CN104627359A - Multirotor - Google Patents
Multirotor Download PDFInfo
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- CN104627359A CN104627359A CN201510086859.3A CN201510086859A CN104627359A CN 104627359 A CN104627359 A CN 104627359A CN 201510086859 A CN201510086859 A CN 201510086859A CN 104627359 A CN104627359 A CN 104627359A
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- rotor
- pulling force
- axis
- force rotor
- aircraft
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Abstract
The invention relates to a multirotor which comprises a main frame with a supporting shaft, a power device arranged on the supporting shaft, thrust rotors driven by the power device, and pressurization rotors which are coaxial with the thrust rotors and are positioned on the upper side of the thrust rotors, wherein the diameter of each pressurization rotor is smaller than that of each thrust rotor; and isolating guide plates are arranged between the pressurization rotors and the thrust rotors. The airflow friction is reduced, the working efficiency of the rotors is improved, the energy consumption is reduced, and the cruising time of the multirotor is prolonged.
Description
Technical field
The present invention relates to a kind of aircraft, particularly relate to a kind of Multi-axis aircraft.
Background technology
Usually, drive the power of aircraft upward movement to be called pulling force, the power of ordering about aircraft horizontal motion is called thrust.Existing Multi-axis aircraft uses vane type rotor as pulling force rotor usually for Multi-axis aircraft provides pulling force.
As shown in Figure 1, Multi-axis aircraft 100 is a kind of rotor crafts with two or more rotor shaft 101.Multi-axis aircraft has mainframe 110, be arranged on the power supply on mainframe 110, control circuit, electricity tune and fulcrum 111, every root fulcrum 111 end is respectively arranged with motor 121, motor 121 drives the rotor 122 be fixed in motor 121 rotating shaft to rotate, thus obtains the flying power of Multi-axis aircraft.The direction of arrow is the hand of rotation of rotor shaft 101, and rotor shaft 101 is vertically arranged usually, and fixes with the relative position of mainframe 110, the angle of attack of rotor is also fixing, by changing the rotating speed of rotor, the moment of torsion of propulsive force can be changed, thus control the running orbit of aircraft.
The Basic Flight Maneuver of Multi-axis aircraft 100 has vertical displacement movement, seesaws, sideway movement, luffing, roll motion, yawing rotation.
See Fig. 2 for four-axle aircraft 200, its four motors are crosswise ground distribution in a horizontal plane in orthogonal X and Y-axis, and X-axis positive dirction is considered as heading.Motor 1 is positioned at X-axis positive axis, and motor 3 is positioned at X-axis and bears semiaxis; Motor 2 is positioned at Y-axis positive axis, and motor 4 is positioned at Y-axis and bears semiaxis; Z axis is vertical.
Dipping and heaving: four motors improve rotating speed simultaneously, the pulling force that four-axle aircraft 200 obtains increases and moves along Z axis positive dirction; Four motors reduce rotating speed simultaneously, and the pulling force that four-axle aircraft 200 obtains reduces and moves along Z axis negative direction.
Face upward motion of bowing: motor 1 raises speed, motor 3 reduction of speed, four-axle aircraft 200 rotates around Y-axis and lifts head and face upward, and moves along X-axis negative direction simultaneously; Otherwise four-axle aircraft 200 rotates and test head and nutation around Y-axis, move along X-axis positive dirction simultaneously.
Roll motion: motor 4 raises speed, motor 2 reduction of speed, four-axle aircraft 200 rotates and Right deviation around X-axis, and moves along Y-axis positive dirction; Otherwise four-axle aircraft 200 is left-leaning around X-axis rotation, and moves along Y-axis negative direction.When motor 4 and motor 2 speed discrepancy enough large time, just can there is complete transverse direction and roll in four-axle aircraft 200, i.e. roll motion.
Yawing rotation: because air resistance effect can form the reactive torque with direction of rotation in rotor 5 rotation process.In order to overcome reactive torque impact, the arrangement of four rotors adopts two to rotate forward two reversions, and turning to of opposed rotor is identical.The size that each rotor 5 produces reactive torque is relevant with the rotating speed of rotor 5, and rotor 5 rotating speed is higher, and the reactive torque of generation is larger.When four rotor 5 rotating speeds are identical, the reactive torque that four rotors, 5 pairs of four-axle aircrafts 200 produce is cancelled out each other, and four-axle aircraft 200 relatively Z axis does not rotate; When the rotating speed of four rotors is incomplete same, when reactive torque can not be cancelled out each other completely, reactive torque can cause four-axle aircraft 200 to rotate relative to Z axis, thus realizes yawing rotation.Motor 1 and 3 rotating speed improves (rotating forward), and motor 2 and 4 rotating speed reduces (reversion), and four-axle aircraft 200 will rotate around Z axis and deflect to the right, namely goes off course to the right.Because motor 1 and 3 rotating speed improves, motor 2 and 4 rotating speed reduces, and overall pulling force is constant, so four-axle aircraft 200 can not rise or decline.
The mainframe of usual Multi-axis aircraft is designed to be more flat, and namely horizontal direction has larger size, and height dimension is less, can reduce horizontal direction windage like this, reduces the impact of beam wind.
At present, Multi-axis aircraft all utilizes inertia measuring module (IMU) to control flight attitude.Inertia measuring module comprises accelerometer and gyroscope, also known as INS.With reference to rectangular coordinate system in space, on X, Y, Z axis direction, arrange a gyroscope respectively, for measuring the rotary motion of Multi-axis aircraft on above-mentioned three directions; On X, Y, Z axis direction, arrange an accelerometer respectively, for measuring the acceleration/accel of Multi-axis aircraft motion of translation on above-mentioned three directions.The attitudes such as inertia measuring module can detect aircraft pitch, tilts, driftage, and by corresponding signal feedback to the control circuit of Multi-axis aircraft, Multi-axis aircraft adjusts flight attitude according to the control signal control motor speed of the gesture stability rule in the memory device be preset in control circuit or remote controller input.
The rotor that the hollow-cup motor Direct driver angle of attack that small-sized or miniature Multi-axis aircraft can adopt high speed low torque, efficiency higher is less.Bigger Multi-axis aircraft is comparatively large due to take-off weight, in order to obtain enough pulling force, needs the rotor using comparatively large, that rotating speed the is relatively low brushless motor Direct driver angle of attack of moment of torsion larger.
The motor of some Multi-axis aircraft is not arranged on a tip of the axis, but is arranged on a shaft end position in the inner part, is beneficial to fulcrum forms horizontal direction protection to rotor.
Because Multi-axis aircraft is relatively simple for structure, control system and performance are all more stable, make Multi-axis aircraft be easy to miniaturization, and application popularization speed in recent years improves greatly.Existing market type on sale has two axles, three axles, four axles, five axles, six axles, eight axles, the even more Multi-axis aircraft of multiaxis, and modal be four-axle aircraft.
Multi-axis aircraft, except being used as remote control distributor performance model, can also entering the various harsies environment that people should not enter easily, can perform the aerial missions such as film of taking photo by plane is found a view, monitoring, landform exploration in real time.
In order to perform more diversified task, Multi-axis aircraft needs be equipped with more firm, multi-functional frame and carry more application apparatus.In order to obtain larger lift, every root of Multi-axis aircraft props up the tip of the axis and is equipped with a pair positive and negative rotor.The upper and lower coaxial arrangement of positive and negative rotor, respectively by independently motor driving, and the rotating speed size equidirectional of positive and negative rotor is contrary.Because positive and negative rotor is directly installed on respective motor respectively, and at a distance of comparatively near, when positive and negative rotor is close to each other, the windage between rotor is comparatively serious, and waste of power is larger.
Summary of the invention
The object of the invention is that providing a kind of can obtain Multi-axis aircraft that is capable of reducing energy consumption again compared with lift thus raising flying power.
For achieving the above object, Multi-axis aircraft of the present invention, comprises and has on the mainframe of fulcrum, is arranged on the engine installation on fulcrum, the pulling force rotor driven by engine installation, arranges and be positioned at the supercharging rotor above pulling force rotor with pulling force rotor coaxial line.The diameter of supercharging rotor is less than the diameter of pulling force rotor, is provided with isolation deflecting plate between supercharging rotor and pulling force rotor.
From above scheme, pulling force rotor and supercharging rotor are all arranged in the rotating shaft of same engine installation, two rotor coaxial lines are arranged, the diameter of supercharging rotor is less than the diameter of pulling force rotor, the isolation deflecting plate be arranged between supercharging rotor and pulling force rotor supercharging rotor and pulling force rotor can be carried out separating avoid the two close to each other time produce strong windage and gas shock, gas from supercharging rotor can also lead pulling force rotor by this isolation deflecting plate swimmingly, thus further reduce gas current friction, improve the work efficiency of rotor, reduce energy consumption, improve the cruise duration of Multi-axis aircraft.
Further scheme is, supercharging rotor described pulling force rotor side is provided with water conservancy diversion vertebra.Be conducive to airflow smooth to flow into supercharging rotor, improve rotor work efficiency.
Another further scheme is, supercharging rotor is centrifugal impeller, and isolation deflecting plate is arranged on one end of the close pulling force rotor of centrifugal impeller.As centrifugal impeller and the coaxial setting of pulling force rotor of supercharging impeller, isolation deflecting plate is between centrifugal impeller and pulling force rotor, the blade of centrifugal impeller and the blade of pulling force rotor can not liquidate and form strong gas current friction, simultaneously, the air-flow flowing to pulling force rotor from centrifugal impeller can not vertically be beaten on the blade of pulling force rotor, further reduce mechanical wear, improve the work efficiency of rotor.
Another further scheme is, the diameter ratio of supercharging rotor and pulling force rotor between 0.2 to 0.35, the air-flow major part flowing to pulling force rotor from supercharging rotor flow to pulling force rotor in the radial direction outside.The air-flow making supercharging rotor flow to pulling force rotor is effectively caught by pulling force rotor, improves the work efficiency of rotor.
Further scheme is, the revolution ratio of supercharging rotor and pulling force rotor is between 1 to 1.3.Can ensure that supercharging rotor is unlikely to again to make this air-flow cause intense impact friction to pulling force rotor to the air-flow that pulling force rotor provides like this, effectively prevent unnecessary degradation of energy.
Another further scheme is, the guide face of isolation deflecting plate is the side of opening towards the round platform of pulling force rotor.More be conducive to middle part air-flow being guided to pulling force rotor from supercharging rotor, catch efficiently for pulling force rotor.
Further scheme is, the bus of round platform and the angle of axis are between 50 degree to 85 degree.More be conducive to again middle part air-flow being guided to pulling force rotor from supercharging rotor, catch efficiently for pulling force rotor.
Further scheme is again, and the radial outside of supercharging rotor and pulling force rotor is provided with cylindric coaming plate, the axis of coaming plate and the rotation axis coincident of pulling force rotor.The air-flow being conducive to preventing supercharging rotor from flowing to pulling force rotor leaks, and improves the work efficiency of rotor.
Further scheme is again again, and the gap of pulling force rotor and coaming plate and the diameter ratio of pulling force rotor are between 0.01 to 0.02.The air-flow being conducive to further preventing supercharging rotor from flowing to pulling force rotor leaks, and improves the work efficiency of rotor.
Another again more further scheme be that the plane of rotation of pulling force rotor is positioned at coaming plate middle section position in the axial direction.The air-flow being conducive to further preventing supercharging rotor from flowing to pulling force rotor leaks, and improves the work efficiency of rotor.
Accompanying drawing explanation
Fig. 1 is existing Multi-axis aircraft block diagram;
Fig. 2 is another existing Multi-axis aircraft block diagram;
Fig. 3 is the block diagram of Multi-axis aircraft of the present invention;
Fig. 4 is the partial enlarged view of Fig. 3;
Fig. 5 is the front elevation of Fig. 4;
Fig. 6 is the block diagram after Multi-axis aircraft of the present invention installs fender bracket additional.
Detailed description of the invention
As shown in Figure 3, the mainframe 310 of Multi-axis aircraft 300 is fixed with four fulcrums, 311, four legs 312 by the mode of assembling and flies to control device 313.Fly control device 313 and be built-in with power supply, control circuit, gyroscope, accelerometer and electricity tune.Fulcrum 311 end is fixed with a motor 320 as engine installation respectively.The turning cylinder of motor 320 is fixed with centrifugal impeller 340 as supercharging rotor and pulling force rotor 330 from top to bottom successively, centrifugal impeller 340 and the coaxial setting of pulling force rotor 330, namely centrifugal impeller 340 and pulling force rotor 330 have common axis of rotation line, centrifugal impeller 340 is positioned at the top of pulling force rotor 330, and the diameter of centrifugal impeller 340 is less than the diameter of pulling force rotor 330.
As shown in Figure 4, be provided with isolation deflecting plate 341 between centrifugal impeller 340 and pulling force rotor 330, isolation deflecting plate 341 is positioned at the lower end of centrifugal impeller 340, and preferably, centrifugal impeller 340 is one-body molded with isolation deflecting plate 341.The upside of centrifugal impeller 340 is provided with water conservancy diversion vertebra 342, and preferably, water conservancy diversion vertebra 342 is one-body molded with isolation deflecting plate 341.
The diameter ratio of centrifugal impeller 340 and pulling force rotor 330 is between 0.2 to 0.35, and preferably, this ratio is 0.3.
As shown in Figure 5, under the guiding of water conservancy diversion vertebra 342, flow through centrifugal impeller 340 near the air-flow A1 of centrifugal impeller rotation axis part, and have a down dip in the effect of isolation deflecting plate 341 and tiltedly flow to pulling force rotor 330.Away from centrifugal impeller 340 rotation axis part air-flow A3 still roughly verticallydownwardly flow to pulling force rotor 330.Air-flow A2 between A3 and A1 slightly departs from rotation axis 343 ground and flows to pulling force rotor 330 downwards.Air current flow is smooth and easy, and the blade of centrifugal impeller 340 and the blade of pulling force rotor 330 can not produce strong gas current friction because of close to each other, and work efficiency is high.
As shown in Figure 6, Multi-axis aircraft 300 installs fender bracket 350 additional.The coaming plate 351 of the cylindrical shape that 4 mate with pulling force rotor 330 is respectively provided with in fender bracket 350.Coaming plate 351 is positioned at the outside of centrifugal impeller 340 and pulling force rotor 330 radial direction, the axis of coaming plate 351 and the rotation axis coincident of pulling force rotor 330.Preferably, the gap of pulling force rotor 330 and coaming plate 351 and the diameter ratio of pulling force rotor 330 are between 0.01 to 0.02.The plane of rotation of pulling force rotor 330 is positioned at coaming plate 351 middle section position in the axial direction.
Isolation deflecting plate 341 is not limited to arrange perpendicular to rotation axis 343 ground.Improve as one, the guide face of isolation deflecting plate 341 near centrifugal impeller 330 side is the side of opening towards the round platform of pulling force rotor 330, and the bus of round platform and the angle of rotation axis 343 are between 50 degree to 85 degree.
Centrifugal impeller 340 and pulling force rotor 330 are not limited to be driven by a motor shaft, can also be driven by different motors respectively.Such as, pulling force rotor 330 is driven by the hollow shaft of hollow shaft motor, and centrifugal impeller 340 is driven by the solid axle of the solid axle motor be arranged in below hollow shaft motor, and wherein, solid axle is located coaxially in hollow shaft, and the rotating shaft of two motors is all upwards arranged.And for example, centrifugal impeller 340 is driven by rotating shaft motor upwards, and pulling force rotor 330 is driven by the motor that a rotating shaft is downward.When centrifugal impeller 340 and pulling force rotor 330 are by when being driven by different rotating shafts respectively, centrifugal impeller 340 can obtain different rotating speeds with pulling force rotor 330.When the diameter ratio of centrifugal impeller 340 and pulling force rotor 330 is between 0.2 to 0.35, preferably, the revolution ratio of centrifugal impeller 340 and pulling force rotor 330 is between 1 to 1.3.
Engine installation of the present invention is not limited to motor, can also be other engine installations such as combustion engine.
Claims (10)
1. Multi-axis aircraft, comprises
Mainframe;
Fulcrum, is arranged on described mainframe;
Engine installation, is arranged on described fulcrum;
Pulling force rotor, is driven by described engine installation;
It is characterized in that:
Supercharging rotor, arranges with described pulling force rotor coaxial line, and is positioned at the top of described pulling force rotor;
The diameter of described supercharging rotor is less than the diameter of described pulling force rotor;
Isolation deflecting plate is provided with between described supercharging rotor and described pulling force rotor.
2. Multi-axis aircraft as claimed in claim 1, is characterized in that:
Described supercharging rotor described pulling force rotor side is provided with water conservancy diversion vertebra.
3. Multi-axis aircraft as claimed in claim 1, is characterized in that:
Described supercharging rotor is centrifugal impeller, and described isolation deflecting plate is arranged on described centrifugal impeller one end near described pulling force rotor.
4. Multi-axis aircraft as claimed in claim 1, is characterized in that:
The diameter ratio of described supercharging rotor and described pulling force rotor is between 0.2 to 0.35.
5. Multi-axis aircraft as claimed in claim 4, is characterized in that:
The revolution ratio of described supercharging rotor and described pulling force rotor is between 1 to 1.3.
6. Multi-axis aircraft as claimed in claim 1, is characterized in that:
The guide face of described isolation deflecting plate is the side of opening towards the round platform of described pulling force rotor.
7. Multi-axis aircraft as claimed in claim 6, is characterized in that:
The bus of described round platform and the angle of axis are between 50 degree to 85 degree.
8. the Multi-axis aircraft as described in as arbitrary in claim 1 to 7, is characterized in that:
The radial outside of described supercharging rotor and described pulling force rotor is provided with cylindric coaming plate;
The axis of described coaming plate and the rotation axis coincident of described pulling force rotor.
9. Multi-axis aircraft as claimed in claim 8, is characterized in that:
The gap of described pulling force rotor and described coaming plate and the diameter ratio of described pulling force rotor are between 0.01 to 0.02.
10. Multi-axis aircraft as claimed in claim 8, is characterized in that:
The plane of rotation of described pulling force rotor is positioned at described coaming plate middle section position in the axial direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510086859.3A CN104627359B (en) | 2015-02-17 | 2015-02-17 | Multi-axis aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510086859.3A CN104627359B (en) | 2015-02-17 | 2015-02-17 | Multi-axis aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104627359A true CN104627359A (en) | 2015-05-20 |
| CN104627359B CN104627359B (en) | 2016-08-24 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510086859.3A Active CN104627359B (en) | 2015-02-17 | 2015-02-17 | Multi-axis aircraft |
Country Status (1)
| Country | Link |
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| CN (1) | CN104627359B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018076206A1 (en) * | 2016-10-26 | 2018-05-03 | 深圳市道通智能航空技术有限公司 | Aerial vehicle and flight control method and device thereof |
| CN114264445A (en) * | 2021-11-26 | 2022-04-01 | 中电科芜湖通用航空产业技术研究院有限公司 | Flutter test flight excitation device and method |
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| US6547180B1 (en) * | 2000-03-22 | 2003-04-15 | David Bernard Cassidy | Impeller-powered vertical takeoff and descent aircraft |
| DE102004018535A1 (en) * | 2004-04-14 | 2005-12-29 | Sascha Mattiza | Aircraft for transporting people or goods uses impellers for propulsion |
| CN102745329A (en) * | 2012-08-08 | 2012-10-24 | 南昌航空大学 | Vortex rotary wing type flight vehicle |
| CN103318406A (en) * | 2013-06-27 | 2013-09-25 | 长源动力（北京）科技有限公司 | Composite rotor craft |
| CN103803065A (en) * | 2012-11-15 | 2014-05-21 | 西安韦德沃德航空科技有限公司 | Belt-transmission disc type multi-rotor-wing aircraft |
| CN203996869U (en) * | 2014-07-04 | 2014-12-10 | 丁士才 | A kind of flat wing formula aircraft |
| CN204548488U (en) * | 2015-02-17 | 2015-08-12 | 何春旺 | Multi-axis aircraft |
-
2015
- 2015-02-17 CN CN201510086859.3A patent/CN104627359B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6547180B1 (en) * | 2000-03-22 | 2003-04-15 | David Bernard Cassidy | Impeller-powered vertical takeoff and descent aircraft |
| DE102004018535A1 (en) * | 2004-04-14 | 2005-12-29 | Sascha Mattiza | Aircraft for transporting people or goods uses impellers for propulsion |
| CN102745329A (en) * | 2012-08-08 | 2012-10-24 | 南昌航空大学 | Vortex rotary wing type flight vehicle |
| CN103803065A (en) * | 2012-11-15 | 2014-05-21 | 西安韦德沃德航空科技有限公司 | Belt-transmission disc type multi-rotor-wing aircraft |
| CN103318406A (en) * | 2013-06-27 | 2013-09-25 | 长源动力（北京）科技有限公司 | Composite rotor craft |
| CN203996869U (en) * | 2014-07-04 | 2014-12-10 | 丁士才 | A kind of flat wing formula aircraft |
| CN204548488U (en) * | 2015-02-17 | 2015-08-12 | 何春旺 | Multi-axis aircraft |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018076206A1 (en) * | 2016-10-26 | 2018-05-03 | 深圳市道通智能航空技术有限公司 | Aerial vehicle and flight control method and device thereof |
| CN114264445A (en) * | 2021-11-26 | 2022-04-01 | 中电科芜湖通用航空产业技术研究院有限公司 | Flutter test flight excitation device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104627359B (en) | 2016-08-24 |
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Effective date of registration: 20161229 Address after: 519000 Guangdong city of Zhuhai province Hengqin Baohua Road No. 6, room 105 -14724 Patentee after: Zhuhai pan Lei Intelligent Technology Co Ltd Address before: 519000 Guangdong city of Zhuhai province Xiangzhou martyrs Road No. 2 Building 2 Tong En Culture Communication Co. Ltd. Patentee before: He Chunwang |