CN202358300U

CN202358300U - Variable pitch three-axis aircraft

Info

Publication number: CN202358300U
Application number: CN2011201895966U
Authority: CN
Inventors: 杨润; 李晓杰
Original assignee: North University of China
Current assignee: North University of China
Priority date: 2011-06-08
Filing date: 2011-06-08
Publication date: 2012-08-01
Anticipated expiration: 2021-06-08

Abstract

The utility model relates to a novel aircraft, in particular to a variable pitch three-axis aircraft. The variable pitch three-axis aircraft comprises variable pitch rotor wings, a flow guide blade, tail tubes and an aircraft body, wherein the variable pitch rotor wings are uniformly distributed and mounted at one end of each tail tube; the rotor wing surfaces are inclined; each variable pitch rotor wing comprises a rotor holder, a bulb, a bulb buckle, a connecting bar, a middle link, a pushing plate, a limiting shaft, a bearing seat, a double-head rocker arm, a single-head rocker arm, a connecting bar, a main shaft, a steering plate, a steering engine, a connecting bar, a pushing plate outer sleeve, a big gear, a motor tooth, a motor seat, a motor, a side plate, a bearing seat and a big gear seat; the flow guide blade is mounted on one or more tail tubes and the titling angle variation of the flow guide blade can be controlled by the steering machine; and the tail tubes are mounted on the aircraft body.

Description

Three aircraft of feather

Technical field

The utility model relates to a kind of new aircraft, specifically is three aircraft of feather.

Background technology

At present, multi-rotor aerocraft mainly is divided into two types, even number axle, odd number axle.Even number axle multi-rotor aerocraft characteristics are some axles that distribute around the fuselage; Go up by motor direct-drive fixedpiston screw propeller for every; The wherein positive hour hands rotation of half motor, second half motor left-hand revolution comes controlling aircraft pitching balance and reaction moment balance through coordinating each rotating speed of motor; The structure of odd number axle multi-rotor aerocraft is consistent with the many rotors of even number axle, and difference is that the plane of revolution of a unnecessary screw propeller can be around this rotation, and the pulling force part that this rotor produces is as lift, and another part pulling force is used to offset unnecessary counter torque.But multi-rotor aerocraft has following shortcoming at present,

1, control system is very complicated.The flicon problem is the key issue of small-sized multi-rotor aerocraft, main difficulty by two aspects.At first, it is carried out very difficulty of accurate modeling.In the flight course, it not only receives the effect of several physical simultaneously, such as: aerodynamic force, gravity, gyro effect etc., he also is easy to receive the interference that waits external environment of air-flow.Therefore, very difficult acquisition is the aeroperformance parameter accurately, is difficult to set up effectively, kinetic model accurately.Secondly, small-sized multi-rotor aerocraft is one and has six-freedom degree, and has only the drive systems of owing of four control inputs, has the characteristic of multivariate, non-linear, close coupling, need control the attitude of flight through the rotating speed of coordinating each rotor.For example change one of them gyroplane rotate speed, horizontal surface overturns moment with generation, and owing to each rotor counter torque overbalance, aircraft also can rotate around center-of-gravity axis simultaneously.Therefore make its Design of Flight Control become very difficult.Software cost is very high.

2, be subject to external interference.Many rotor flights of market all are to adopt electric-machine directly-driven fixedpiston mode at present.Run into extraneous interference in air flow, measure the attitude of aircraft earlier by sensor, through filtering; The A/D conversion is being calculated via flight control system, produces corresponding PWM control model, changes motor speed by electronic governor again; Change lift and counter torque; Wherein electrical motor gearshift will consume the most of the time, how to design the high-velocity electrons governor and comes to change rapidly motor speed, and this is the another difficult problem of fixedpiston Flight Vehicle Design.

3, load-carrying is limited.The diameter that present small-sized multi-rotor aerocraft impassabitity increases screw propeller increases lift, can only increase lift through increasing the rotor number.Its reason is that the inertia of the big more rotation of screw propeller is also just big more, thereby motor changes the rotating speed of screw propeller also with regard to more difficult (especially in the decline process).The small-sized multi-rotor aerocraft screw propeller that directly drives for present market in fact is big more, and the kv of motor just must be low more, and motor speed changes also just more difficult.

4, power of motor can't be brought into play fully.The multi-rotor aerocraft of market is the attitude of coming controlling aircraft through the change motor speed at present, and the rotating speed that each motor must have power more than needed to change screw propeller comes controlling aircraft.Therefore the power of motor just can not be brought into play fully.

Summary of the invention

Relatively poor in order to overcome existing multiaxis aircraft antijamming capability, coupling is big, and auxiliary electronic equipment is complicated, costliness, and incompatible with market helicopter flight control system, load-carrying is limited, and power of motor is owed and shortcoming such as is waved.The technical scheme that the utility model adopted is: adopt three-axis structure, each adopts the slow-revving rotor of major diameter, and speed setting is a steady state value; Through changing the pitch of rotor; Control the variation of rotor lift fast, accurately, the balance of the pitch orientation of the pitch difference controlling aircraft through coordinating each rotor, rotor breather vane of a variable-angle of design down therein; Under the following cyclonic action that rotor produces; Through changing the angle of flow deflector and following eddy flow, eddy flow is to the application force of flow deflector under changing, and this application force is offset the counter torque of rotor to the moment of center of gravity.The utility model comprises feather rotor, breather vane, tail pipe, fuselage.

Feather rotor rectangular distribution also is installed in each tail pipe one end, and the rotor face tilt is to offset counter torque.The feather rotor comprises oar folder, bulb, bulb button, connecting rod, middle, push-plate, limit shaft, bearing seat, double end rocking arm, single head rocking arm, connecting rod, main shaft, steering wheel, steering wheel, connecting rod, push-plate overcoat, big gear wheel, motor tooth, motor cabinet, motor, side plate, bearing seat and canine tooth wheel seat.

Breather vane is mounted on one of them or the several tail pipe and can be controlled the variation of its tilt angle by steering wheel.

Tail pipe is installed on the fuselage.

The beneficial effect of the utility model is a flight stability, and antijamming capability is strong.

Description of drawings

Fig. 1 is the front view of feather rotor structure;

Fig. 2 is the lateral plan of feather rotor structure;

Fig. 3 is the axis side view that waits of feather rotor structure;

Fig. 4 is the axis side view that waits of transmission device

Fig. 5 is the front view of transmission device and feather rotor

Fig. 6 is axis side views such as breather vane and aircraft integral structure

Among the figure: 1-oar folder, the 2-bulb, 3-bulb button, the 4-connecting rod joins among the 5-, 6-push-plate, 7-limit shaft; The 8-bearing seat, 9-double end rocking arm, 10-single head rocking arm, 11-connecting rod, 12-main shaft, 13-steering wheel, 14-steering wheel; The 15-connecting rod, 16-push-plate overcoat, 17-big gear wheel, 18-motor tooth, 19-motor cabinet, 20-motor, 21-side plate; The 22-bearing seat,, 23-canine tooth wheel seat, 24-breather vane, 25-fuselage, 26-tail pipe.

The specific embodiment

In conjunction with accompanying drawing embodiment is done further description, present embodiment is used for explaining the utility model, rather than the utility model is done carry out any restriction.

The specific embodiment is, motor (20) is through motor tooth (18), canine tooth (17), and pinion stand (23) main shaft (12), middle (5), oar folder (1) is given screw propeller transmission of power, produces lift; Pass through steering wheel (13) by steering wheel (14), connecting rod (11), double end rocking arm (9), single head rocking arm (10), connecting rod (15), push-plate overcoat (16), push-plate (6), connecting rod (4), the accurately variation fast of oar folder (1) control rotor lift.Be installed in the angle variation that tail pipe (26) is gone up breather vane (24) through steering wheel control, under the following cyclonic action of rotor, produce moment, offset the counter torque of rotor center of gravity.When installing every, rotor can suitably tilt, and the part pulling force of rotor is offset counter torque, alleviates breather vane (24) load.

Claims

1. three aircraft of feather; It is characterized in that comprising the feather rotor, breather vane, tail pipe; Fuselage; Feather rotor rectangular distribution also is installed in each tail pipe one end, and rotor face tilt, feather rotor comprise oar folder, bulb, bulb button, connecting rod, middle, push-plate, limit shaft, bearing seat, double end rocking arm, single head rocking arm, connecting rod, main shaft, steering wheel, steering wheel, connecting rod, push-plate overcoat, big gear wheel, motor tooth, motor cabinet, motor, side plate, bearing seat and canine tooth wheel seat; Breather vane is mounted on one of them or the several tail pipe and can be controlled the variation of its tilt angle by steering wheel, and tail pipe is installed on the fuselage.