CN101704412A - Six-rotor aircraft - Google Patents
Six-rotor aircraft Download PDFInfo
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- CN101704412A CN101704412A CN200910217901A CN200910217901A CN101704412A CN 101704412 A CN101704412 A CN 101704412A CN 200910217901 A CN200910217901 A CN 200910217901A CN 200910217901 A CN200910217901 A CN 200910217901A CN 101704412 A CN101704412 A CN 101704412A
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Abstract
本发明涉及无人飞行器，特别是一种六转子飞行器，包括机体、连接在机体周围上的六根支撑臂、分别设置在各支撑臂端部上的六个转子和设置在机体中的控制连接各转子的电控系统，所述的六根支撑臂的几何中心线在同一平面上、各相邻的两根支撑臂的几何中心线夹角为60度。该飞行器具有高度的机动性，可以实现垂直起降、快速前飞、倒飞、悬停、飞行中任意方向改变。因此，该飞行器具有超过当前使用的任何一种飞行器的机动性能。
The invention relates to an unmanned aerial vehicle, especially a six-rotor aircraft, which includes a body, six support arms connected around the body, six rotors respectively arranged on the ends of each support arm, and control connections arranged in the body. For the electronic control system of the rotor, the geometric centerlines of the six support arms are on the same plane, and the included angle between the geometric centerlines of two adjacent support arms is 60 degrees. The aircraft has a high degree of maneuverability, and can realize vertical take-off and landing, fast forward flight, inverted flight, hovering, and any direction change during flight. Thus, the aircraft has maneuverability that exceeds that of any aircraft currently in use.
Description
Technical field
The present invention relates to unmanned vehicle, particularly a kind of many rotor aerial vehicles of new structure.
Background technology
Current most of aircraft all is a fixed-wing formula aircraft, and this aircraft can't be finished vertical and landing takeoff, needs special-purpose runway or feedway, and its maneuvering performance is limited.Lifting vehicle has the vertical and landing takeoff function, can also aloft hover, have demand widely in fields such as military surveillance, anti-terrorism, public security, fire-fighting, forest inspection, nuclear leakage detection and the disaster relief, but the manoevreability of current lifting vehicle and stability are also not enough.Particularly the military conflict major part of our times all is the small-scale military conflict in subrange, the fight occasion mostly occurs under the urban background, especially the war against terror that grows in intensity, under the urban background enemy's scouting, supervision and position are determined etc. to require more and more important, require applied aircraft to have the manoevreability of superelevation.Current lifting vehicle mainly contains single rotor (main rotor+tail-rotor) helicopter, the two outstanding wing (contrarotation) helicopter and three kinds of versions of four rotor crafts, such as four rotor crafts of the MH-16 helicopter of U.S. McDonnell-Douglas Corporation, Muscovite card-29 helicopter, German Microdrone company etc.Above-mentioned rotor craft self all is a motion coupled system, and in-flight direction and attitude are coupled, alerting ability and less stable, and the lift of aircraft and weight ratio are lower, and load capacity is very poor when being designed to small aircraft.
Summary of the invention
The objective of the invention is existingly have vertical takeoff and landing and the motion of aircraft of the function of hovering and attitude changes coupling, alerting ability and poor stability, lift and weight ratio are lower and problem such as miniaturization performance deficiency, proposes a kind of six-rotor aircraft with new structure of attitude stability highly and controllability for solving.
Six-rotor aircraft of the present invention, comprise body, the six roots of sensation hold-down arm on being connected around the body, be separately positioned on six rotors on each hold-down arm end and be arranged on the electric-control system of each rotor of control linkage in the body that the geometric center lines of described six roots of sensation hold-down arm at grade, the geometric center lines angle of each two adjacent hold-down arm is 60 degree.
Described rotor is motor or the oily mechanism one-tenth that is connected rotor by rotor with direct drive.The plane of rotation of each rotor rotor equates with the interplanar angle in geometric center lines place of described six roots of sensation hold-down arm, and the plane of rotation coplane of two rotor rotors on the same diagonal line, adjacent two rotor rotors hand of rotation opposite.
Each rotor has been eliminated the loss in efficiency of driving system by motor or oily machine direct drive, has improved the lift force of energy utilization efficiency and aircraft.The hand of rotation of adjacent two rotors is opposite, and positive and negative rotor rotated is opposite to the torsional moment of body, therefore can regulate the rotating speed of six rotors and realize that the torsional moment of closing to body is zero.The lift that the interplanar angle of the plane of rotation of rotor rotor and body makes six rotors to body make a concerted effort and resultant moment is distinguished controlled at three axial six components, therefore can make under this aircraft prerequisite that aloft attitude remains unchanged and change sense of motion, also can keep carrying out the attitude adjusting under the sense of motion unmodified prerequisite, can also when changing sense of motion, carry out the change of attitude, realize the full decoupled of motion and attitude.This aircraft has the attitude stability and the controllability of height, has tempting prospect in the military affairs of scouting and be retrieved as main objective with information and anti-terrorism application.
Provided by the invention around the body aircraft of rectangular distribution and non-coplanar six rotors. six rotors are by motor or oily machine direct drive, having improved lift force. the rotating speed control by non-coplanar six rotors has realized the full decoupled of three-axis moving and attitude, this aircraft has the manoevreability of height, can realize vertical takeoff and landing, fly before fast, inverted flight, hover, any direction changes in-flight. therefore, this aircraft provided by the present invention has the maneuvering performance of any aircraft that surpasses current use.
Description of drawings
Fig. 1 is the structural representation of six-rotor aircraft of the present invention;
Fig. 2 is the scheme drawing of rotor structure shown in Fig. 1.
The specific embodiment
The embodiment that provides below in conjunction with accompanying drawing is described in further detail the present invention.
With reference to Fig. 1, a kind of six-rotor aircraft, comprise body 1, the six roots of sensation hold-down arm 2 on being connected around the body 1, be separately positioned on six rotors 3 on each hold-down arm 2 end and be arranged on the electric-control system 4 of each rotor of control linkage in the body 1 that the geometric center lines of described six roots of sensation hold-down arm 2 at grade, the geometric center lines angle of each two adjacent hold-down arm 2 is 60 degree.
With reference to Fig. 2, described rotor 3 is to be made of rotor 3.1 is connected rotor 3.1 with direct drive motor or oily machine 3.2.
The plane of rotation of described each rotor rotor 3.1 equates with the interplanar angle in geometric center lines place of described six roots of sensation hold-down arm 2, and the plane of rotation coplane of two rotor rotors on the same diagonal line, adjacent two rotor rotors hand of rotation opposite.
Claims (3)
1. six-rotor aircraft, it is characterized in that comprising body (1), be connected six roots of sensation hold-down arm (2) that body (1) goes up on every side, be separately positioned on six rotors (3) on each hold-down arm (2) end and be arranged on the electric-control system (4) of each rotor of control linkage in the body (1), the geometric center lines of described six roots of sensation hold-down arm (2) at grade, the geometric center lines angle of each adjacent two hold-down arm (2) is 60 degree.
2. six-rotor aircraft according to claim 1 is characterized in that described rotor (3) is motor or oily machine (3.2) formation that is connected rotor (3.1) by rotor (3.1) with direct drive.
3. six-rotor aircraft according to claim 2, it is characterized in that: the plane of rotation of described each rotor rotor (3.1) equates with the interplanar angle in geometric center lines place of described six roots of sensation hold-down arm (2), and the plane of rotation coplane of two rotor rotors on the same diagonal line, adjacent two rotor rotors hand of rotation opposite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910217901A CN101704412A (en) | 2009-11-24 | 2009-11-24 | Six-rotor aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910217901A CN101704412A (en) | 2009-11-24 | 2009-11-24 | Six-rotor aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101704412A true CN101704412A (en) | 2010-05-12 |
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ID=42374687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910217901A Pending CN101704412A (en) | 2009-11-24 | 2009-11-24 | Six-rotor aircraft |
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| CN (1) | CN101704412A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101823555A (en) * | 2010-05-17 | 2010-09-08 | 中国科学院长春光学精密机械与物理研究所 | 12-rotor aerial vehicle with rolling function |
| CN101823556A (en) * | 2010-05-17 | 2010-09-08 | 中国科学院长春光学精密机械与物理研究所 | Coaxial contrarotation birotor twelve-rotary wing air vehicle |
| CN101992854A (en) * | 2010-11-03 | 2011-03-30 | 中国科学院长春光学精密机械与物理研究所 | A foldable six-axis multi-rotor aircraft |
| CN102806993A (en) * | 2011-11-09 | 2012-12-05 | 中国科学院长春光学精密机械与物理研究所 | Multi-rotor aircraft |
| CN103434643A (en) * | 2013-07-12 | 2013-12-11 | 国家电网公司 | Hexa-rotor aircraft |
| CN104260879A (en) * | 2014-10-16 | 2015-01-07 | 深圳市科卫泰实业发展有限公司 | High-reliability high-stability multi-rotor-wing unmanned aerial vehicle with quick-dismounting function |
| CN106573676A (en) * | 2014-06-03 | 2017-04-19 | 希菲作品公司 | Fixed rotor thrust vectoring |
-
2009
- 2009-11-24 CN CN200910217901A patent/CN101704412A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101823555A (en) * | 2010-05-17 | 2010-09-08 | 中国科学院长春光学精密机械与物理研究所 | 12-rotor aerial vehicle with rolling function |
| CN101823556A (en) * | 2010-05-17 | 2010-09-08 | 中国科学院长春光学精密机械与物理研究所 | Coaxial contrarotation birotor twelve-rotary wing air vehicle |
| CN101823555B (en) * | 2010-05-17 | 2013-04-17 | 中国科学院长春光学精密机械与物理研究所 | 12-rotor aerial vehicle with rolling function |
| CN101823556B (en) * | 2010-05-17 | 2013-04-17 | 中国科学院长春光学精密机械与物理研究所 | Coaxial contrarotation birotor twelve-rotary wing air vehicle |
| CN101992854A (en) * | 2010-11-03 | 2011-03-30 | 中国科学院长春光学精密机械与物理研究所 | A foldable six-axis multi-rotor aircraft |
| CN101992854B (en) * | 2010-11-03 | 2012-11-07 | 中国科学院长春光学精密机械与物理研究所 | Foldable six-axis multi-rotor aircraft |
| CN102806993A (en) * | 2011-11-09 | 2012-12-05 | 中国科学院长春光学精密机械与物理研究所 | Multi-rotor aircraft |
| CN103434643A (en) * | 2013-07-12 | 2013-12-11 | 国家电网公司 | Hexa-rotor aircraft |
| CN106573676A (en) * | 2014-06-03 | 2017-04-19 | 希菲作品公司 | Fixed rotor thrust vectoring |
| CN104260879A (en) * | 2014-10-16 | 2015-01-07 | 深圳市科卫泰实业发展有限公司 | High-reliability high-stability multi-rotor-wing unmanned aerial vehicle with quick-dismounting function |
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Application publication date: 20100512 |