative to the Plane of rotation of blade.

Optionally, the Plane of rotation of the axis of flapping hinge and blade is in identical height.

Optionally, it is provided with paddle seat in rotary shaft, waves and is hinged and connected between paddle seat and the root of blade.

Optionally, flapping hinge includes the first hinged pedestal and the first articulation piece, and the first hinged pedestal and the first articulation piece are logical It crosses horizontal rotating shaft to be rotatably connected, the first hinged one of pedestal and the first articulation piece is connected with paddle seat, another one and blade Root connection.

Optionally, the first hinged pedestal is connected with paddle seat, and the first articulation piece with the root of blade for connecting.

Optionally, the length direction of the horizontal rotating shaft of flapping hinge and blade has angle.

Optionally, horizontal rotating shaft is the shaft with damping.

Optionally, it is provided with damping gasket on the first hinged faying face between pedestal and the first articulation piece.

Optionally, first it is hinged be provided with damper between pedestal and the first articulation piece, damper has volume can be with waving The cavity waved the rotation of hinge and changed, cavity is interior to be filled with resisting medium.

Optionally, rotor system further includes limiting section, and limiting section is for limiting pendulum of the blade relative to blade Plane of rotation Dynamic range, blade are ± 90 ° relative to the hunting range of the Plane of rotation of blade.

Optionally, the first connection component includes flexible connecting member, and flexible connecting member is connected between rotary shaft and blade.

Optionally, flexible connecting member is rubber parts.

Optionally, the second connection component is additionally provided between rotary shaft and blade, the second connection component is for making blade can It is swung along blade Plane of rotation.

Optionally, the second connection component includes lead lag hinge.

Optionally, lead lag hinge is arranged between flapping hinge and paddle seat；Alternatively, lead lag hinge setting flapping hinge and blade it Between.

Optionally, lead lag hinge includes the second hinged pedestal and the second articulation piece, and the second hinged pedestal and the second articulation piece are logical It crosses vertical shaft to be rotatably connected, the second hinged one of pedestal and the second articulation piece is hinged with shimmy, another one connection On the root of paddle seat or blade.

Optionally, the first hinged pedestal and rotation axis connection, the second hinged pedestal and the connection of the first articulation piece, second is hinged Part is connected with the root of blade.

Optionally, the second hinged pedestal and the first articulation piece are an integral structure.

Optionally, the second connection component includes flexible connecting member, and flexible connecting member is connected between paddle seat and blade.

Optionally, the quantity of blade and the first connection component is multiple, and multiple blades connect by corresponding first respectively Connected components and rotation axis connection.

Optionally, the quantity of blade is two, and two blades are symmetricly set on rotary shaft both sides.

Optionally, rotor system further includes driving motor, driving motor and rotation axis connection and is used to that rotary shaft to be driven to revolve Turn.

Second aspect, the utility model provide a kind of unmanned vehicle, including body and at least two rotations as described above Wing system, rotor system are arranged on body.

Optionally, body includes fuselage and horn, and one end of horn is connected with fuselage, and the other end of horn is revolved for being arranged Wing system.

The rotor system and unmanned vehicle of the utility model, rotor system are applied in unmanned vehicle, rotor system The blade that specifically includes rotary shaft and can be rotated around rotary shaft includes additionally the first connection component, the setting of the first connection component Between rotary shaft and blade, the first connection component is for making blade that can be swung up and down with respect to the Plane of rotation of blade.It revolves in this way Blade in wing system can be swung up and down relative to Plane of rotation, to be compensated to the variation of lift, improved nobody and flown The unbalanced phenomenon of lift of advancing blade and retreating blade, effectively reduces the vibration when flight when row device high-speed flight, to Improve the housing construction of unmanned vehicle and the functional reliability of load.

Description of the drawings

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is Some embodiments of the utility model, for those of ordinary skill in the art, in the premise of not making the creative labor property Under, other drawings may also be obtained based on these drawings.

Fig. 1 is the structural schematic diagram for the rotor system that the utility model embodiment one provides；

Fig. 2 is the schematic top plan view for another rotor system that the utility model embodiment two provides；

Fig. 3 is the structural schematic diagram for the third rotor system that the utility model embodiment three provides；

Fig. 4 is the structural schematic diagram for the 4th kind of rotor system that the utility model embodiment four provides；

Fig. 5 is the structural schematic diagram for the 5th kind of rotor system that the utility model embodiment five provides；

Fig. 6 is a kind of structural schematic diagram for unmanned vehicle that the utility model embodiment six provides.

Reference sign：

1-rotary shaft；2-blades；3-the first connection component；4-driving motors；5-the second connection component；21-paddles Seat；31-the first hinged pedestal；32-the first articulation piece；33-horizontal rotating shafts；34,54-flexible connecting member；51-the second hinge Connect pedestal；52-the second articulation piece；53-vertical shafts；100-rotor systems；101-bodies；200-unmanned vehicles； 1011-fuselages；1012-horns.

Specific implementation mode

It is new below in conjunction with this practicality to keep the purpose, technical scheme and advantage of the utility model embodiment clearer Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model Example, the every other embodiment that those of ordinary skill in the art are obtained without creative efforts belong to The range of the utility model protection.

Embodiment one

Fig. 1 is the structural schematic diagram for the rotor system that the utility model embodiment one provides.As shown in Figure 1, the present embodiment The rotor system of offer, be applied to unmanned vehicle in, rotor system can specifically include rotary shaft 1 and it is at least one can be around rotation The blade 2 of shaft rotation, includes additionally the first connection component 3, the setting of the first connection component 3 rotary shaft 1 and blade 2 it Between, the first connection component 3 is for making blade 2 that can be swung up and down with respect to the Plane of rotation of blade 2.

Wherein, rotor system is generally arranged on the unmanned vehicle of more rotors, for providing lift for unmanned vehicle, Unmanned vehicle is set to realize the operations such as landing, hovering and airflight.Specifically, the rotary shaft that rotor system can rotate 1 and can around rotary shaft 1 rotate blade 2.When blade 2 rotates, the air on periphery is cut, and can be in about 2 blade Lift is generated under the action of airflow on surface pressure difference, to realize the flight of unmanned vehicle.

Specifically, the rotary shaft 1 of rotor system is usually shaft vertical or close to vertical direction, and blade 2 is general End position in rotary shaft 1, the e.g. top etc. of rotary shaft 1 are set.When blade 2 rotates in this way, it can generate along perpendicular Histogram to or near vertical direction lift, to drive unmanned vehicle to fly in the air.

It should be noted that since the unmanned vehicle of application rotor system is usually multi-rotor aerocraft, that is, utilize more A rotor system provides lift for unmanned vehicle simultaneously, thus the structure of single rotor system is relatively simple, generally cannot be real The now operations such as periodical displacement.At this point, the flight operations such as the pitching of unmanned vehicle, steering are by adjusting different rotor systems Blade rotary speed and realize.

In rotor system, the first connection component 3 is additionally provided between rotary shaft 1 and blade 2, the first connection component 3 exists On vertical plane have certain degree of freedom, thus can allow blade 2 by the connection of the first connection component 3 with rotary shaft 1 it Between realize and freely up and down move.In this way, blade 2 can be swung up and down relative to the Plane of rotation of itself, that is to say, that rotor system The tip of blade 2 not always maintains in same level relative to the root of blade 2 in system, but can have different height Degree.

For rotor system when rotation generates lift, the blade 2 of rotor system can be around rotary shaft 1 in horizontal plane or approximation The direction of horizontal plane rotates, and before unmanned vehicle carries out high speed when winged equal operation, with the rotation of blade 2 to rotary shaft 1 It is same around the velocity of rotation of rotary shaft 1 and the forward flight speed of unmanned vehicle always to there is a part of blade 2 in different direction and angle To the part blade is advancing blade, and the blade opposite with advancing blade is located at 1 other side of rotary shaft, thus it is rotated Directional velocity that be with the forward flight speed of unmanned vehicle be is reversed, which is then retreating blade.Due to body sheet Body has certain forward speed, so the advancing blade and retreating blade in rotor system will have relative to the incoming in front There is different relative velocities, and lift caused by blade is related with air-flow, thus advancing blade and retreating blade also will phases The different size of lift of generation answered.And by rotor system in this present embodiment in flight course, blade 2 can be relative to The Plane of rotation of itself floats up and down, thus when blade 2 floats up and down, the different angles of attack can be showed relative to air-flow.

Wherein, it moves ahead directional velocity position in the same direction when blade 2 turns to paddle speed and unmanned vehicle, that is, at For advancing blade when, since the relative velocity between air-flow becomes larger, so the airflow lifting force that advancing blade is subject to is also bigger, At this point, under the connection function of the first connection component 3, advancing blade can the Plane of rotation original relative to blade 2 be swung up, At this point, the lift that the angle of attack of advancing blade becomes larger, thus is subject to can accordingly reduce, to be mended to original increased lift It repays, reduces the amplitude that lift becomes larger.

And when the paddle speed of blade 2 directional velocity forward with unmanned vehicle is reversed, that is, rotates backward, by Reduce in the relative velocity of blade 2 and air-flow, so the airflow lifting force that retreating blade is subject to can reduce.At this point, in the first connection Under the connection function of component 3, retreating blade is due to lift reduces relative to the Plane of rotation of blade 2 to lower swing.At this point, rear row The angle of attack of blade can become smaller, and to improve the lift being subject to, reduce the amplitude that original lift reduces.

In this way, by the connection of the first connection component 3, the blade 2 in rotor system can be relative to Plane of rotation above and below It swings, to be compensated to the variation of lift, the liter of advancing blade and retreating blade when improving unmanned vehicle high-speed flight The unbalanced phenomenon of power, effectively reduces vibration when flight, to improve the housing construction of unmanned vehicle and the work of load Make reliability.

As the possible structure type of one of which, the first connection component 3 may include flapping hinge, waves and is hinged and connected to rotation Between shaft 1 and blade 2, and blade 2 is swung up and down around the axis of flapping hinge relative to the Plane of rotation of blade 2.

Specifically, flapping hinge is articulated structure, with articulated shaft, and it is hinged axis and is connected, and can be around articulated shaft Axis realize relative rotation rotary shaft 1 and blade 2.Wherein, together with rotary shaft 1 with blade 2 is hinged axis connection and It is inseparable, blade 2 can be allowed to be fixed in rotary shaft 1；And simultaneously, the structure of flapping hinge again can limit blade 2, So that blade 2 conditional can only be moved relative to rotary shaft 1.

Common, the axis direction of flapping hinge is restricted to horizontal direction.In this way, due to the limitation of flapping hinge, rotor system The blade 2 of system is restricted to the axis around flapping hinge in moving up and down, i.e., the Plane of rotation relative to blade 2 is swung up and down, this Sample is by the connection of flapping hinge, and blade 2 can realize the effect swung up and down relative to itself Plane of rotation, to reduce because rising Vibration, improves the flight quality and handling of unmanned vehicle, and improve the functional reliability of load caused by power is unbalanced.

Further, the Plane of rotation of the axis of flapping hinge and blade 2 is typically in identical height.Blade 2 passes through in this way It waves when being hinged and connected in rotary shaft 1, flapping hinge will not change original position and the pneumatic structure of blade 2, and blade 2 is caused Influence it is minimum.

And due to rotary shaft 1 be usually vertically or near vertical direction setting axis, in order in rotary shaft 1 Flapping hinge is set, can be provided with paddle seat 11 in rotary shaft 1, wave and be hinged and connected between paddle seat 11 and the root of blade 2.

Specifically, paddle seat 11 is generally arranged at the end position of rotary shaft 1, and can be used for through flapping hinge and blade 2 Root connects, and is e.g. provided with centre bore on paddle seat 11, and the end of rotary shaft 1 is allowed to pass through centre bore, to realize paddle seat Connection between 11 and rotary shaft 1, and paddle seat 11 itself can have the structures such as the interconnecting piece for connecting blade 2 or flapping hinge, To realize the installation between blade 2 and paddle seat 11.

In this way, the flapping hinge in the present embodiment, is generally located between paddle seat 11 and the root of blade 2.And traditional nothing In the rotor structure of people's aircraft, paddle seat 11 is typically directly connected with 2 root of blade, and flapping hinge is not arranged, therefore this reality The rotor system in example is applied with traditional unmanned vehicle rotor other than flapping hinge, the other structures of rotor system are more It is similar.

Specifically, a kind of optional structure as flapping hinge, flapping hinge includes that the first hinged pedestal 31 and first is hinged Part 32, the first hinged 31 and first articulation piece 32 of pedestal are rotatably connected by horizontal rotating shaft 33, the first hinged pedestal 31 and the One of one articulation piece 32 and paddle seat 11 connect, and another one is connected with the root of blade 2.

Wherein, the first 31 and first articulation piece 32 of hinged pedestal is the structure that shape is mutually matched.For example, the first hinged base Seat 31 on can be arranged opening towards the first articulation piece 32 groove, and the first articulation piece 32 can have can stretch into inside grooves Insertion section, and the cell wall of groove through-hole corresponding with being offered on insertion section, such horizontal rotating shaft 33 can penetrate in through-hole, And the first hinged 31 and first articulation piece 32 of pedestal is linked together.At this point, due to passing through through-hole between groove and insertion section It is connect with horizontal rotating shaft 33, so the first articulation piece 32 can be rotated around horizontal rotating shaft 33 relative to the first hinged pedestal 31, and Blade 2 is driven to swing up and down.In addition, the first hinged 31 and first articulation piece 32 of pedestal or other passing through horizontal rotating shaft 33 The structure being rotatably connected, details are not described herein again.

It should be noted that one of first 31 and first articulation piece 32 of hinged pedestal and paddle seat 11 connect, another one It is connected with 2 root of blade, either the first hinged pedestal 31 and paddle seat 11 connect, the first articulation piece 32 and 2 root of blade connect It connects, can also be that the first hinged pedestal 31 is connected with 2 root of blade, the first articulation piece 32 and paddle seat 11 connect.It is narration below It is convenient, unless otherwise specified, generally connected with the first hinged pedestal 31 and paddle seat 11, the first articulation piece 32 and blade 2 Root connection illustrates.

By wave be hinged blade 2 and paddle seat 11 when, due to blade 2 itself need by with air-flow with respect to effect by Lift is generated, wave the blade 2 being hinged in order to avoid dependence generates significantly under the action of its own gravity and airflow lifting force Violent swing, the horizontal rotating shaft 33 in flapping hinge is usually the shaft with damping.Blade is rotated relative to itself in this way When plane is swung up and down, when damping since horizontal rotating shaft has, thus being rotated under the drive of blade, the resistance of negative direction will produce Power slows down the frequency and severe degree of blade swing, can effectively improve rotor to allow the activity of flapping hinge to be restricted Stability when system rotates, ensures the flight safety of unmanned vehicle.

Wherein, the damping set-up mode of horizontal rotating shaft 33 also has a variety of.In a kind of optional damping mode, the first hinge It connects and is provided with damping gasket (not shown) on the faying face between pedestal 31 and the first articulation piece 32.Damping gasket generally may be used To realize damping by the higher frictional force in surface or itself be made of high damping material.Setting the first hinged pedestal 31 with Damping gasket between first articulation piece 32 on faying face can provide certain frictional force or other dampings on faying face, To slow down the rotation dynamics between the first 31 and first articulation piece 32 of hinged pedestal, put by flapping hinge to improve blade 2 Stability when dynamic, and the structure of damping gasket is generally relatively simple, the overall structure that can effectively reduce horizontal rotating shaft 33 is multiple Miscellaneous degree and weight.

And in another optional damping mode, it is provided with damping between the first 31 and first articulation piece 32 of hinged pedestal Device (not shown), damper have the cavity that volume can change with the rotation of flapping hinge, are situated between filled with damping in cavity Matter.In general, damper can be the split structure being made of different components, such as a component positioned at damper one end In include hollow cavity, and the inside cavity can be stretched into positioned at another component of the damper other end, and along cavity length Direction is moved, while inside cavity is filled with resisting medium, in this way, damper can form the knot of distance variable between both ends Structure.Damper is connect with the first hinged 31 and first articulation piece 32 of pedestal respectively, hinged in the first hinged pedestal 31 and first When relatively rotating to different angle between part 32, the distance between both ends of damper can shorten or extend accordingly, and hinder The resisting medium that Buddhist nun's device inside cavity is filled can carry out the deformation such as compressing accordingly, to be the first hinged pedestal 31 and the Rotation between one articulation piece 32 provides certain damping buffering, slows down velocity of rotation between the two and rotation dynamics.

And in order to allow the blade 2 in rotor system not generated in the flight course of unmanned vehicle above and below too excesssive It swings, or sagging amplitude is excessive under floating state, usually can also include limiting section in rotor system, limiting section is used for Limit hunting range of the blade 2 relative to blade Plane of rotation.Usually under the limitation of limiting section, blade 2 is relative to blade 2 The hunting range of Plane of rotation is ± 90 °.

In general, limiting section can also have various structures and form, for example, limiting section can be to be blocked in blade 2 The structures such as the protrusion in swing path, or set card on the axis of the first connection component 3 are prominent etc..

In addition, in order to be capable of providing enough lift when ensureing blade rotation, the blade 2 and first in rotor system connects The quantity of connected components 3 is usually multiple, and blade 2 and the first connection component 3 are one-to-one relationship, and multiple blades lead to respectively It crosses corresponding first connection component and realizes connection with rotary shaft 1.

In general, in order to simplify the structure of entire rotor system, the quantity of the blade 2 in a rotor system is usually 2- 4.

Further, the quantity of the blade 2 in a rotor system typically two, and two blades are symmetrical arranged In 1 both sides of rotary shaft, to form symmetrical aerodynamic arrangement.

Further, since the blade 2 in rotor system is connected by being realized between the first connection component 3 and rotary shaft 1, thus When unmanned vehicle is that ground is parked and when travel position, can by adjust first connection component 3 by allow blade 2 upwards or It is swung down to the state folded with rotary shaft 1, to reduce the overall dimensions of unmanned vehicle, is readily transported and stores.

Can also include optionally, in rotor system driving motor 4, driving motor 4 and rotation to drive blade 2 to rotate Shaft 1 connects and for driving rotary shaft 1 to rotate, and to allow blade 2 to rotate and air-flow is pushed to generate lift, with realization, nobody flies The flight of row device.

In the present embodiment, rotor system is applied in unmanned vehicle, and rotor system specifically includes rotary shaft and can be around rotation The blade of shaft rotation includes additionally the first connection component, and the first connection component is arranged between rotary shaft and blade, and first Connection component is for making blade that can be swung up and down with respect to the Plane of rotation of blade.Blade in this way in rotor system can be relative to Plane of rotation is swung up and down, to being compensated to the variation of lift, when improving unmanned vehicle high-speed flight advancing blade and The unbalanced phenomenon of lift of retreating blade, effectively reduces vibration when flight, to improve the housing construction of unmanned vehicle And the functional reliability of load.

Embodiment two

Fig. 2 is the schematic top plan view for another rotor system that the utility model embodiment two provides.In the present embodiment Rotor system, basic structure and operation principle are similar with the rotor system in previous embodiment one, the difference is that, this The first connection component in the first connection component and embodiment one in rotor system in embodiment has different established angles Degree.Specifically, as shown in Fig. 2, rotor system in the present embodiment, the horizontal rotating shaft of the flapping hinge in the first connection component 3 It is in mutually orthogonal relationship not to be between 33 and the length direction of blade 2, but has angle each other.

Therefore, certain interlock is formed between 2 length direction of the axis direction of the horizontal rotating shaft 33 in flapping hinge and blade Angle, thus blade 2 is heeling condition relative to flapping hinge.On the blade 2 in rotor system is under the lift effect of air-flow When lower swing, the root of blade 2 is not to be rotated on a vertical plane, but form one relative to horizontal rotating shaft 33 Circular conical surface staggeredly is tilted with horizontal rotating shaft 33.In this way due between horizontal rotating shaft 33 and blade 2 there are angle, thus blade 2 Actually wallowing motion.Correspondingly, angle of attack when blade 33 is swung up and down is equivalent to the angle and paddle of blade 2 itself swing Vector sum between the angle of the horizontal rotating shaft of leaf 2 and flapping hinge, so that the angle of attack of blade 2 further decreases or increases Greatly, compensation effect of the blade angle of attack to lift is promoted, the vibration of blade 2 is reduced and promotes the flight quality of unmanned vehicle, is protected Hinder the work that normal table is capable of in load on the machine of unmanned vehicle.

In the present embodiment, rotor system is applied in unmanned vehicle, and rotor system specifically includes rotary shaft and can be around rotation The blade of shaft rotation includes additionally the first connection component, and the first connection component is arranged between rotary shaft and blade, and first Connection component is for making blade that can be swung up and down with respect to the Plane of rotation of blade, and the level of flapping hinge turns in the first connection component Certain stagger angle is formed between the axis direction and blade length direction of axis, enables to the angle of attack of blade further in this way It reduces or increases, promote compensation effect of the blade angle of attack to lift, reduce the vibration of blade and promote flying for unmanned vehicle Row quality ensures the work for being loaded on the machine of unmanned vehicle and capableing of normal table.

Embodiment three

Fig. 3 is the structural schematic diagram for the third rotor system that the utility model embodiment three provides.In the present embodiment Rotor system, basic structure and operation principle are similar with the rotor system in previous embodiment one or two, the difference is that, The first connection component in the present embodiment realizes the rotation connection between blade and rotary shaft using non-hinging manner.Such as Fig. 3 institutes Show, in the rotor system in the present embodiment, the first connection component 3 may include flexible connecting member 34, and flexible connecting member 34 connects Between rotary shaft 1 and blade 2.

Specifically, 34 generally use flexible material of flexible connecting member is made, thus itself can be produced in a certain range The deformation such as raw stretching, offset or torsion, correspondingly, the position for the structure that flexible connecting member 34 is connected will also become therewith Change.Thus, flexible connecting member 34 is set between rotary shaft 1 and blade 2, falling hinger structure can be substituted, allow blade 2 can Direction as shown by the arrows in figure 4, that is, Plane of rotation relative to blade 2 are swung up and down, so as to adjust blade 2 itself Phenomena such as angle of attack, reduction is vibrated because caused by rotor system climbing power is unbalanced.

Wherein, in order to which the deformation direction to flexible connecting member 34 limits, limit or guide structure can be set, allowed Flexible connecting member 34 can only generate deformation in the vertical direction, and allow flexible connecting member 34 similar to the fortune of rigid body on other directions Flowing mode.In addition it is also possible to not limit the deformation direction of flexible connecting member 34, to allow flexible connecting member 34 other Also deformation can be generated on direction, and improves the aeroperformance of rotor system by the deformation on other directions.

Specifically, flexible connecting member 34 can be rubber parts.Since rubber parts has certain rigidity and elasticity, thus energy Enough while being supported to blade 2, blade 2 is allowed to generate relative to above and below itself Plane of rotation using the deformation of itself It swings, and rapid after swinging can reset.Thus, flexible connecting member 34 made of rubber can connect blade 2 and rotation Axis 1, and blade 2 can be allowed to be swung up and down relative to the Plane of rotation of itself.

In addition, flexible connecting member 34 or other common flexible pieces of those skilled in the art, such as structure of steel wire, The flexible piece etc. of silica gel part either composite construction, details are not described herein again.

In the present embodiment, rotor system is applied in unmanned vehicle, and rotor system specifically includes rotary shaft and can be around rotation The blade of shaft rotation includes additionally the first connection component, and the first connection component is arranged between rotary shaft and blade, and first Connection component is for making blade that can be swung up and down with respect to the Plane of rotation of blade, and the first connection component includes flexible connecting member. Thus flexible connecting member can be allowed using the deformation of itself generates swinging up and down relative to Plane of rotation, to the change to lift Change compensates, the lift unbalanced phenomenon of advancing blade and retreating blade when improving unmanned vehicle high-speed flight, effectively Vibration when flight is reduced, to improve the housing construction of unmanned vehicle and the functional reliability of load.

Example IV

Fig. 4 is the structural schematic diagram for the 4th kind of rotor system that the utility model embodiment four provides.In the present embodiment Rotor system can add the connector that can realize rotation in other directions on the basis of previous embodiment one to three, So as to improve the aeroperformance of rotor system.Specifically, as shown in figure 4, the rotor system in the present embodiment is in addition to the first connection Outside component 3, the second connection component 5 is additionally provided between rotary shaft 1 and blade 2, the second connection component 5 is for making blade 2 can It is swung along blade Plane of rotation.

Specifically, the second connection component 5 can allow rotary shaft 1 and blade 2 along the direction parallel with blade Plane of rotation It produces relative rotation.Similar with the working method of the first connection component 3, the second connection component 5 is in horizontal plane or level of approximation The direction in face has certain degree of freedom, thus blade 2 can be connect by the connection of the second connection component 5 with rotary shaft 1, and It can be relative to rotary shaft 1 along the Plane of rotation swing of blade 2.At this point, the tip of blade 2 can be branch with the root of blade 2 Point is moved forward and backward.

When unmanned vehicle high-speed flight, advancing blade and retreating blade can be respectively by the different shadows of front incoming It rings.For advancing blade, resistance when moving ahead increases, thus under the action of the second connection component 5, blade 2 can be opposite In rotary shaft swing backward, the angle of sweep of blade 2 is made to increase.At this point, the length of the section of blade 2 in the direction of the air flow is also able to Increase, and the speed of blade tip is less than the speed of propeller shank, to be equivalent to the angle of attack for reducing blade 2.And for rear For row blade, for blade 2 relative to being swung before axial rotary, blade tip can lead over propeller shank, at this point, blade tip Speed is higher than propeller shank speed, thus the angle of attack for being equivalent to blade 2 increases.In this way, the change in angle of attack of blade 2 can compensate liter Power it is unbalance, to reduce 2 in-flight vibration of blade, promote the flight quality and unmanned vehicle of unmanned vehicle Housing construction and load functional reliability.

Optionally, the second connection component 5 may include lead lag hinge.It is shimmy to be hinged and connected between rotary shaft 1 and blade 2, and Blade 2 can around lead lag hinge axis along blade 2 Plane of rotation swing.

Specifically, similar with flapping hinge, lead lag hinge is similarly articulated structure, and pendulum can be relied between rotary shaft 1 and blade 2 Hinge of shaking realizes connection, and the structure of lead lag hinge can limit blade 2, keep blade 2 conditional relative to shimmy The axis of hinge is moved.

Common, the axis direction of lead lag hinge is restricted to along vertical direction.At this point, under the limitation of lead lag hinge, rotation The blade 2 of wing system can be moved forward and backward along the Plane of rotation of blade 2, for the blade for being not provided with lead lag hinge, Advanced or lag effect will be showed.Blade 2 can not only be swung up and down relative to Plane of rotation in this way, can also put It is swung along itself Plane of rotation under the connection function for hinge of shaking, is vibrated caused by lift is unbalanced to reduce, improve nobody The flight quality and handling of aircraft, and improve the functional reliability of load.

Optionally, due to being provided with flapping hinge and lead lag hinge simultaneously between rotary shaft 1 and blade 2, thus can will be shimmy Hinge is arranged between flapping hinge and the paddle seat 11 of rotary shaft 1；Either lead lag hinge is arranged between flapping hinge and blade.This reality It applies in example, is illustrated so that lead lag hinge is arranged between flapping hinge and paddle seat as an example.

Specifically, a kind of optional structure as lead lag hinge, lead lag hinge may include the second hinged pedestal 51 and second Articulation piece 52, the second hinged 51 and second articulation piece 52 of pedestal are rotatably connected by vertical shaft 53, the second hinged pedestal 51 With one of the second articulation piece 52 and it is shimmy be hinged, another one is connected on the root of paddle seat 11 or blade 2.Due to this In embodiment, lead lag hinge is arranged between flapping hinge and paddle seat, so 52 meeting of the second 51 and second articulation piece of hinged pedestal and paddle The root of leaf 2 is connected.

It is similar with the concrete structure of flapping hinge, may be shape phase between the second 51 and second articulation piece 52 of hinged pedestal Mutual matched structure.Wherein, the concrete structure of the second hinged pedestal 51 and the second articulation piece 52, relative position and connection relation are equal Similar with the first hinged 31 and first articulation piece 32 of pedestal in flapping hinge, difference essentially consists in the shaft setting of the two Direction is different, therefore details are not described herein again.

Specifically, when lead lag hinge is arranged between flapping hinge and the paddle seat 11 of rotary shaft 1, the specific connection of lead lag hinge is tied Structure can be that the first hinged pedestal 31 and rotary shaft 1 connect, and the second hinged pedestal 51 and first articulation piece 32 connection, second is hinged Part 52 is connected with the root of blade 2.Flapping hinge and lead lag hinge can be connected to the rotary shaft 1 and blade of rotor system in turn in this way Between 2.

Further, as a kind of optional mode, directly the second hinged 51 and first articulation piece 32 of pedestal can be made Integrated structure.At this point, having higher bonding strength and rigidity, the reliability of rotor system between lead lag hinge and flapping hinge Preferably.

In addition, vertical shaft 53 in lead lag hinge or Damping rotation shaft, realize damping mode can with wave Horizontal rotating shaft in hinge is similar, and details are not described herein again.

Optionally, lead lag hinge can also have the limiting section or position limiting structure similar with flapping hinge, concrete structure and shape Formula is same similar with the limiting section in flapping hinge, and details are not described herein again.

In the present embodiment, rotor system is applied in unmanned vehicle, and rotor system specifically includes rotary shaft and can be around rotation The blade of shaft rotation includes additionally the first connection component, and the first connection component is arranged between rotary shaft and blade, and first Connection component is additionally provided between rotary shaft and blade in addition for making blade that can be swung up and down with respect to the Plane of rotation of blade The second connection component for making blade that can be swung along blade Plane of rotation.Blade can not only be relative on Plane of rotation in this way Lower swing can also be swung under the connection function of lead lag hinge along itself Plane of rotation, to be further reduced because of lift not Vibration, improves the flight quality and handling of unmanned vehicle, and improve the functional reliability of load caused by balanced.

Embodiment five

Fig. 5 is the structural schematic diagram for the 5th kind of rotor system that the utility model embodiment five provides.In the present embodiment The overall structure and operation principle of rotor system are similar with the rotor system in previous embodiment four, the difference is that, this The second connection component in embodiment uses non-hinging manner and realizes swing of the blade along blade Plane of rotation.Such as Fig. 5 Shown, in the present embodiment, the second connection component 5 includes flexible connecting member 54, and flexible connecting member 54 is connected to paddle seat 11 and blade 2 Between.And articulated form had both may be used in the first connection component 3 in the present embodiment, can also be connected using non-hinge form It connects, is illustrated so that the first connection component 3 is the flexible piece form of non-articulated as an example in the present embodiment.

Specifically, similar with previous embodiment two, 54 generally use flexible material of flexible connecting member is made, thus itself energy Enough generate in a certain range such as stretches, deviates or reverse at the deformation, correspondingly, the position for the structure that flexible connecting member 54 is connected Setting will also change therewith.Thus, as indicated by the arrows in fig. 6, flexible connection is set between rotary shaft 1 and blade 2 Part 54 can substitute drag hinge structure, allow blade can not only be along the bottom on the direction of the Plane of rotation of blade 2 It is dynamic, also allow blade 2 that can be reduced because of rotation so as to adjust the angle of attack of itself of blade 2 along the Plane of rotation swing of blade 2 Phenomena such as being vibrated caused by wing system climbing power is unbalanced.

Wherein it is possible to which the deformation direction to flexible connecting member 54 limits, limit or guide structure are e.g. set, It allows flexible connecting member 54 that can only generate deformation in the horizontal direction, and flexible connecting member 54 is allowed to be similar to rigid body on other directions Motion mode.Alternatively, can not also limit the deformation direction of flexible connecting member 54, to allow flexible connecting member 54 at it Also deformation can be generated on its direction, at this point it is possible to allow the first connection component 3 and the second connection component 5 by the same flexibility Connector is attached, and make the flexible connecting member respectively in the horizontal direction on vertical direction generate torsion and deformation, with point Not Shi Xian blade 2 swing up and down and swing, so as to improve the aeroperformance of rotor system.

Specifically, similar with the first connection component 3, the flexible connecting member 54 in the second connection component 5 equally can be rubber Glue part either other common flexible pieces of those skilled in the art, such as structure of steel wire, silica gel part, composite construction flexible piece Deng details are not described herein again.

In the present embodiment, rotor system is applied in unmanned vehicle, and rotor system specifically includes rotary shaft and can be around rotation The blade of shaft rotation includes additionally the first connection component, and the first connection component is arranged between rotary shaft and blade, and first Connection component is additionally provided between rotary shaft and blade in addition for making blade that can be swung up and down with respect to the Plane of rotation of blade The second connection component for making blade that can be swung along blade Plane of rotation, and the second connection component includes flexible connecting member. Swing of the blade along blade Plane of rotation can be realized by flexible connecting member in this way, to allow blade to be rotated relative to blade It on the basis of plane is swung up and down, is further reduced and is vibrated caused by lift is unbalanced, improve the flight product of unmanned vehicle Matter and handling, and improve the functional reliability of load.

Embodiment six

Fig. 6 is a kind of structural schematic diagram for unmanned vehicle that the utility model embodiment six provides.As shown in fig. 6, this The unmanned vehicle 200 that embodiment provides, specifically includes the rotor system in body 101 and at least two embodiments one to six 100, rotor system 100 is arranged on body 101.In this way, rotor system 100 can be unmanned flight by the rotation of blade Device 200 provides the lift of landing and flight.Wherein, the concrete structure of rotor system 100, function and operation principle are aforementioned It is described in detail in embodiment, details are not described herein again.

Specifically, in unmanned vehicle 200 in the present embodiment, body 101 includes fuselage 1011 and horn 1012, horn 1012 one end and fuselage 1011 connect, and the other end of horn 1012 is for being arranged rotor system 100.Rotor system 100 in this way Farther out apart from fuselage 1011, because without being interfered with fuselage 1011, safety is preferable.

In the present embodiment, unmanned vehicle specifically includes body and at least two rotor systems, and rotor system is arranged in machine On body；Rotor system is applied in unmanned vehicle, the blade that rotor system specifically includes rotary shaft and can be rotated around rotary shaft, Include additionally the first connection component, the first connection component is arranged between rotary shaft and blade, and the first connection component is for making Blade can be swung up and down with respect to the Plane of rotation of blade.For unmanned vehicle in this way in flight, the blade in rotor system can It swings up and down relative to Plane of rotation, to be compensated to the variation of lift, moves ahead when improving unmanned vehicle high-speed flight The unbalanced phenomenon of the lift of blade and retreating blade, effectively reduces vibration when flight, to improve the machine of unmanned vehicle Body structure and the functional reliability of load.

Finally it should be noted that：The above various embodiments is only to illustrate the technical solution of the utility model, rather than limits it System；Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should Understand：It still can be with technical scheme described in the above embodiments is modified, either to which part or whole Technical characteristic carries out equivalent replacement；And these modifications or replacements, this practicality that it does not separate the essence of the corresponding technical solution are new The range of each embodiment technical solution of type.

Claims (15)

1. a kind of rotor system is applied to more rotor unmanned aircrafts, including rotary shaft and at least two can be around the rotary shaft The blade of rotation, which is characterized in that further include the first connection component, first connection component is arranged in the rotary shaft and institute Between stating blade, first connection component be used to make the blade can the Plane of rotation of the relatively described blade swing up and down.

2. rotor system according to claim 1, which is characterized in that first connection component includes flapping hinge, described Wave and be hinged and connected between the rotary shaft and the blade, and the blade around the flapping hinge axis relative to the paddle The Plane of rotation of leaf is swung up and down.

3. rotor system according to claim 2, which is characterized in that paddle seat is provided in the rotary shaft, it is described to wave It is hinged and connected between the paddle seat and the root of the blade.

4. rotor system according to claim 3, which is characterized in that the flapping hinge includes the first hinged pedestal and first Articulation piece, the described first hinged pedestal and first articulation piece are rotatably connected by horizontal rotating shaft, the described first hinged base Seat is connected with one of first articulation piece with the paddle seat, and another one is connected with the root of the blade.

5. rotor system according to claim 4, which is characterized in that the horizontal rotating shaft of the flapping hinge and the blade Length direction has angle.

6. rotor system according to claim 4 or 5, which is characterized in that the horizontal rotating shaft is the shaft with damping.

7. rotor system according to claim 6, which is characterized in that the described first hinged pedestal and first articulation piece Between faying face on be provided with damping gasket；Alternatively,

Described first is hingedly provided with damper between pedestal and first articulation piece, the damper has volume can be with institute The cavity stated the rotation of flapping hinge and changed, the cavity is interior to be filled with resisting medium.

8. rotor system according to claim 1, which is characterized in that first connection component includes flexible connecting member, The flexible connecting member is connected between the rotary shaft and the blade.

9. rotor system according to claim 4 or 5, which is characterized in that also set between the rotary shaft and the blade It is equipped with the second connection component, second connection component is for making the blade that can be swung along the Plane of rotation of the blade.

10. rotor system according to claim 9, which is characterized in that second connection component includes lead lag hinge.

11. rotor system according to claim 10, which is characterized in that the lead lag hinge is arranged in the flapping hinge and institute It states between paddle seat；Alternatively, the lead lag hinge is arranged between the flapping hinge and the blade.

12. rotor system according to claim 11, which is characterized in that the lead lag hinge includes the second hinged pedestal and the Two articulation pieces, the described second hinged pedestal and second articulation piece are rotatably connected by vertical shaft, and described second is hinged One of pedestal and second articulation piece and it is described it is shimmy be hinged, another one is connected to the paddle seat or the blade Root on.

13. rotor system according to claim 12, which is characterized in that the described first hinged pedestal and the rotary shaft connect It connects, the described second hinged pedestal is connected with first articulation piece, and second articulation piece is connected with the root of the blade.

14. rotor system according to claim 9, which is characterized in that second connection component includes flexible connecting member, The flexible connecting member is connected between the paddle seat and the blade.

15. a kind of unmanned vehicle, which is characterized in that revolved including body and at least two claim 1-14 any one of them Wing system, the rotor system are arranged on the body.