CN101575004A

CN101575004A - Flight-mode-variable unmanned aircraft with multiple sets of coaxial rotors

Info

Publication number: CN101575004A
Application number: CNA200910032954XA
Authority: CN
Inventors: 徐锦法; 夏青元
Original assignee: Individual
Current assignee: Individual
Priority date: 2009-06-09
Filing date: 2009-06-09
Publication date: 2009-11-11

Abstract

The invention relates to a flight-mode-variable unmanned aircraft with multiple sets of coaxial rotors. The structure of the unmanned aircraft is that the airframe is a framework structure which is provided with multiple sets of the coaxial rotors, wherein each set of the coaxial rotors consist of an upper motor and a lower motor which are arranged back to back with the same axis and are connected with an upper rotor and a lower rotor respectively, the rotation directions of the upper rotor and the lower rotor are opposite to each other, blades of the rotors are symmetrical with each other positively and negatively and are arranged coaxially with lift force, the torsional moment of each set of the coaxial rotor is balanced automatically, and an on-board avionics flight control box is arranged at the gravity center of the airframe. The unmanned aircraft overcomes the defects that the prior device has a complex structure, poor stability, complicated use and operation, and high cost no matter for manufacturing or use. The flight-mode-variable unmanned aircraft has good maneuverability and stability, is easy to control the flight mode switch and the relative flight speed, and solves the problems of transportation and use. The flight-mode-variable unmanned aircraft has the advantages of simple structure, low manufacturing and using cost, and easy operation.

Description

Flight-mode-variable unmanned aircraft with multiple sets of coaxial rotors

Technical field

The present invention relates to a kind of aircraft, particularly a kind of flight-mode-variable unmanned aircraft with multiple sets of coaxial rotors can be applied to scientific research, aviation, industry, amusement, civilian, alert with, field such as military.

Background technology

Depopulated helicopter is with the obvious advantage, and the landing place of taking off is little, the energy vertical takeoff and landing, and energy hovering can be flown flexibly to any one direction.Because its particular structure and functional characteristics are not singly being brought into play important effect in military field, detect at disaster field rescue, hazardous environment, fields such as traffic monitoring or aerial shooting also show the huge applications potentiality, have been subjected to extensive attention.

Before the present invention, in the existing depopulated helicopter, it is that traditional rotor adds the tail-rotor form that micro-unmanned helicopter (it is following to be often referred to 1kg) does not almost have load-carrying capacity, topology layout, and actual use is little.Medium-and-large-sized depopulated helicopter (being often referred to) greater than 20kg, engine control is all adopted in power driven, and except that unmanned tiltrotor aircraft, topology layout makes offline mode only limit to the helicopter flight pattern.Although unmanned tiltrotor aircraft can be transformed into the aircraft flight pattern, also can only be that the rotor nacelle verts, and structure be very complicated.These depopulated helicopters are the structure relative complex not only, and stability is also relatively poor, uses, operates also complexity, no matter is to make also to be to use, and its cost all is very high.Therefore, for most non-military uses should be used for say that practical significance is little.

Summary of the invention

Purpose of the present invention just is to overcome above-mentioned defective, design, a kind of simple in structure, flight-mode-variable unmanned aircraft with multiple sets of coaxial rotors that can be widely used in non-military use of development.

Technical scheme of the present invention is:

Flight-mode-variable unmanned aircraft with multiple sets of coaxial rotors, its major technique is characterised in that body is a framed structure, be provided with multiple sets of coaxial rotors, every group of co-axial rotor is made up of last motor, following motor, the two dos-concentric is provided with, last motor connects goes up rotor, following motor connects rotor down, last rotor, down the rotor hand of rotation is opposite, the positive and negative symmetry of blade of last rotor, following rotor, coaxial lift setting, each organizes co-axial rotor moment of torsion self-balancing, and airborne avionics flies to control box and places body center of gravity place.

Advantage of the present invention and effect have been to solve the road-holding property and the stable difficult problem of unmanned vehicle, and offline mode is changed, flying speed control relatively, and aircraft carries transportation and use problem.

The present invention is simple in structure, and manufacturing and use cost are low, processing ease.

Other advantages of the present invention and effect will go on to say below.

Description of drawings

Fig. 1---unmanned vehicle structural principle scheme drawing among the present invention.

Fig. 2---unmanned vehicle birds-eye view among the present invention.

Fig. 3---unmanned vehicle helicopter mode power scheme drawing of the present invention.

Fig. 4---unmanned vehicle airplane-mode power scheme drawing of the present invention.

The folding back of Fig. 5---unmanned vehicle of the present invention structural representation.

The specific embodiment

As shown in Figure 1 and Figure 2:

Instantiation of the present invention is three groups of T-shaped distributions of co-axial rotor, and first co-axial rotor 1 is the left side in the drawings, second co-axial rotor, 2 bottom rights, and the 3rd co-axial rotor 3 is upper right, and body 4 is a tower structure; Airborne avionics box 5 is installed in body center of gravity place; First co-axial rotor 1 is made up of last rotor 6, time rotor 7, last motor 8, following motor 9, last motor 8 connects upward, and rotor 6 is a pair of, rotor 7 was a pair of under following motor 9 connected, two centerings, and last rotor 6 is positive oar, following rotor is anti-oar, the hand of rotation of last rotor 6, following rotor 7 is opposite, the positive and negative symmetry of blade of last rotor, following rotor, coaxial lift setting, what represent among the figure is that upward rotor 6 is right-hand revolutions, and following rotor 7 is the anticlockwise direction rotation; Because three groups all identical, thereby only lift a group profile; Connect under organism frame 4 beams or hang a fin 10, become vertical configuration, the auxiliary lift that improves when being used for aircraft integral body and verting; Last motor 8, following motor 9 dos-concentrics are installed up and down.

During application:

As Fig. 1, Fig. 2, Fig. 3, shown in Figure 4:

Last rotor 6, down rotor 7 just (cw), anti-(conter clockwise) change to revolve by regulating rotating speed control and go up rotor 6, the pneumatic lift F and the resultant moment M of closing of rotor 7 down, as the F1 among Fig. 3, F2, F3, M1, M2, M3 represent closing lift, closing torsional moment of the first co-axial rotor group 1, second co-axial rotor 2, the 3rd co-axial rotor 3 respectively, and G is an aircraft gravity.

Offline mode is controlled by motor speed and is regulated the control of realization direct force, and the pass of make a concerted effort under the helicopter flight pattern (square) and flight mode is:

The mode of hovering, M1=M2=M3=0, F1+F2+F3=G;

Vertical lift mode, M1=M2=M3=0, F1+F2+F3＞G or F1+F2+F3＜G;

Pitching (verting) mode, M1=M2=M3=0, F1+F3 ≠ F2;

Lift-over mode, M1=M2=M3=0, F1 ≠ F3;

Driftage mode, M1=M2=M3 ≠ 0, F1, F2, F3 are constant;

The present invention is realized by the transition pitching mode of verting of helicopter flight pattern to the aircraft flight pattern, regulating F2 and the F1+F3 size of making a concerted effort slowly verts fuselage, up to entering the aircraft flight pattern, along with flying speed improves, the lift of fin 10 also increases thereupon, and the effect of rotor power and torsional moment also changes.

The pass of (square) and the flight mode of making a concerted effort under the aircraft flight pattern is:

Fly mode fast, F1+F2+F3 is a thrust;

Pitching (verting) mode, M1=M2=M3=0, F1+F3 ≠ F2;

Driftage mode, M1=M2=M3=0, F1 ≠ F3;

Lift-over mode, M1=M2=M3 ≠ 0, F1, F2, F3 are constant;

As from the foregoing, the flight-mode-variable unmanned aircraft with multiple sets of coaxial rotors among the present invention has following advantage:

1. the unmanned vehicle among the present invention can be installed many group rotors in little spatial dimension, can reach high efficiency lift, improves the ratio of lift and deadweight.

2. the unmanned vehicle co-axial rotor compact conformation among the present invention, and torsional moment self-balancing has solved whole moment coupling by local moment balance, has reduced the flight control difficulty effectively.

3. the unmanned vehicle among the present invention adopts gyroplane rotate speed control and regulation aircraft aerodynamic resultant and resultant moment, and flight such as realize vertical takeoff and landing, hover, turn to, control are steadily and flexibly.Rotor is by motor direct-drive, and physical construction is simple.

4. the unmanned vehicle among the present invention is realized the offline mode conversion by the integral body mode of verting, and the following on-hook wing helps the raising of flying speed, has reduced consumption of power, can increase radius.

5. the unmanned vehicle among the present invention has certain load-carrying capacity, can be suitable for using under low latitude, medium or short range, the particular surroundings.

6. the unmanned vehicle airframe structure among the present invention is collapsible, transports, stores, carries and use all easily, helps application.

Body 4 (fuselage ring beam) is designed to folding, be that body 4 stage casings are provided with fold mechanism, as shown in Figure 5, right angle fold, (figure is left and right) first co-axial rotor 1, the 3rd co-axial rotor 3 that are arranged in body 4 ends are drawn in to second co-axial rotor 2 of centre, be convenient to transportation, store and carry.

Though only enumerated three groups of co-axial rotors in this example, also be fine more than three groups; Distribute and also can select other modes.

The content that the present invention asks for protection is not limited to the description of this specific embodiment.

Claims

1. flight-mode-variable unmanned aircraft with multiple sets of coaxial rotors, it is characterized in that body is a framed structure, be provided with multiple sets of coaxial rotors, every group of co-axial rotor is made up of last motor, following motor, the two dos-concentric is provided with, last motor connects goes up rotor, and following motor connects rotor down, and last rotor, following rotor hand of rotation are opposite, the positive and negative symmetry of blade of last rotor, following rotor, coaxial lift setting, each organizes co-axial rotor moment of torsion self-balancing, and airborne avionics flies to control box and places body center of gravity place.

2. flight-mode-variable unmanned aircraft with multiple sets of coaxial rotors according to claim 1 is characterized in that underpart is provided with fin, becomes vertical configuration.

3. flight-mode-variable unmanned aircraft with multiple sets of coaxial rotors according to claim 1 is characterized in that the body stage casing is provided with fold mechanism.