CN101704413A

CN101704413A - Six-rotor flying machine with rolling function

Info

Publication number: CN101704413A
Application number: CN200910217902A
Authority: CN
Inventors: 白越; 孙强; 李也凡; 高庆嘉
Original assignee: Changchun Institute of Optics Fine Mechanics and Physics of CAS
Current assignee: Changchun Institute of Optics Fine Mechanics and Physics of CAS
Priority date: 2009-11-24
Filing date: 2009-11-24
Publication date: 2010-05-12

Abstract

The invention relates to an unmanned flying machine, in particular to a six-rotor flying machine with rolling function. The six-rotor flying machine comprises an engine body, six supporting arms connected with the periphery of the engine body, six rotors which are separately arranged on the supporting arms, an electric control system which is arranged in the engine body and used to control and connect each rotor and three connected supporting circular rings with the same diameter of which geometrical center surfaces are orthogonal mutually, wherein the geometrical center lines of the six supporting arms are on one plane, the included angle of the geometrical center lines of the two adjacent supporting arms is 60 degrees, one end of each supporting arm is fixedly connected with the engine body, the other end is fixedly connected with one of the three supporting rings, and the geometrical centers of the supporting rings are overlapped with the geometrical center of the engine body. The vertical landing, fast forward flight, inverted flight and hovering flight of the flying machine can be realized and the flying machine can roll forward along the ground surface or the vertical outer walls of buildings.

Description

Six-rotor aircraft with rolling function

Technical field

The present invention relates to unmanned vehicle, particularly a kind of many rotor aerial vehicles of new structure with rolling function.

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 to propose a kind of six-rotor aircraft, present have vertical takeoff and landing and the motion of the aircraft of the function of hovering and attitude changes coupling, alerting ability and poor stability, lift and weight ratio are lower and defective such as miniaturization performance deficiency to overcome with rolling function.

The present invention has the six-rotor aircraft of rolling function, comprises body, the six roots of sensation hold-down arm on being connected around the body, is separately positioned on the support annulus that six rotors on each hold-down arm, the electric-control system that is arranged on each rotor of control linkage in the body, its geometric centre face are ring footpaths such as connect as one three of quadrature each other; The geometric center lines of described six roots of sensation hold-down arm at grade, angle is 60 degree between the geometric center lines of two hold-down arms that each is adjacent, one end of every hold-down arm is connected on the body, the other end is connected in described three of supporting in the annulus and supports on the annulus, described three are supported the geometric centre of annulus and the geometric centre of body coincides, and described six rotors are separately positioned on the described six roots of sensation hold-down arm along the geometric centre equiarm distance of body.

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, and the hand of rotation of adjacent two rotor rotors is opposite.

Each rotor is by motor or oily machine direct drive, eliminated the loss in efficiency of driving system, having improved the lift force of energy utilization efficiency and aircraft. the hand of rotation of adjacent two rotors is opposite, 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 controlled three axial six components difference, 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, realized the full decoupled of motion and attitude. the support annulus that is ring footpaths such as connect as one three of quadrature each other with the geometric centre face is that aircraft provides suitable shell, make this aircraft can be along ground or wall roll and advance, the energy that both can save self preciousness also has the disguise of height simultaneously, uses in the military affairs of scouting and be retrieved as main objective with information and anti-terrorism to have tempting prospect.

The aircraft of structure of the present invention, both improved lift force, rotating speed control by non-coplanar six rotors has realized the full decoupled of three-axis moving and attitude, the manoevreability that has height again, can realize vertical takeoff and landing, fly before fast, inverted flight, hover, any direction changes in-flight, can also be along ground or the perpendicular outer wall of building roll and advance.Therefore, this aircraft provided by the present invention has the not available high maneuverability energy of any aircraft of current use.

Description of drawings

Fig. 1 is the structural representation that the present invention has the six-rotor aircraft of rolling function;

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 with rolling function comprises body 1, the six roots of sensation hold-down arm 2 on being connected around the body 1, is separately positioned on the

support annulus

4,5,6 that six rotors 3 on each hold-down arm 2, the electric-control system 7 that is arranged on each rotor of control linkage in the body 1, its geometric centre face are ring footpaths such as connect as one three of quadrature each other; The geometric center lines of described six roots of sensation hold-down arm 2 at grade, angle is 60 degree between the geometric center lines of two hold-down arms that each is adjacent, one end of every hold-down arm is connected on the body 1, the other end is connected in described three of supporting in the annulus and supports on the annulus 4, described three are supported the geometric centre of

annulus

4,5,6 and the geometric centre of body 1 coincides, and described six rotors 3 are separately positioned on the described six roots of sensation hold-down arm 2 along the geometric centre equiarm distance of body.

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 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, and the hand of rotation of adjacent two rotor rotors is opposite.

Claims

1. six-rotor aircraft with rolling function is characterized in that comprising body (1), is connected six roots of sensation hold-down arm (2) that body (1) goes up on every side, is separately positioned on six rotors (3) on each hold-down arm (2), the support annulus (4,5,6) in ring footpath such as the electric-control system (7) that is arranged on each rotor of control linkage in the body (1), its geometric centre face are quadrature each other three of connecting as one; The geometric center lines of described six roots of sensation hold-down arm (2) at grade, angle is 60 degree between the geometric center lines of two hold-down arms that each is adjacent, one end of every hold-down arm is connected on the body (1), the other end is connected in described three of supporting in the annulus and supports on the annulus (4), described three are supported the geometric centre of annulus (4,5,6) and the geometric centre of body (1) coincides, and described six rotors (3) are separately positioned on the described six roots of sensation hold-down arm (2) along the geometric centre equiarm distance of body.

2. the six-rotor aircraft with rolling function 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, the hand of rotation of adjacent two rotor rotors is opposite.