CN110282124B - Blade-rotatable horizontal four-wheel type moving-wing aircraft combined with fixed wings - Google Patents
Blade-rotatable horizontal four-wheel type moving-wing aircraft combined with fixed wings Download PDFInfo
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- CN110282124B CN110282124B CN201910655293.XA CN201910655293A CN110282124B CN 110282124 B CN110282124 B CN 110282124B CN 201910655293 A CN201910655293 A CN 201910655293A CN 110282124 B CN110282124 B CN 110282124B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/0009—Aerodynamic aspects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/003—Aircraft not otherwise provided for with wings, paddle wheels, bladed wheels, moving or rotating in relation to the fuselage
- B64C39/005—Aircraft not otherwise provided for with wings, paddle wheels, bladed wheels, moving or rotating in relation to the fuselage about a horizontal transversal axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention discloses a blade-rotatable horizontal four-wheel type movable wing aircraft combined with a fixed wing, which is characterized by comprising four wheels of movable wings, a transmission mechanism, cams, rotating shafts, a speed reducer, motors, a fuselage frame and a fixed wing, wherein the four cams are symmetrically arranged and fixed on two sides of the fuselage frame, the four rotating shafts are symmetrically arranged on two sides of the fuselage frame, the axial directions of the four rotating shafts are all vertical to the longitudinal symmetrical surface of the aircraft, the four rotating shafts are arranged in front and back two rows, the four motors arranged on the fuselage frame respectively drive the four rotating shafts to continuously rotate after being decelerated by the four speed reducers arranged on the fuselage frame, the four wheels of movable wings are respectively and fixedly connected to the four rotating shafts, the four sets of transmission mechanisms are respectively connected with the four wheels of movable wings and the four cams, each wheel of movable wings comprises a rotating frame, the cam and the transmission mechanism are used for controlling the rotation and the reset of the blades, and the fixed wing is arranged on the machine body frame and used for generating lift force.
Description
Technical Field
The invention relates to the field of movable wing aircrafts and flying robots, in particular to a blade-rotatable horizontal four-wheel type movable wing aircraft combined with a fixed wing.
Background
The flying mode of the aircraft comprises three flying types of a fixed wing, a rotor wing and a flapping wing, wherein the rotor wing and the flapping wing all belong to movable wings.
Flapping wing flight is a flight mode adopted by natural flying organisms, mainly utilizes the up-and-down flapping of double wings to simultaneously generate lift force and thrust, and is mainly characterized in that the functions of lifting, hovering and propelling are integrated, and meanwhile, the flapping wing flight has strong maneuverability and flexibility and is more suitable for executing flight bypassing obstacles and the like. For an aircraft in a small-size and low-speed flight state, the aircraft flies at a low Reynolds number, and the unsteady lift force generated by the flapping wings is much larger than the unsteady lift force of the fixed wings; from the thrust aspect, the flapping wing propulsion efficiency is higher than the propeller propulsion efficiency. At present, the research of the flapping wing air vehicle mainly focuses on simulating the flight attitude of flying organisms in the nature and designing various flapping wing mechanisms. However, the common problem of these flapping wing mechanisms is that the overall aerodynamic efficiency is low, even lower than that of the fixed wing micro-aircraft of the same scale. The main reason for the low overall efficiency of the flapping wing aircraft is that most of the existing researches simply imitate the appearance and flapping motion of wings of birds or insects, but the problems that the air resistance is reduced and unsteady aerodynamic force is generated by utilizing the change of the self posture and the structure of the wings in the process of flapping the flapping wings of flying organisms up and down are difficult to realize, and the generated problem of low aerodynamic efficiency seriously restricts the popularization and the application of the flapping wing aircraft.
Rotorcraft provides lift to an aircraft with the tension of a rotor (including a propeller), and the forward tension of the aircraft is derived from the horizontal component resulting from small angular deflections of the rotor vector. The attitude control and horizontal movement of the multi-rotor small aircraft which is developed rapidly at present are realized by differential tension of the multiple rotors. Rotorcraft are characterized by having vertical take-off and landing and hovering functions, and the ability to fly in relatively small areas. However, because the rotor of the rotorcraft is immobile relative to the central axis of the rotor, the rotorcraft has large advancing resistance, so that the rotorcraft has high energy consumption, low aerodynamic efficiency and difficult high-power long-endurance flight.
Disclosure of Invention
The invention aims to provide a blade-rotatable horizontal four-wheel type moving-wing aircraft which is combined with a fixed wing, has the advantages of remarkably reducing the flight resistance of flapping wing type and rotor wing type aircraft, improving the aerodynamic efficiency and having larger thrust, and solves the problems in the prior art.
The technical solution for realizing the purpose of the invention is as follows: provides a blade-rotatable horizontal four-wheel type movable wing aircraft combined with a fixed wing, which comprises a wheel type movable wing, a transmission mechanism, a cam, a rotating shaft, a speed reducer, a motor, a fuselage frame and a fixed wing, four cams are symmetrically and fixedly arranged on two sides of the fuselage frame, four rotating shafts are symmetrically arranged on two sides of the fuselage frame, the four rotating shafts are arranged in front and back two rows, the axial direction of the four rotating shafts is vertical to the longitudinal symmetrical plane of the aircraft, four motors arranged on the fuselage frame respectively drive the four rotating shafts to continuously rotate after being decelerated by four speed reducers arranged on the fuselage frame, four wheel-type movable wings are respectively and fixedly connected to the four rotating shafts, and four sets of transmission mechanisms are respectively connected with the four wheel-type movable wings and the four cams; the wheel type movable wing comprises a rotating frame and a rotatable blade arranged in the rotating frame, and the cam and the transmission mechanism are used for controlling the rotation and the reset of the blade; the fixed wing is arranged on the fuselage frame and used for generating lift force.
Furthermore, a central hole and a straight beam are arranged on the rotating frame, the direction of the straight beam is parallel to the axis of the central hole, a blade mounting hole is formed in the straight beam, and the axis of the blade mounting hole is orthogonal to the axis of the central hole; the blades comprise blade windward sides, blade leeward sides and blade rotating shafts, wherein the blade windward sides and the blade leeward sides are arranged oppositely, and the blade rotating shafts are arranged on the blades; the blade rotating shaft is inserted in the blade mounting hole and can rotate; the four rotating shafts are respectively connected with the four center holes and the four speed reducers, and output shafts of the four motors are respectively arranged in the four speed reducer input holes.
Further, the transmission mechanism comprises a pull ring, a push rod and a roller; the rotating frame is provided with a push rod hole, and the axis of the push rod hole is parallel to the axis of the central hole; the pull ring is provided with a blade rotating shaft hole and a long round hole; the push rod is provided with a push rod cylinder, a tenon cylinder and a roller mounting hole, the axis of the tenon cylinder and the axis of the roller mounting hole are orthogonal to the axis of the push rod cylinder, and the blade rotating shaft is inserted and fixed in the blade rotating shaft hole; the roller is provided with a roller cylinder and a roller mounting shaft which are coaxial; the cam is provided with a cam cylindrical surface, the four cam cylindrical surfaces are respectively coaxial with the four rotating shafts, and the cam cylindrical surface is provided with a cam curve groove which is communicated with the cam cylindrical surface for one circle; the roller wheel cylinder is inserted in the cam curve groove and can slide, the push rod cylinder is inserted in the push rod hole and meets sliding fit, the tenon cylinder is inserted in the long round hole and can slide, and the roller wheel mounting shaft is inserted and fixed in the roller wheel mounting hole.
Further, the cam curve groove is composed of a working condition straight groove, a standby condition straight groove, a first spiral groove and a second spiral groove, one end of the working condition straight groove is communicated with one end of the standby condition straight groove through the first spiral groove, and the other end of the working condition straight groove is communicated with the other end of the standby condition straight groove through the second spiral groove.
Furthermore, two side faces of the working condition straight groove are planes and are perpendicular to the axis of the cam cylindrical surface, the distance between the two side faces of the working condition straight groove is equal to the diameter of the roller cylinder, two side faces of the standby condition straight groove are planes and are perpendicular to the axis of the cam cylindrical surface, the distance between the two side faces of the standby condition straight groove is equal to the diameter of the roller cylinder, and two side faces of the first spiral groove and two side faces of the second spiral groove are both spiral curved surfaces.
Furthermore, the cam is a symmetrical solid, the symmetrical surface of the cam is a working reference surface, the axis of the cylindrical surface of the cam is in the working reference surface, the working condition straight grooves are symmetrical relative to the working reference surface, and the working reference surface is perpendicular to the advancing direction of the aircraft during flat flight.
Further, the rotating frame further comprises at least one of an outer reinforcing curved beam and an inner reinforcing curved beam, which are used for reinforcing the strength of the rotating frame.
Further, the straight beam, the outer reinforcing curved beam and the inner reinforcing curved beam are all hollow structures;
and/or the presence of a gas in the gas,
the straight beam, the outer reinforcing curved beam and the inner reinforcing curved beam are made of engineering plastics;
and/or the presence of a gas in the gas,
the straight beam, the outer reinforcing curved beam and the inner reinforcing curved beam are made of carbon fiber materials.
Further, the straight beams and the push rod holes are uniformly distributed in the circumferential direction of the central hole, the number of the straight beams is more than 1, and the number of the push rod holes is the same as that of the straight beams; the blade mounting holes are uniformly distributed on the straight beams in a straight line, and the number of the blade mounting holes on each straight beam is more than 1.
A blade-rotatable horizontal four-wheel type moving-wing aircraft combined with a fixed wing is characterized by comprising a rotating frame, blades, pull rings, push rods, rollers, a cam, a rotating shaft, a speed reducer, a motor, a body frame and a fixed wing, wherein the rotating frame is provided with a central hole, a straight beam and push rod holes, the direction of the straight beam is parallel to the axis of the central hole, the straight beam is provided with blade mounting holes, the push rod holes are uniformly distributed in the circumferential direction of the central hole, the axis of the blade mounting holes is orthogonal to the axis of the central hole, the axis of the push rod holes is parallel to the axis of the central hole, the blades are provided with a blade windward surface, a blade rotating shaft and a blade leeward surface, the pull rings are provided with blade rotating shaft holes and long round holes, the push rods are provided with push rod cylinders, tenon cylinders and roller mounting holes, the axis of the tenon cylinders is orthogonal to the axis of the push rod cylinders, the axis of the roller mounting holes, the cam is provided with a cam cylindrical surface, the cam cylindrical surface is provided with a cam curve groove which is communicated with the cam cylindrical surface in a circle, the cam curve groove consists of a working condition straight groove, a standby condition straight groove, a first spiral groove and a second spiral groove, two side surfaces of the working condition straight groove are planes and are vertical to the axis of the cam cylindrical surface, two side surfaces of the standby condition straight groove are planes and are vertical to the axis of the cam cylindrical surface, one end of the working condition straight groove is communicated with one end of the standby condition straight groove through the first spiral groove, the other end of the working condition straight groove is communicated with the other end of the standby condition straight groove through the second spiral groove, four cams are symmetrically installed and fixed on two sides of the frame, four rotating shafts are symmetrically arranged on two sides of the frame, the four rotating shafts are distributed into a front row and a rear row, the axial directions of the four rotating shafts are vertical to the longitudinal symmetric surface, four rotating shafts are respectively arranged on output shafts of four speed reducers, the output shafts of the four motors are respectively arranged in input holes of the four speed reducers, the motors and the fixed wings are all arranged and fixed on a frame of a machine body, the four rotating frames are respectively sleeved on the four rotating shafts through center holes, a roller cylinder is inserted in a cam curve groove and can slide in the cam curve groove, a roller mounting shaft is inserted and fixed in the roller mounting hole, a tenon cylinder is inserted in a long circular hole and can slide, a push rod cylinder is inserted in the push rod hole and meets sliding fit, a blade rotating shaft is inserted and fixed in a blade rotating shaft hole, the blade rotating shaft is inserted and can rotate in the blade mounting hole, the distance between two side faces of a working condition straight groove is equal to the diameter of the roller cylinder, the distance between two side faces of a standby condition straight groove is equal to the diameter, the cam is a symmetrical solid, the symmetrical surface of the cam is a working reference surface F, the axis of the cylindrical surface of the cam is in the working reference surface F, the working condition straight groove is symmetrical about the working reference surface F, the working reference surface F is vertical to the advancing direction of the aircraft when the aircraft flies flatly, the rotating directions of the rotating shafts in the same row are the same, the rotating directions of the rotating shafts in the front row and the rear row are opposite, the rotating frame is provided with an outer reinforcing curved beam and an inner reinforcing curved beam, and the straight beam, the outer reinforcing curved beam and the inner reinforcing curved beam are all of hollow structures and made of light materials such as engineering plastics, carbon fibers and the like.
The working principle of the invention is as follows: when the motor is started, the rotating shaft, the rotating frame, the blades, the pull ring, the push rod and the roller are driven to rotate continuously after the speed of the motor is reduced by the speed reducer, when the roller slides in the straight groove under the standby working condition, the push rod cannot move in the axial direction of the rotating shaft, the windward side of the blades on the blades is parallel to the rotating direction, namely, the windward side of the blades is parallel to the relative airflow direction, the gas resistance on the blades is minimum, the standby working condition is at the moment, when the roller rotates into the second spiral groove, the push rod starts to move forward relative to the axial direction of the rotating shaft while rotating synchronously with the rotating shaft, the pull ring is driven to rotate forward by the axial movement of the tenon cylinder, so that the rotating shaft of the blades is driven to rotate forward, when the roller rotates into the straight groove under the working condition, the push rod does not move relative to, the working reference surface of the working condition straight groove is vertical to the advancing direction, so that airflow directly acts on the windward side of the blade to enable the blade to obtain the maximum forward driving force without generating lift force basically, the working condition is at the moment, the thrust generated on the blade enables the non-aircraft to move forward, and the fixed wing generates the lift force at the moment; when the roller rotates to the first spiral groove, the push rod starts to move reversely relative to the axis direction of the rotating shaft while rotating synchronously with the rotating shaft, the tenon cylinder enables the pull ring to rotate reversely, so that the rotating shaft of the blade is driven to rotate reversely, when the roller rotates to the straight groove of the standby working condition, the rotating shaft of the blade rotates ninety degrees reversely, the windward side of the blade returns to be parallel to the airflow direction, and the blade returns to the standby state. When the rotating speeds of the four motors are the same, the thrust generated by the wheel-type movable wings on the left side and the right side are the same, so that the aircraft flies forwards, and when the rotating speeds of the motors on the two sides are different, the thrust generated by the wheel-type movable wings on the left side and the right side are different, so that the aircraft can realize the turning function.
Compared with the prior art, the invention has the following remarkable advantages:
1. according to the blade-rotatable horizontal four-wheel type moving-wing aircraft combined with the fixed wings, the blades in the wheel type moving wings are set to rotate continuously, so that the advantage of continuous rotation of the rotor wings is kept, and the defect that flapping wings need to do reciprocating motion is overcome.
2. The blade-rotatable horizontal four-wheel type moving-wing aircraft combined with the fixed wings can control the blades which continuously rotate to rotate relative to the rotating shaft through the cam, so that the blades move upwind in the largest area to obtain the largest aerodynamic force in the working state, and are parallel to the airflow direction in the standby state, the resistance is greatly reduced, the aim of improving the aerodynamic efficiency is fulfilled, the aerodynamic efficiency is far higher than that of the existing flapping wing aircraft and rotor wing aircraft, and larger thrust can be provided for the aircraft.
3. According to the blade-rotatable horizontal four-wheel type movable wing aircraft combined with the fixed wings, the rotatable blades are automatically switched between the working state and the standby state under the control of the cam, a complex electronic control system is not needed, and the blade-rotatable horizontal four-wheel type movable wing aircraft is simple in structure and good in reliability.
4. The blade-rotatable horizontal four-wheel type movable wing aircraft combined with the fixed wings is provided with four symmetrical horizontal wheel type movable wings to generate thrust, the thrust is larger, the rotating directions of the front row of wheel type movable wings and the rear row of wheel type movable wings are opposite, the overall moment of the aircraft is balanced, and the thrust of the wheel type movable wings on two sides is adjustable, so that the aircraft is convenient to steer and does not need a steering engine to steer; the fixed wing generates lift force, so that the energy is saved when the aircraft is in a flat flight state, the energy utilization efficiency is further improved, and the purpose of long endurance is achieved.
5. The blade-rotatable horizontal four-wheel type moving-wing aircraft combined with the fixed wings is simple in structure, good in processing manufacturability and low in production cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of the overall structure of a blade-rotatable horizontal four-wheeled moving-wing aircraft incorporating a fixed wing according to embodiment 1 of the present invention.
Fig. 2 is a detailed structural schematic diagram of a blade-rotatable horizontal four-wheeled moving-wing aircraft incorporating a fixed wing according to embodiment 1 of the present invention.
Fig. 3 is a detailed structural diagram of a wheel-type moving wing standby state of a blade-rotatable horizontal four-wheel-type moving wing aircraft incorporating a fixed wing according to embodiment 1 of the present invention.
Fig. 4 is a detailed structural schematic diagram of the wheel-type moving wing of the blade-rotatable horizontal four-wheel-type moving wing aircraft according to embodiment 1 of the present invention during the process of switching from the standby state to the operating state.
Fig. 5 is a detailed structural diagram of the operating state of the wheeled moving wing of the blade-rotatable horizontal four-wheeled moving wing aircraft incorporating the fixed wing according to embodiment 1 of the present invention.
Fig. 6 is a schematic structural view of a rotating frame of a blade-rotatable horizontal four-wheeled moving-wing aircraft incorporating a fixed wing according to embodiment 1 of the present invention.
Fig. 7 is a schematic structural view of a blade-rotatable horizontal four-wheeled moving-wing aircraft incorporating a fixed wing according to embodiment 1 of the present invention.
Fig. 8 is a schematic structural view of a drag ring wheel of a blade-rotatable horizontal four-wheeled moving-wing aircraft incorporating a fixed wing according to embodiment 1 of the present invention.
Fig. 9 is a schematic structural view of a pushrod of a blade-convertible horizontal four-wheeled flying wing aircraft incorporating a fixed wing according to embodiment 1 of the present invention.
Fig. 10 is a schematic structural view of a wheel of a blade-rotatable horizontal four-wheeled moving-wing aircraft incorporating a fixed wing according to embodiment 1 of the present invention.
Fig. 11 is a schematic structural view of a cam of a blade-rotatable horizontal four-wheeled flying wing aircraft incorporating a fixed wing according to embodiment 1 of the present invention.
Fig. 12 is a schematic structural view of a cam cut of a blade rotatable and horizontal four-wheeled flying wing aircraft incorporating a fixed wing according to embodiment 1 of the present invention.
Fig. 13 is a cam-sectioned end surface projection view of a blade-rotatable horizontal four-wheeled flying-wing aircraft incorporating a fixed wing according to embodiment 1 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention is further described below with reference to the accompanying drawings, but the invention is not limited in any way.
Example 1:
with reference to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 and 13, an agricultural plant protection drone using a fixed wing blade rotatable four-wheeled moving wing aircraft is provided. The blade lifting mechanism comprises a rotating frame 1, blades 2, a pull ring 3, a push rod 4, a roller 5, a cam 6, a rotating shaft 7, a speed reducer 8, a motor 9, a machine body frame 10 and a fixed wing 11, wherein the rotating frame 1 is provided with a central hole 101, straight beams 102 and push rod holes 104, the direction of the straight beams 102 is parallel to the axis of the central hole 101, the number of the straight beams 102 uniformly distributed in the circumferential direction of the central hole 101 is 3, the straight beams 102 are provided with blade mounting holes 103, the number of the blade mounting holes 103 uniformly distributed on the straight beams 102 is 4, the push rod holes 104 are uniformly distributed in the circumferential direction of the central hole 101, the number of the push rod holes 104 is the same as that of the straight beams 102, the axis of the blade mounting holes 103 is orthogonal to the axis of the central hole 101, the axis of the push rod holes 104 is parallel to the axis of the central hole 101, the blades 2 are provided with a blade windward surface 201, a blade rotating shaft 202, the push rod 4 is provided with a push rod cylinder 401, a tenon cylinder 402 and a roller mounting hole 403, the axis of the tenon cylinder 402 is orthogonal to the axis of the push rod cylinder 401, the axis of the roller mounting hole 403 is orthogonal to the axis of the push rod cylinder 401, the roller 5 is provided with a coaxial roller cylinder 501 and a roller mounting shaft 502, the cam 6 is provided with a cam cylinder 601, the cam cylinder 601 is provided with a cam curve groove 602 which is communicated around the cam cylinder 601 for one circle, the cam curve groove 602 is composed of a working condition straight groove 603, a standby condition straight groove 604, a first spiral groove 605 and a second spiral groove 606, two side surfaces of the working condition straight groove 603 are planes and are all vertical to the axis of the cam cylinder 601, two side surfaces of the standby condition straight groove 604 are planes and are all vertical to the axis of the cam cylinder 601, one end of the working condition straight groove 603 is communicated with one end of the standby condition straight groove 604 through the first spiral groove, the other end of the working condition straight groove 603 is communicated with the other end of the standby condition straight groove 604 through a second spiral groove 606, four cams 6 are symmetrically installed and fixed on two sides of the fuselage frame 10, four rotating shafts 7 are symmetrically arranged on two sides of the fuselage frame 10, the four rotating shafts 7 are distributed into a front row and a rear row, the axial direction of the rotating shafts 7 is vertical to the longitudinal symmetrical plane of the aircraft, four cam cylindrical surfaces 601 are respectively coaxial with the four rotating shafts 7, the four rotating shafts 7 are respectively installed on the output shafts of the four speed reducers 8, the output shafts of the four motors 9 are respectively installed in the input holes of the four speed reducers 8, the motors 9 and the fixed wings 11 are all installed and fixed on the fuselage frame 10, the four rotating frames 1 are respectively sleeved on the four rotating shafts 7 through center holes 101, the roller cylinder 501 is, the roller mounting shaft 502 is inserted and fixed in the roller mounting hole 403, the tenon cylinder 402 is inserted and fixed in the long circular hole 302 and can slide, the push rod cylinder 401 is inserted and fixed in the push rod hole 104 and meets the sliding fit, the blade rotating shaft 202 is inserted and fixed in the blade rotating shaft hole 301, the blade rotating shaft 202 is inserted and fixed in the blade mounting hole 103 and can rotate, the distance between two side surfaces of the working condition straight groove 603 is equal to the diameter of the roller cylinder 501, the distance between two side surfaces of the standby condition straight groove 604 is equal to the diameter of the roller cylinder 501, two side surfaces of the first spiral groove 605 and two side surfaces of the second spiral groove 606 are both spiral curved surfaces, the cam 6 is a symmetrical solid, the symmetrical surface of the cam 6 is a working reference surface F, the axis of the cam cylindrical surface 601 is in the working reference surface F, the working condition straight groove 603 is symmetrical about the working reference surface F, and the working reference surface F is, the rotating directions of the rotating shafts 7 in the same row are the same, the rotating directions of the rotating shafts 7 in the front row and the rear row are opposite, the rotating frame 1 is provided with an outer reinforced curved beam 105 and an inner reinforced curved beam 106, and the straight beam 102, the outer reinforced curved beam 105 and the inner reinforced curved beam 106 are all of hollow structures and made of carbon fiber materials. After the agricultural plant protection unmanned aerial vehicle adopts the four-wheel type movable wing aircraft with the rotatable and horizontal blades combined with the fixed wings, due to the small resistance, high pneumatic efficiency and large thrust of the wheel type movable wings, the multifunctional functions of fertilizer spreading, powder spraying, pollination assisting and the like can be efficiently and quickly completed, the endurance time is long, and compared with the rotor unmanned aerial vehicle, the single-flight time is increased by 20 percent under the same working load, so that the long-endurance work is realized.
Example 2:
this embodiment 2 provides a special unmanned aerial vehicle of high-rise fire extinguishing, its structure with embodiment 1, the difference is: the number of the straight beams 102 evenly distributed on the circumference of the central hole 101 is 2, the number of the blade mounting holes 103 evenly distributed on the straight beams 102 is 5, and the straight beams 102, the outer reinforced curved beams 105 and the inner reinforced curved beams 106 are all made of engineering plastics. The high-rise fire extinguishing special unmanned aerial vehicle adopts a blade-rotatable horizontal four-wheel type moving-wing aircraft combined with a fixed wing. The blade lifting mechanism comprises a rotating frame 1, blades 2, a pull ring 3, a push rod 4, a roller 5, a cam 6, a rotating shaft 7, a speed reducer 8, a motor 9, a machine body frame 10 and a fixed wing 11, wherein the rotating frame 1 is provided with a central hole 101, straight beams 102 and push rod holes 104, the direction of the straight beams 102 is parallel to the axis of the central hole 101, the number of the straight beams 102 uniformly distributed in the circumferential direction of the central hole 101 is 2, the straight beams 102 are provided with blade mounting holes 103, the number of the blade mounting holes 103 uniformly distributed on the straight beams 102 is 5, the push rod holes 104 are uniformly distributed in the circumferential direction of the central hole 101, the number of the push rod holes 104 is the same as that of the straight beams 102, the axis of the blade mounting holes 103 is orthogonal to the axis of the central hole 101, the axis of the push rod holes 104 is parallel to the axis of the central hole 101, the blade 2 is provided with a blade windward surface 201, a blade rotating shaft 202, the push rod 4 is provided with a push rod cylinder 401, a tenon cylinder 402 and a roller mounting hole 403, the axis of the tenon cylinder 402 is orthogonal to the axis of the push rod cylinder 401, the axis of the roller mounting hole 403 is orthogonal to the axis of the push rod cylinder 401, the roller 5 is provided with a coaxial roller cylinder 501 and a roller mounting shaft 502, the cam 6 is provided with a cam cylinder 601, the cam cylinder 601 is provided with a cam curve groove 602 which is communicated around the cam cylinder 601 for one circle, the cam curve groove 602 is composed of a working condition straight groove 603, a standby condition straight groove 604, a first spiral groove 605 and a second spiral groove 606, two side surfaces of the working condition straight groove 603 are planes and are all vertical to the axis of the cam cylinder 601, two side surfaces of the standby condition straight groove 604 are planes and are all vertical to the axis of the cam cylinder 601, one end of the working condition straight groove 603 is communicated with one end of the standby condition straight groove 604 through the first spiral groove 605, the other end of the working condition straight groove 603 is communicated with the other end of the standby condition straight groove 604 through a second spiral groove 606, four cams 6 are symmetrically installed and fixed on two sides of the fuselage frame 10, four rotating shafts 7 are symmetrically arranged on two sides of the fuselage frame 10, the four rotating shafts 7 are distributed into a front row and a rear row, the axial direction of the rotating shafts 7 is vertical to the longitudinal symmetrical plane of the aircraft, four cam cylindrical surfaces 601 are respectively coaxial with the four rotating shafts 7, the four rotating shafts 7 are respectively installed on the output shafts of the four speed reducers 8, the output shafts of the four motors 9 are respectively installed in the input holes of the four speed reducers 8, the motors 9 and the fixed wings 11 are all installed and fixed on the fuselage frame 10, the four rotating frames 1 are respectively sleeved on the four rotating shafts 7 through center holes 101, the roller cylinder 501, the roller mounting shaft 502 is inserted and fixed in the roller mounting hole 403, the tenon cylinder 402 is inserted and fixed in the long circular hole 302 and can slide, the push rod cylinder 401 is inserted and fixed in the push rod hole 104 and meets the sliding fit, the blade rotating shaft 202 is inserted and fixed in the blade rotating shaft hole 301, the blade rotating shaft 202 is inserted and fixed in the blade mounting hole 103 and can rotate, the distance between two side surfaces of the working condition straight groove 603 is equal to the diameter of the roller cylinder 501, the distance between two side surfaces of the standby condition straight groove 604 is equal to the diameter of the roller cylinder 501, two side surfaces of the first spiral groove 605 and two side surfaces of the second spiral groove 606 are both spiral curved surfaces, the cam 6 is a symmetrical solid, the symmetrical surface of the cam 6 is a working reference surface F, the axis of the cam cylindrical surface 601 is in the working reference surface F, the working condition straight groove 603 is symmetrical about the working reference surface F, and the working reference surface F is, the rotating directions of the rotating shafts 7 in the same row are the same, the rotating directions of the rotating shafts 7 in the front row and the rear row are opposite, the rotating frame 1 is provided with an outer reinforced curved beam 105 and an inner reinforced curved beam 106, and the straight beam 102, the outer reinforced curved beam 105 and the inner reinforced curved beam 106 are all of hollow structures and made of engineering plastics. After the unmanned aerial vehicle special for high-rise fire extinguishment adopts the blade-rotatable horizontal four-wheel type movable wing aircraft combined with the fixed wings, the working stroke of the wheel type movable wing has large thrust, small resistance, large thrust and high pneumatic efficiency, so the unmanned aerial vehicle has stronger maneuverability, can quickly respond to high-rise emergency and quickly fly to a high-rise fire-catching point to extinguish fire.
Example 3:
this embodiment 3 provides a special unmanned aerial vehicle of forest fire prevention fire control, and its structure is with embodiment 1, and the difference is: the number of the straight beams 102 evenly distributed in the circumferential direction of the central hole 101 is 4, the number of the blade mounting holes 103 evenly distributed on the straight beams 102 is 6, and the straight beams 102, the outer reinforcing curved beams 105 and the inner reinforcing curved beams 106 are all made of engineering plastics. The special unmanned aerial vehicle for forest fire prevention and fire fighting adopts a horizontal four-wheel type moving-wing aircraft with rotatable blades combined with fixed wings. The blade lifting mechanism comprises a rotating frame 1, blades 2, a pull ring 3, a push rod 4, a roller 5, a cam 6, a rotating shaft 7, a speed reducer 8, a motor 9, a machine body frame 10 and a fixed wing 11, wherein the rotating frame 1 is provided with a central hole 101, straight beams 102 and push rod holes 104, the direction of the straight beams 102 is parallel to the axis of the central hole 101, the number of the straight beams 102 uniformly distributed in the circumferential direction of the central hole 101 is 4, the straight beams 102 are provided with blade mounting holes 103, the number of the blade mounting holes 103 uniformly distributed on the straight beams 102 is 6, the push rod holes 104 are uniformly distributed in the circumferential direction of the central hole 101, the number of the push rod holes 104 is the same as that of the straight beams 102, the axis of the blade mounting holes 103 is orthogonal to the axis of the central hole 101, the axis of the push rod holes 104 is parallel to the axis of the central hole 101, the blades 2 are provided with a blade windward surface 201, a blade rotating shaft 202, the push rod 4 is provided with a push rod cylinder 401, a tenon cylinder 402 and a roller mounting hole 403, the axis of the tenon cylinder 402 is orthogonal to the axis of the push rod cylinder 401, the axis of the roller mounting hole 403 is orthogonal to the axis of the push rod cylinder 401, the roller 5 is provided with a coaxial roller cylinder 501 and a roller mounting shaft 502, the cam 6 is provided with a cam cylinder 601, the cam cylinder 601 is provided with a cam curve groove 602 which is communicated around the cam cylinder 601 for one circle, the cam curve groove 602 is composed of a working condition straight groove 603, a standby condition straight groove 604, a first spiral groove 605 and a second spiral groove 606, two side surfaces of the working condition straight groove 603 are planes and are all vertical to the axis of the cam cylinder 601, two side surfaces of the standby condition straight groove 604 are planes and are all vertical to the axis of the cam cylinder 601, one end of the working condition straight groove 603 is communicated with one end of the standby condition straight groove 604 through the first spiral groove 605, the other end of the working condition straight groove 603 is communicated with the other end of the standby condition straight groove 604 through a second spiral groove 606, four cams 6 are symmetrically installed and fixed on two sides of the fuselage frame 10, four rotating shafts 7 are symmetrically arranged on two sides of the fuselage frame 10, the four rotating shafts 7 are distributed into a front row and a rear row, the axial direction of the rotating shafts 7 is vertical to the longitudinal symmetrical plane of the aircraft, four cam cylindrical surfaces 601 are respectively coaxial with the four rotating shafts 7, the four rotating shafts 7 are respectively installed on the output shafts of the four speed reducers 8, the output shafts of the four motors 9 are respectively installed in the input holes of the four speed reducers 8, the motors 9 and the fixed wings 11 are all installed and fixed on the fuselage frame 10, the four rotating frames 1 are respectively sleeved on the four rotating shafts 7 through center holes 101, the roller cylinder 501, the roller mounting shaft 502 is inserted and fixed in the roller mounting hole 403, the tenon cylinder 402 is inserted and fixed in the long circular hole 302 and can slide, the push rod cylinder 401 is inserted and fixed in the push rod hole 104 and meets the sliding fit, the blade rotating shaft 202 is inserted and fixed in the blade rotating shaft hole 301, the blade rotating shaft 202 is inserted and fixed in the blade mounting hole 103 and can rotate, the distance between two side surfaces of the working condition straight groove 603 is equal to the diameter of the roller cylinder 501, the distance between two side surfaces of the standby condition straight groove 604 is equal to the diameter of the roller cylinder 501, two side surfaces of the first spiral groove 605 and two side surfaces of the second spiral groove 606 are both spiral curved surfaces, the cam 6 is a symmetrical solid, the symmetrical surface of the cam 6 is a working reference surface F, the axis of the cam cylindrical surface 601 is in the working reference surface F, the working condition straight groove 603 is symmetrical about the working reference surface F, and the working reference surface F is, the rotating directions of the rotating shafts 7 in the same row are the same, the rotating directions of the rotating shafts 7 in the front row and the rear row are opposite, the rotating frame 1 is provided with an outer reinforced curved beam 105 and an inner reinforced curved beam 106, and the straight beam 102, the outer reinforced curved beam 105 and the inner reinforced curved beam 106 are all of hollow structures and made of engineering plastics. After the unmanned aerial vehicle special for forest fire prevention and fire fighting is adopted and is combined with the four-wheel type movable wing aircraft with the rotatable and horizontal blades of the fixed wings, the four-wheel type movable wing aircraft has stronger maneuverability due to large thrust, small resistance, large thrust and high pneumatic efficiency of the working stroke of the wheel type movable wing, can quickly respond to forest fire situations and quickly carry out forest patrol and fire extinguishing at flying fire points.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (9)
1. Combine the blade rotatable horizontal four-wheel type rotor wing aircraft of stationary vane, its characterized in that: the aircraft comprises wheel type movable wings, a transmission mechanism, four cams (6), rotating shafts (7), speed reducers (8), motors (9), an aircraft body frame (10) and fixed wings (11), wherein the four cams (6) are symmetrically arranged and fixed on two sides of the aircraft body frame (10), the four rotating shafts (7) are symmetrically arranged on two sides of the aircraft body frame (10), the four rotating shafts (7) are arranged into a front row and a rear row, the axial directions of the four rotating shafts (7) are vertical to the longitudinal symmetric plane of the aircraft, the four motors (9) arranged on the aircraft body frame (10) respectively drive the four rotating shafts (7) to continuously rotate after being decelerated through the four speed reducers (8) arranged on the aircraft body frame (10), and the four wheel type movable wings are respectively and fixedly connected on the four rotating shafts (7), the four sets of transmission mechanisms are respectively connected with the four wheel type movable wings and the four cams (6); the wheel type movable wing comprises a rotating frame (1) and a rotatable blade (2) arranged in the rotating frame (1), and the cam (6) and the transmission mechanism are used for controlling the rotation and the reset of the blade (2); the fixed wing (11) is arranged on the fuselage frame (10) and used for generating lift force.
2. The blade-rotatable horizontal four-wheeled type moving-wing aircraft combining fixed wings as claimed in claim 1, wherein: a central hole (101) and a straight beam (102) are arranged on the rotating frame (1), the direction of the straight beam (102) is parallel to the axis of the central hole (101), a blade mounting hole (103) is formed in the straight beam (102), and the axis of the blade mounting hole (103) is orthogonal to the axis of the central hole (101); the blade (2) comprises a blade windward side (201), a blade leeward side (203) and a blade rotating shaft (202) which are arranged on the blade (2) in an opposite mode, and the blade windward side (201) is parallel to the blade leeward side (203) and is parallel to the axis of the blade rotating shaft (202); the blade rotating shaft (202) is inserted in the blade mounting hole (103) and can rotate; the four rotating shafts (7) are respectively connected with the four central holes (101) and the four speed reducers (8), and output shafts of the four motors (9) are respectively arranged in input holes of the four speed reducers (8).
3. The blade-rotatable horizontal four-wheeled type moving-wing aircraft combined with the fixed wing as claimed in claim 2, wherein: the transmission mechanism comprises a pull ring (3), a push rod (4) and a roller (5); a push rod hole (104) is formed in the rotating frame (1), and the axis of the push rod hole (104) is parallel to the axis of the central hole (101); a blade rotating shaft hole (301) and a long round hole (302) are formed in the pull ring (3); a push rod cylinder (401), a tenon cylinder (402) and a roller mounting hole (403) are arranged on the push rod (4), the axis of the tenon cylinder (402) and the axis of the roller mounting hole (403) are orthogonal to the axis of the push rod cylinder (401), and the blade rotating shaft (202) is inserted and fixed in the blade rotating shaft hole (301); a roller cylinder (501) and a roller mounting shaft (502) which are coaxial are arranged on the roller (5); a cam cylindrical surface (601) is arranged on the cam (6), the four cam cylindrical surfaces (601) are respectively coaxial with the four rotating shafts (7), and a cam curve groove (602) which is communicated with the cam cylindrical surfaces (601) in a circle is arranged on each cam cylindrical surface (601); the roller cylinder (501) is inserted in the cam curved groove (602) and can slide, the push rod cylinder (401) is inserted in the push rod hole (104) and meets sliding fit, the tenon cylinder (402) is inserted in the long round hole (302) and can slide, and the roller mounting shaft (502) is inserted and fixed in the roller mounting hole (403).
4. The blade-rotatable horizontal four-wheeled type moving-wing aircraft combining fixed wings as claimed in claim 3, wherein: the cam curve groove (602) is composed of a working condition straight groove (603), a standby condition straight groove (604), a first spiral groove (605) and a second spiral groove (606), one end of the working condition straight groove (603) is communicated with one end of the standby condition straight groove (604) through the first spiral groove (605), and the other end of the working condition straight groove (603) is communicated with the other end of the standby condition straight groove (604) through the second spiral groove (606).
5. The blade-rotatable horizontal four-wheeled type moving-wing aircraft combining fixed wings as claimed in claim 4, wherein: the two side faces of the working condition straight groove (603) are planes and are perpendicular to the axis of the cam cylindrical surface (601), the distance between the two side faces of the working condition straight groove (603) is equal to the diameter of the roller cylinder (501), the two side faces of the standby condition straight groove (604) are planes and are perpendicular to the axis of the cam cylindrical surface (601), the distance between the two side faces of the standby condition straight groove (604) is equal to the diameter of the roller cylinder (501), and the two side faces of the first spiral groove (605) and the two side faces of the second spiral groove (606) are both spiral curved surfaces.
6. The blade-rotatable horizontal four-wheeled type moving-wing aircraft combining fixed wings as claimed in claim 4, wherein: the cam (6) is a symmetrical solid, the symmetrical surface of the cam (6) is a working reference surface (F), the axis of the cam cylindrical surface (601) is arranged in the working reference surface (F), the working condition straight grooves (603) are symmetrical relative to the working reference surface (F), and the working reference surface (F) is perpendicular to the advancing direction of the aircraft during flat flight.
7. The blade-rotatable horizontal four-wheeled type moving-wing aircraft combining fixed wings as claimed in claim 3, wherein: the rotating frame (1) further comprises at least one of an outer reinforcing curved beam (105) and an inner reinforcing curved beam (106) which are used for reinforcing the strength of the rotating frame (1).
8. The blade-rotatable horizontal four-wheeled type moving-wing aircraft combined with the fixed wing as claimed in claim 7, wherein: the straight beam (102), the outer reinforcing curved beam (105) and the inner reinforcing curved beam (106) are all hollow structures;
or the straight beam (102), the outer reinforcing curved beam (105) and the inner reinforcing curved beam (106) are made of engineering plastics;
or the straight beam (102), the outer reinforcing curved beam (105) and the inner reinforcing curved beam (106) are made of carbon fiber materials.
9. The blade-rotatable horizontal four-wheeled type moving-wing aircraft combined with the fixed wing as claimed in claim 8, wherein: the straight beams (102) and the push rod holes (104) are uniformly distributed in the circumferential direction of the central hole (101), the number of the straight beams (102) is more than 1, and the number of the push rod holes (104) is the same as that of the straight beams (102); the blade mounting holes (103) are uniformly distributed on the straight beams (102) in a straight line, and the number of the blade mounting holes (103) on each straight beam (102) is more than 1.
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| CN201910655293.XA CN110282124B (en) | 2019-07-19 | 2019-07-19 | Blade-rotatable horizontal four-wheel type moving-wing aircraft combined with fixed wings |
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| CN201910655293.XA CN110282124B (en) | 2019-07-19 | 2019-07-19 | Blade-rotatable horizontal four-wheel type moving-wing aircraft combined with fixed wings |
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| CN113911354A (en) * | 2021-11-17 | 2022-01-11 | 苏州高博软件技术职业学院 | Six-curtain driving energy-adjustable rotary wing aircraft |
| CN113911335A (en) * | 2021-11-17 | 2022-01-11 | 苏州高博软件技术职业学院 | Two-curtain driving energy-adjustable rotary wing aircraft with fixed wings |
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| FR2324513A1 (en) * | 1975-09-17 | 1977-04-15 | Jourdan Joannes | Flapping wing flying machine - has cam acting on bicycle wheel mounted in slots of supports with motion transmitted by rod to wing inner ends |
| CN1906086A (en) * | 2003-11-16 | 2007-01-31 | Ip2H股份公司 | Aircraft |
| CN102582832B (en) * | 2012-03-07 | 2014-11-26 | 安徽工业大学 | Flapping-wing aircraft |
| CN105775117B (en) * | 2016-04-19 | 2019-03-22 | 倪德玉 | A kind of helicopter of VTOL horizontal flight and its application |
| CN107089321A (en) * | 2017-04-26 | 2017-08-25 | 浙江点辰航空科技有限公司 | A kind of pusher multi-rotor unmanned aerial vehicle of adjustable lift vector |
| CN107089322A (en) * | 2017-04-26 | 2017-08-25 | 浙江点辰航空科技有限公司 | One kind becomes the dynamic multi-rotor unmanned aerial vehicle of lift structure oil |
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