CN103786888A - Variable-pitch aircraft - Google Patents
Variable-pitch aircraft Download PDFInfo
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- CN103786888A CN103786888A CN201410022427.1A CN201410022427A CN103786888A CN 103786888 A CN103786888 A CN 103786888A CN 201410022427 A CN201410022427 A CN 201410022427A CN 103786888 A CN103786888 A CN 103786888A
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Abstract
The invention discloses a variable-pitch aircraft which comprises a supporting frame, and multiple variable-pitch rotation wings installed on the supporting frame. Each variable-pitch rotation wing comprises a driving shaft, a first wing sheet, a second wing sheet, a propeller hub and a driving part. The impeller hub is fixed to the driving shaft. The first wing sheet and the second wing sheet are symmetrically arranged on the two sides of the impeller hub. The driving part can act on the first wing sheet and the second wing sheet at the same time and drive the first wing sheet and the second wing sheet to overturn in the clockwise direction and the anti-clockwise direction. According to the variable-pitch aircraft, the variable-pitch rotation wings can change the screw pitches within a certain rotation speed range to achieve the function of optimizing the aerodynamic force of the wing sheets. Meanwhile, the variable-pitch aircraft can change the propeller thrust direction.
Description
Technical field
The application belongs to the field of taking photo by plane, and particularly relates to a kind of aircraft of variable-distance.
Background technology
Each axle of the Multi-axis aircraft in existing technical scheme is by corresponding screw propeller and drive the motor of corresponding screw propeller to form.The attitude of aircraft flight keeps and maneuver is to control respectively each motor speed (rotation direction of each motor of existing Multi-axis aircraft is paired contrary, to offset spinning moment) by flight control system to reach attitude of flight vehicle and action control.The attitude of vertically taking off and landing flyer comprises level, tilts.Maneuver comprises flat flying, and rises, decline, and spin (around self Z axis, the i.e. vertical axis of housing construction horizontal surface).The rise and fall action of Multi-axis aircraft is the synchronization of all motors to be promoted or decline to realize; The horizontal flight of aircraft is that the paired rotating speed official post aircraft that must increase by two motors on diagonal line keeps certain level lateral attitude cornerwisely to point to Low speed electric motor direction by pot motor and move to realize along this; Cw (conter clockwise) spin increases all cws of (minimizing) complete machine (conter clockwise) rotary electric machine rotating speed simultaneously and reduces all conter clockwises of (increase) complete machine (cw) rotary electric machine rotating speed simultaneously and realize.The lift that each motor-driven screw propeller is produced is as an application force varying in size, using the rotating speed of each motor as positive and negative moment one by one, control the attitude of aircraft and action and constantly increase and decrease the size of each application force and the size of each moment and realize.
Prior art scheme be by each screw propeller separately with electric motor driven, aviation brushless motor is because its principle of work causes allowing the rotating speed of all motors be consistent, and existing manufacturing process makes the speed difference of each motor larger.In existing technical scheme, if whole motor speed is consistent or difference is very little, all kinds of Flight Control Softwares that are very beneficial for current use are controlled it, and now the efficiency of complete machine is the highest.If the speed difference of each motor is very large, will increase the weight of the burden of Flight Control Software, because it will allow a sky, be born with very unsettled flying platform keeps stable.Also can fly although it is so, if but coordinate various maneuver, fly control and will carry out each motor speed control very frequently, accelerate the power consumption speed of complete machine.
Summary of the invention
Object of the present invention provides a kind of displacement aircraft, solve unmanned vehicle weight in prior art large, take photo by plane unintelligible, power consumption fast, the difficult problem of controlling and cannot displacement of rotor synchronism.
For achieving the above object, the invention provides following technical scheme:
The embodiment of the present application discloses a kind of displacement aircraft, comprising:
Support;
Be installed on the multiple displacement rotors on described support, described each displacement rotor comprises axle drive shaft, the first fin, the second fin, propeller hub and drive division, described propeller hub is fixed on described axle drive shaft, described the first fin and the second fin are symmetrically set in the both sides of described propeller hub, and described drive division can act on described the first fin and the second fin simultaneously and drive described the first fin and the second fin to stir along contrary clockwise.
Preferably, in above-mentioned displacement aircraft, the both sides of described propeller hub are rotatably provided with respectively the first oar chuck and the second oar chuck, and described the first fin and the second fin are individually fixed on described the first oar chuck and the second oar chuck.
Preferably, in above-mentioned displacement aircraft, described drive division comprises the first sliding part, described the first sliding part is sheathed on described axle drive shaft, and be positioned at the below of described propeller hub, described the first sliding part is extended with respectively the first crab claw and the second crab claw in the symmetrical both sides of axle drive shaft, described the first oar chuck and the second oar chuck are respectively equipped with the first rotation section and the second rotation section, the first attaching parts has been rotatably connected between described the first rotation section and the first crab claw, the second attaching parts has been rotatably connected between described the second rotation section and the second crab claw, described drive division also comprises the engine installation that can drive described the first sliding part to rise.
Preferably, in above-mentioned displacement aircraft, described engine installation comprises the second sliding part, distance-variable rocker arm, connecting rod and steering wheel, described the second sliding part is sheathed on described axle drive shaft, and be positioned at the below of described the first sliding part, described distance-variable rocker arm is rotatably installed on described support, and one end of described rocking arm and the first sliding part be rotatably connected, and described connecting rod is connected between described steering wheel and the other end of rocking arm.
Preferably, in above-mentioned displacement aircraft, described displacement aircraft also comprises a motor, between described each displacement rotor and motor, is respectively equipped with a synchronous drive mechanism, and described motor drives respectively described multiple displacement rotor synchronously to rotate by described synchronous drive mechanism.
Preferably, in above-mentioned displacement aircraft, described synchronous drive mechanism is synchrodrive belt, described each displacement rotor is fixing with a rotor synchronous wheel respectively, described synchrodrive belt has relative first end and the second end, described first end is sheathed on the outside of described rotor synchronous wheel and drives it to rotate, the mouth of described motor is connected with the multiple side drive synchronizing wheels corresponding with described displacement rotor quantity, described motor drives described multiple side drive synchronizing wheels to rotate simultaneously, the second end of described each synchrodrive belt is sheathed on respectively respective side and drives the outside of synchronizing wheel and driven by side drive synchronizing wheel, between the outside face of the inside face of described synchrodrive belt and described side drive synchronizing wheel, be provided with the teeth groove being meshed, between the outside face of the inside face of described synchrodrive belt and described rotor synchronous wheel, be provided with the teeth groove being meshed.
Preferably, in above-mentioned displacement aircraft, described support comprises the first side lever and the second side lever that be arranged in parallel, and be fixed on the mobile jib between described the first side lever and the second side lever, the two ends of described mobile jib are individually fixed in the middle part of described the first side lever and the second side lever, described drive system comprises four displacement rotors, and these four displacement rotors are installed on respectively four ends of described the first side lever and the second side lever.
Preferably, in above-mentioned displacement aircraft, in described mobile jib, be provided with a rotatable main shaft, the output shaft of described motor connects a motor synchronous wheel, the sheathed main driving synchronizing wheel that is fixed with on described main shaft, described motor synchronous wheel rotates by main driving synchronizing wheel described in a synchronous driving belt drive, and described side drive synchronizing wheel is sheathed to be fixed on described main shaft.
Preferably, in above-mentioned displacement aircraft, between the inside face of described synchronous drive belt and the outside face of motor synchronous wheel, be provided with the teeth groove being meshed, the outside face of described main driving synchronizing wheel is provided with the teeth groove being meshed with described synchronous drive belt inside face.
Preferably, in above-mentioned displacement aircraft, described multiple side drive synchronizing wheels are sheathed to be fixed on same round bar, and described motor drives described round bar to rotate.
Compared with prior art, the invention has the advantages that:
Unmanned vehicle of the present invention is provided with a motor, and drives all rotors synchronously to rotate by this motor, and due to a motor being only set, cost is low, lightweight; And with respect to multiple motors, the high-frequency vibration that motor produces obtains larger weakening to the impact of the visibility of taking photo by plane; In addition, drive all rotors to rotate by a motor, each rotor synchronism is almost in full accord simultaneously.
Displacement rotor of the present invention can play by changing pitch the effect that makes fin aerodynamic force optimum in rotating speed one segment limit, and with respect to the immutable aircraft of pitch, aircraft of the present invention has higher efficiency.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, the accompanying drawing the following describes is only some embodiment that record in the application, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Figure 1 shows that the perspective view of displacement aircraft in the specific embodiment of the invention;
Figure 2 shows that the exploded perspective view of displacement aircraft in the specific embodiment of the invention;
Figure 3 shows that the structural representation of the main driving synchronizing wheel of double end in the specific embodiment of the invention;
Figure 4 shows that the schematic perspective view of displacement rotor in the specific embodiment of the invention;
Figure 5 shows that the exploded perspective view of displacement rotor in the specific embodiment of the invention.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is described in detail, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skills obtain under the prerequisite of not making creative work, belongs to the scope of protection of the invention.
Shown in ginseng Fig. 1, displacement aircraft comprises support 10 and is installed on drive system 20 and the displacement rotor 30 on support.
Figure 2 shows that the exploded perspective view of displacement aircraft in the specific embodiment of the invention, for convenience of description, in figure, Fig. 1 has hidden part parts relatively.
Shown in ginseng Fig. 2, support 10 comprises that the first side lever 11 and the second side lever 12, the first side levers 11 that be arranged in parallel are two hollow round bars that length is identical, diameter is identical with the second side lever 12.Between the first side lever 11 and the second side lever 12, be fixed with mobile jib 13, mobile jib 13 is a hollow round bar, and its two ends are individually fixed in the midway location of the first side lever 11 and the second side lever 12, and mobile jib 13 is preferably perpendicular to the first side lever 11 and the second side lever 12.
In other embodiments, mobile jib 13 also can be not orthogonal to the first side lever 11 and the second side lever 12.The material of the first side lever 11, the second side lever 12 and mobile jib is preferably carbon fiber, is easy to expect, under the prerequisite that meets support strength, the first side lever 11, the second side lever 12 and mobile jib 13 can adopt other materials, more gently better.
Above-mentioned support 10, owing to only adopting three round bars to be fixed, simple in structure, and the maximized weight that reduced.
Each displacement rotor 30 comprises an axle drive shaft 31 vertically, the bottom of axle drive shaft 31 is sheathed and fix a rotor synchronous wheel 32, the two ends of main shaft 26 are the sheathed main driving synchronizing wheel 27 of a double end (integrated two side drive synchronizing wheels) that is fixed with respectively, shown in ginseng Fig. 3, the main driving synchronizing wheel 27 of each double end is provided with two drive divisions side by side, two drive divisions are connected with one end of two synchrodrive belts 28 respectively, and the other end of synchrodrive belt 28 is sheathed on the outside of a rotor synchronous wheel 32 and can drives rotor synchronous wheel 32 to rotate.
Between the contact surface of the main driving synchronizing wheel 27 of synchrodrive belt 28 and double end and rotor synchronous wheel 32, be provided with the teeth groove being meshed, skid preventing.
It should be noted that, the main driving synchronizing wheel 27 of double end can be also two independently synchronizing wheels, each synchronizing wheel synchronize with one respectively drive belt connect.
The start principle of above-mentioned drive system is as follows: motor 22, by Power supply, directly drives motor synchronous wheel 23 to rotate; Motor synchronous wheel 23 further drives main driving synchronizing wheel 24 to rotate by synchronous drive belt 25, by adjusting the diameter ratio of motor synchronous wheel 23 and main driving synchronizing wheel 24, can control revolution ratio; Because main driving synchronizing wheel 24 is fixing with main shaft 26, therefore can further drive main shaft 26 to rotate; Main shaft 26 drives are fixed on two main driving synchronizing wheels 27 of double end on main shaft and are synchronously rotated, the main driving synchronizing wheel 27 of each double end drives corresponding rotor synchronous wheel 32 to rotate by two synchrodrive belts 28 respectively again, rotor synchronous wheel 32 and then drive corresponding fin to rotate.
Export propulsive effort to main shaft by a motor, and control the rotation of main shaft, main shaft further outputs power to four rotors by four synchrodrive belts.Can expect thus, technical scheme of the present invention goes for having the aircraft of other quantity rotors equally, can be according to the quantity of rotor on main shaft, correspondence is provided with the synchronizing wheel of similar number, for example: can increase a main driving synchronizing wheel of double end at the middle part of main shaft, simultaneously, the medium position of mobile jib can vertically be fixed a round bar, the two ends of this round bar are rotated respectively a rotor are set, and so, main shaft can drive six rotors synchronously to rotate simultaneously.
Unmanned vehicle of the present invention is provided with a motor, and drives all rotors synchronously to rotate by this motor, and due to a motor being only set, cost is low, lightweight; And with respect to multiple motors, the high-frequency vibration that motor produces obtains larger weakening to the impact of the visibility of taking photo by plane; In addition, drive all rotors to rotate by a motor, synchronism is easily controlled simultaneously.
Shown in ginseng Fig. 4 and Fig. 5, displacement rotor 30 comprises axle drive shaft 31, rotor synchronous wheel 32, the first fin 331, the second fin 332, propeller hub 34 and drive division.
Rotor synchronous wheel 32 is fixed on the bottom of axle drive shaft 31, under the driving of synchrodrive belt 28, can drive axle drive shaft 31 to rotate together.
The both sides of propeller hub 34 are rotatably provided with respectively the first oar chuck 351 and the second oar chuck 352, on the first oar chuck 351 and the second oar chuck 352, be respectively equipped with holding part, the first fin 331 and the second fin 332 are removably fixed on two holding parts by screw respectively.
Drive division comprises the first sliding part 36, the first sliding part 36 is sheathed on axle drive shaft 31, and be positioned at the below of propeller hub 34, the first sliding part 36 is extended with respectively the first crab claw 361 and the second crab claw 362 in the symmetrical both sides of axle drive shaft 31, the first oar chuck 351 and the second oar chuck 352 are respectively equipped with the first rotation section 3511 and the second rotation section 3521, second attaching parts 372 that has been rotatably connected between the first attaching parts 371, the second rotation sections 3521 and the second crab claw 362 has been rotatably connected between the first rotation section 3511 and the first crab claw 361.
Drive division also comprises the engine installation that can drive the first sliding part 36 to rise.Engine installation comprises the second sliding part 381, distance-variable rocker arm 382, connecting rod 383 and steering wheel (not shown), the second sliding part 381 is sheathed on axle drive shaft 31, and be positioned at the below of the first sliding part 36, distance-variable rocker arm 382 is rotatably installed on support 10, and one end of distance-variable rocker arm 382 and the first sliding part 36 are rotatably connected, connecting rod 383 is connected between steering wheel and the other end of distance-variable rocker arm 382.
Drive division can act on the first fin 331 and the second fin 332 simultaneously and drive the first fin 331 and the second fin 332 stirs along contrary clockwise.Thereby realize the control to fin pitch.
In sum, displacement Multi-axis aircraft of the present invention, its advantage is:
1, flight control system need not be again in order to control the attitude of complete machine and action and frequently change the rotating speed of each motor, the power consumption of having saved complete machine, has postponed cruise duration;
2, reduced the performance requriements to flying to control software, make Multi-axis aircraft fly control software development and use cost and reduce a lot;
3, single motor-driven displacement Multi-axis aircraft cost in the time occurring such as crash is low, prior art scheme is that each motor is by the each screw propeller of hard connection, once the screw propeller that crashes because high rotating speed inertia is encountered any object and at once damaged, can further damage and hardwired each motor of screw propeller, the cost of the spare and accessory parts that complete machine is changed in repair process like this will increase greatly simultaneously;
4, adopt nonuniform pitch propeller can allow motor under different rotating speeds, make the Aerodynamic force action optimum of screw propeller;
5, adopt nonuniform pitch propeller control to make the movement posture corresponding speed of aircraft sensitive more a lot of than prior art scheme, increased the maneuvering performance of aircraft, can realize and turn flight around;
6, adopt nonuniform pitch propeller, reduced the loss that motor is used, extended the service life of Multi-axis aircraft;
7, the body cross bar of the fixing screw propeller of H type and body vertical pole have certain flexibility.In the time that the screw propeller displacement of one end of body cross bar increases thrust, will make body cross bar, around body vertical pole, certain distortion occur, this distortion as a child will recover in the asymmetric thrust of body certainly.This housing construction distortion slight and that can recover solves just variable-distance multiaxis H type airframe configuration scheme and realizes the key that spin is moved.
It should be noted that, in this article, relational terms such as the first and second grades is only used for an entity or operation to separate with another entity or operational zone, and not necessarily requires or imply and between these entities or operation, have the relation of any this reality or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby the process, method, article or the equipment that make to comprise a series of key elements not only comprise those key elements, but also comprise other key elements of clearly not listing, or be also included as the intrinsic key element of this process, method, article or equipment.The in the situation that of more restrictions not, the key element being limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises described key element and also have other identical element.
The above is only the application's the specific embodiment; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of the application's principle; can also make some improvements and modifications, these improvements and modifications also should be considered as the application's protection domain.
Claims (10)
1. a displacement aircraft, is characterized in that, comprising:
Support;
Be installed on the multiple displacement rotors on described support, described each displacement rotor comprises axle drive shaft, the first fin, the second fin, propeller hub and drive division, described propeller hub is fixed on described axle drive shaft, described the first fin and the second fin are symmetrically set in the both sides of described propeller hub, and described drive division can act on described the first fin and the second fin simultaneously and drive described the first fin and the second fin to stir along contrary clockwise.
2. displacement aircraft according to claim 1, is characterized in that: the both sides of described propeller hub are rotatably provided with respectively the first oar chuck and the second oar chuck, and described the first fin and the second fin are individually fixed on described the first oar chuck and the second oar chuck.
3. displacement aircraft according to claim 2, it is characterized in that: described drive division comprises the first sliding part, described the first sliding part is sheathed on described axle drive shaft, and be positioned at the below of described propeller hub, described the first sliding part is extended with respectively the first crab claw and the second crab claw in the symmetrical both sides of axle drive shaft, described the first oar chuck and the second oar chuck are respectively equipped with the first rotation section and the second rotation section, the first attaching parts has been rotatably connected between described the first rotation section and the first crab claw, the second attaching parts has been rotatably connected between described the second rotation section and the second crab claw, described drive division also comprises the engine installation that can drive described the first sliding part to rise.
4. displacement aircraft according to claim 3, it is characterized in that: described engine installation comprises the second sliding part, distance-variable rocker arm, connecting rod and steering wheel, described the second sliding part is sheathed on described axle drive shaft, and be positioned at the below of described the first sliding part, described distance-variable rocker arm is rotatably installed on described support, and one end of described rocking arm and the first sliding part are rotatably connected, described connecting rod is connected between described steering wheel and the other end of rocking arm.
5. displacement aircraft according to claim 1, it is characterized in that: described displacement aircraft also comprises a motor, between described each displacement rotor and motor, be respectively equipped with a synchronous drive mechanism, described motor drives respectively described multiple displacement rotor synchronously to rotate by described synchronous drive mechanism.
6. displacement aircraft according to claim 5, it is characterized in that: described synchronous drive mechanism is synchrodrive belt, described each displacement rotor is fixing with a rotor synchronous wheel respectively, described synchrodrive belt has relative first end and the second end, described first end is sheathed on the outside of described rotor synchronous wheel and drives it to rotate, the mouth of described motor is connected with the multiple side drive synchronizing wheels corresponding with described displacement rotor quantity, described motor drives described multiple side drive synchronizing wheels to rotate simultaneously, the second end of described each synchrodrive belt is sheathed on respectively respective side and drives the outside of synchronizing wheel and driven by side drive synchronizing wheel, between the outside face of the inside face of described synchrodrive belt and described side drive synchronizing wheel, be provided with the teeth groove being meshed, between the outside face of the inside face of described synchrodrive belt and described rotor synchronous wheel, be provided with the teeth groove being meshed.
7. displacement aircraft according to claim 6, it is characterized in that: described support comprises the first side lever and the second side lever that be arranged in parallel, and be fixed on the mobile jib between described the first side lever and the second side lever, the two ends of described mobile jib are individually fixed in the middle part of described the first side lever and the second side lever, described drive system comprises four displacement rotors, and these four displacement rotors are installed on respectively four ends of described the first side lever and the second side lever.
8. displacement aircraft according to claim 7, it is characterized in that: in described mobile jib, be provided with a rotatable main shaft, the output shaft of described motor connects a motor synchronous wheel, the sheathed main driving synchronizing wheel that is fixed with on described main shaft, described motor synchronous wheel rotates by main driving synchronizing wheel described in a synchronous driving belt drive, and described side drive synchronizing wheel is sheathed to be fixed on described main shaft.
9. displacement aircraft according to claim 8, it is characterized in that: between the inside face of described synchronous drive belt and the outside face of motor synchronous wheel, be provided with the teeth groove being meshed, the outside face of described main driving synchronizing wheel is provided with the teeth groove being meshed with described synchronous drive belt inside face.
10. displacement aircraft according to claim 5, is characterized in that: described multiple side drive synchronizing wheels are sheathed to be fixed on same round bar, and described motor drives described round bar to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410022427.1A CN103786888A (en) | 2014-01-17 | 2014-01-17 | Variable-pitch aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410022427.1A CN103786888A (en) | 2014-01-17 | 2014-01-17 | Variable-pitch aircraft |
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| CN103786888A true CN103786888A (en) | 2014-05-14 |
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| CN201410022427.1A Pending CN103786888A (en) | 2014-01-17 | 2014-01-17 | Variable-pitch aircraft |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103786878A (en) * | 2014-02-08 | 2014-05-14 | 江苏艾锐泰克无人飞行器科技有限公司 | Multi-shaft aircraft |
| WO2015117509A1 (en) * | 2014-02-08 | 2015-08-13 | 杨华东 | Variable-pitch flight unit |
| WO2015172559A1 (en) * | 2014-05-13 | 2015-11-19 | 杨华东 | Control method and control apparatus for multirotor variable-pitch aerial vehicle |
| CN106043670A (en) * | 2016-07-18 | 2016-10-26 | 四川傲势乐翼科技有限公司 | Variable pitch propeller |
| WO2017161700A1 (en) * | 2016-03-21 | 2017-09-28 | 深圳市龙云创新航空科技有限公司 | Adaptive variable-pitch propeller, and aircraft |
| CN109484629A (en) * | 2018-09-13 | 2019-03-19 | 嘉兴职业技术学院 | A kind of feather quadrotor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103786878A (en) * | 2014-02-08 | 2014-05-14 | 江苏艾锐泰克无人飞行器科技有限公司 | Multi-shaft aircraft |
| WO2015117509A1 (en) * | 2014-02-08 | 2015-08-13 | 杨华东 | Variable-pitch flight unit |
| WO2015172559A1 (en) * | 2014-05-13 | 2015-11-19 | 杨华东 | Control method and control apparatus for multirotor variable-pitch aerial vehicle |
| WO2017161700A1 (en) * | 2016-03-21 | 2017-09-28 | 深圳市龙云创新航空科技有限公司 | Adaptive variable-pitch propeller, and aircraft |
| CN106043670A (en) * | 2016-07-18 | 2016-10-26 | 四川傲势乐翼科技有限公司 | Variable pitch propeller |
| CN109484629A (en) * | 2018-09-13 | 2019-03-19 | 嘉兴职业技术学院 | A kind of feather quadrotor |
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Application publication date: 20140514 |