CN104176248B - Twin-engined four axle four rotor wing unmanned aerial vehicles - Google Patents

Twin-engined four axle four rotor wing unmanned aerial vehicles Download PDF

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Publication number
CN104176248B
CN104176248B CN201410339266.9A CN201410339266A CN104176248B CN 104176248 B CN104176248 B CN 104176248B CN 201410339266 A CN201410339266 A CN 201410339266A CN 104176248 B CN104176248 B CN 104176248B
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rotor
engine
input gear
folder
axle
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CN201410339266.9A
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CN104176248A (en
Inventor
李一波
岳海龙
张森悦
张琦
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Shenyang Eagle Tiewei Aviation Technology Co. Ltd.
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Shenyang Aerospace University
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Abstract

The present invention is a kind of highly reliable twin-engined four axle four gyroplanes, formed by aero-engine, rotor body, power distribution transmission system, flight control system, four rotor assemblies etc., rotorcraft rotor is variablepiston rotor, and has rotor rotating drive part and rotor propeller angle adjustment member. Four gyroplanes that the present invention relates to use two aero-engines to drive four rotors, a pair of screw on each motor driven symmetry axis and the middle reducing gear that adds; Rotor propeller angle guiding mechanism drives variable slurry to change pitch to change lift apart from screw; Engine operation is in greater efficiency interval, by adjusting starch apart from realizing hovering, frontly fly, after the attitude control such as fly; Flight control system is made up of ARM, GPS, three-axis gyroscope etc., accurately, reliably. Adopt two originating party cases of this invention, in the time there is an engine failure, can, by promoting another engine power, substantially keep aspect, realize safe falling, there is very high reliability.

Description

Twin-engined four axle four rotor wing unmanned aerial vehicles
Technical field: the present invention relates to a kind of rotor wing unmanned aerial vehicle, especially a kind of twin-engined fourAxle four rotor wing unmanned aerial vehicles.
Background technology: four gyroplanes are a kind of aircraft with four screws, and fourIndividual screw is decussation structure, and relative rotor has identical direction of rotation, divides twoGroup, this direction of rotation of two groups is different. Different from traditional gyroplane, four gyroplanes areRealize exercises by changing the speed of screw or changing the mode of pitch. Four revolveWing machine is a kind of VTOL machine of six degree of freedom, is therefore applicable to very much static and quasistatic conditionLower flight; On the other hand, four gyroplanes have four Input Forces, but have simultaneously six defeatedGo out, so its to be again one owe drive system (is owed drive system and referred to that few input exports system moreSystem). Common single rotary wind type gyroplane has the screw that inclination angle can change, and classicalUnlike this, its four rotor is fixed-wing to four gyroplanes, the two groups of screws in front and back and left and rightDirection of rotation, and change lift by the speed that changes screw, and then change fourThe attitude of gyroplane and position. But also there are changing at present four rotor flyings of pitchDevice, this feather control mode is more flexible than the mode of classical change motor speed,The present invention just relates to feather control mode. Existing four gyroplanes mostly generally are motor and drive,But the energy density of battery is lower, so be faced with, cruising time is short, loading capacity is light etc. one isRow problem, has seriously limited its scope of application, has contained its promotion; Minority is usedEngine-driven four gyroplanes, due to the non-linear and large dead time of engine, can not be fineControl gyroplane and realize various aerial statues, this is the serious stability that affects its flight, flat alsoReliability, the practicality of weighing apparatus property and use.
Summary of the invention: for above-mentioned the deficiencies in the prior art, the invention provides a kind of two startingMachine four axle four rotor wing unmanned aerial vehicles.
For achieving the above object, the technical solution used in the present invention is: twin-engined four axles four revolveWing unmanned plane, comprises body, actuating unit and rotor assembly; Actuating unit is fixedOn body and with rotor assembly, be connected. Described rotor assembly comprises steering wheel, rotor folder, becomesPitch control arm, displacement slide block, Adjustable length rod, variablepiston screw and rotor folder pedestal. OftenOn individual rotor folder pedestal, two rotor folders are all installed, and these two rotor folders are along rotor folder baseSeat cross section, place, center is symmetrical installation, and rotor folder can press from both sides pedestal place axle along rotor and revolveTurn, rotor folder is hinged by articulated link chain with one end of Adjustable length rod, can be taking hinge hole as the center of circle certainlyBy rotating. Displacement slide block set rotates on power shaft at rotor, can rotate along rotor the axle of power shaftLine moves up and down, and is rigidly connected with the other end of Adjustable length rod, drives Adjustable length rod to move up and down,And then drive rotor folder to rotate along the axle rotation of rotor folder pedestal place. Described feather control arm oneEnd links with displacement slide block, and the other end is connected with steering wheel, can drive displacement slide block to rotate along rotorThe axis of power shaft moves up and down, and pulls two rotor folders to rotate, thereby change by Adjustable length rodSlurry distance, reaches the object that changes lift size by feather.
Described actuating unit comprise the first engine, the second engine, upper input gear,Lower input gear, upper output gear, lower output gear, central shaft and gearbox. First startsMachine drives upper input gear, input gear under the second driven by engine. Upper input gear and lower defeatedEnter the upper and lower overlapping placement of gear and coaxial in central shaft. Upper output gear and upper input gear are nibbledClose, lower output gear engages with lower input gear. Upper output gear and lower output gear all pass throughGearbox rotates power shaft with the rotor of rotor assembly and is connected.
Preferably, the first described engine and the second engine are aero-engine.
Preferably, vertically superposed coaxial being arranged on of the first described engine and the second engine revolvedWing machine body side on the lower side.
Feature of the present invention and beneficial effect: the engine of common monomotor four gyroplanes has canCan break down, such as flame-out in flight etc., adopt the bimotored scheme the present invention relates to,Be that two engines are vertically mounted on to gyroplane center deviation upper/lower positions, make machine gravity flat at axleBelow face, and on body centre of form center line, make center of gravity in axial plane Xia center for this reasonPlace. In the time that an engine failure occurs, there is a symmetry axis to run out of steam, but do in center of gravityWith under, body is still in poised state, now can be by promoting another engine power,The basic aspect that keeps, realizes safe falling, has high reliability. The present invention adopts aviationEngine, has increased effective mission payload, has extended the flight time, heavy while can be applicable to long boatType or large-scale unmanned transportation system, or the application target of high economic worth: electricity during such as long boatThe project applications such as power, petroleum pipeline line walking.
Brief description of the drawings:
Fig. 1 is structural representation of the present invention.
Detailed description of the invention:
As shown in Figure 1, twin-engined four axle four rotor wing unmanned aerial vehicles, comprise body, power transmissionDevice and rotor assembly; Actuating unit is fixed on body and with rotor assembly and is connected. InstituteThe rotor assembly of stating comprises steering wheel 9, rotor folder 10, feather control arm 11, displacement slide block12, Adjustable length rod 13, variablepiston screw 14 and rotor folder pedestal 15. Each rotor folder baseTwo rotor folders 10 are all installed on seat 15, and these two rotor folders 10 are along rotor folder baseCross section, place, Zuo15 center is symmetrical installation, and rotor folder 10 can press from both sides pedestal 15 along rotorThe rotation of place axle, rotor folder 10 is hinged by articulated link chain with one end of Adjustable length rod 13, can be withHinge hole is that freely rotate in the center of circle. Displacement slide block 12 is enclosed within rotor and rotates on power shaft 18, canRotate the axis of power shaft 18 along rotor and move up and down, and with the other end rigidity of Adjustable length rod 13Connect, drive Adjustable length rod 13 to move up and down, and then drive rotor folder 10 along rotor folder pedestal15 place axle rotations are rotated. Described feather control arm 11 one end link with displacement slide block 12,The other end is connected with steering wheel 9, can drive displacement slide block 12 to rotate the axle of power shaft 18 along rotorLine moves up and down, and pull two rotor folders 10 to rotate by Adjustable length rod 13, thereby change slurry distance,Reach the object that changes lift size by feather.
Described actuating unit comprise the first aero-engine 1, the second aero-engine 2,Upper input gear 3, lower input gear 4, upper output gear 6, lower output gear 5, central shaft7 and gearbox 8. The first aero-engine 1 drives upper input gear 3, the second aviations to startMachine 2 drives lower input gear 4. Upper input gear 3 and the upper and lower overlapping placement of lower input gear 4And coaxial in central shaft 7. Upper output gear 6 engages with upper input gear 3, lower output gear5 engage with lower input gear 4. Upper output gear 6 and lower output gear 5 all pass through gearbox8 rotate power shaft 18 with the rotor of rotor assembly, and to be connected actuating unit can also be to pass throughThe belt transmission of belt pulley and belt composition or the through-drive by gear and power transmission shaft composition orChain transmission by gear and chain composition drives the work of rotor assembly. The first aero-engine 1,The second aero-engine 2 can be selected piston aviation engine, gas-turbine unit, punching pressEngine or pulsed motor, power is powerful, and thrust is very large, has increased effective mission payload,Extend the flight time.
When the first aero-engine 1 is rotated counterclockwise, the second aero-engine 2 is clockwiseRotation, two aero-engines drive respectively the upper input gear 3 on central shaft, lower input toothWheel 4 rotates, upper input gear 3, lower input gear 4 and output gear 6, lower output gear5 one groups of forwards, one group of reversion, therefore in the time that aircraft balance is flown, gyroscopic effect and airDynamic torque effect is all cancelled, and meets four rotor job requirements.
The first aero-engine 1, the vertically superposed coaxial rotor that is arranged on of the second aero-engine 2Machine body side on the lower side, makes machine gravity below axial plane, and on body centre of form center line,Make the center of center of gravity under axial plane for this reason. When the faults such as an engine cut-off occurTime, a symmetry axis runs out of steam, but under center of gravity effect, body is still in poised state.Promote another engine lift, land a plane safely, improve the security and stability of aircraft.
Steering wheel is arranged on mainframe, is connected with feather control arm, and flight control system is givenSignal controlling steering wheel work, reach feather object.
Built-in arm processor in flight control system is equivalent to gyroplane brain, processes rotorMachine flight attitude relevant information, GPS navigation system be used for determine gyroplane instantly flight position withBe convenient to follow the tracks of and control, three-axis gyroscope is used for the balanced degree of perception gyroplane by signal transmissionTo built-in arm processor, then control by the computing generation control signal of processor internal processesThe rotating speed of four rotors on rotor body processed, to maintain the balance of whole body.
Four gyroplane bodies are steelframe engraved structure or full-closed structure, material or be novel aviationMaterials of aluminum lithium alloy, is added in metallic aluminium using lithium metal as alloying element, has just formed aluminium lithiumAlloy. After adding lithium metal, can fall low-alloyed density, increase rigidity, still simultaneouslyKeep higher intensity, good corrosion resistance and fatigue resistance and suitable ductility. UnderPut four undercarriages (16), form is fixed or deployable and collapsible.
The present invention can overcome lower the causing cruising time of energy density because of dynamo batteryThe problems such as short, loading capacity is light, have expanded the scope of application of the present invention; Also overcome because sending out simultaneouslyNon-linear, the large dead time of motivation and the uppity problem of four gyroplane attitudes that causes is largeThe earth has improved reliability, the practicality of stability, balance and the use of flight.
The present invention is not limited to above-mentioned embodiment, if to various changes of the present invention and changeShape does not depart from marrow of the present invention and scope, still belongs to claim of the present invention and equivalent technologyWithin scope, the invention is intended to comprise these changes and modification.

Claims (2)

1. twin-engined four axle four rotor wing unmanned aerial vehicles, comprise that body, actuating unit and rotor are totalBecome; Actuating unit is fixed on body and with rotor assembly and is connected, and it is characterized in that: described inRotor assembly comprise steering wheel, rotor folder, feather control arm, displacement slide block, Adjustable length rod, canFeather screw and rotor folder pedestal; On each rotor folder pedestal, two rotor folders are all installed,And these two rotor folders are symmetrical installation along rotor folder cross section, place, pedestal center, rotor folderAlong the axle rotation of rotor folder pedestal place, rotor folder is hinged by articulated link chain with one end of Adjustable length rod, withHinge hole is that freely rotate in the center of circle, and displacement slide block set rotates on power shaft at rotor, rotates along rotorThe axis of power shaft moves up and down, and is rigidly connected with the other end of Adjustable length rod, drives on Adjustable length rodLower movement, and then drive rotor folder to rotate along the axle rotation of rotor folder pedestal place, described feather controlArm processed one end links with displacement slide block, and the other end is connected with steering wheel, drives displacement slide block to turn along rotorThe axis of driven input shaft moves up and down; Described actuating unit comprises the first engine, secondEngine, upper input gear, lower input gear, upper output gear, lower output gear, central shaftAnd gearbox; Input gear on the first driven by engine, input gear under the second driven by engine,Upper input gear and the upper and lower overlapping placement of lower input gear and coaxial in central shaft, upper output gear withUpper input gear engagement, lower output gear engages with lower input gear, upper output gear and lower outputGear all rotates power shaft by gearbox with the rotor of rotor assembly and is connected.
2. twin-engined four axle four rotor wing unmanned aerial vehicles as claimed in claim 1, is characterized in that:The first described engine and the second engine are aero-engine.
CN201410339266.9A 2014-07-16 2014-07-16 Twin-engined four axle four rotor wing unmanned aerial vehicles Active CN104176248B (en)

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CN106864740A (en) * 2017-02-13 2017-06-20 清华大学 The drive mechanism and method of axle progress of disease pitch quadrotor
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Effective date of registration: 20180110

Address after: 110136 Shenbei Road, Shenbei New Area, Shenyang, Shenyang, Liaoning

Patentee after: Shenyang Eagle Tiewei Aviation Technology Co. Ltd.

Address before: 110136 Shenbei New Area, Shenyang Province, moral, South Street, No. 37, No.

Patentee before: Shenyang Aerospace University

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