CN104743107A - Multi-rotor type aircraft - Google Patents
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- CN104743107A CN104743107A CN201510201730.2A CN201510201730A CN104743107A CN 104743107 A CN104743107 A CN 104743107A CN 201510201730 A CN201510201730 A CN 201510201730A CN 104743107 A CN104743107 A CN 104743107A
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Abstract
The invention provides a multi-rotor type aircraft. The multi-rotor type aircraft comprises a main rotor and a plurality of secondary rotors, wherein the main rotor is driven by a fuel engine, and is arranged at the lower end or the upper end of the center position of the engine body of the fuel engine; the plurality of secondary rotors are distributed on the periphery of the engine body; the secondary rotors are driven by motors respectively. The multi-rotor aircraft has the advantages of high carrying capacity and long voyage time.
Description
Technical field
The present invention relates to aircraft field, especially relate to a kind of multi-rotor aerocraft.
Background technology
Aircraft (flight vehicle) is the flyer being manufactured by the mankind, can fly away from ground, control in spaceflight and by people.In existing flyer, the multi-rotor aerocraft with vertical takeoff and landing and hover capabilities has application widely, and it is compared with traditional single-rotor helicopter, have structure simple, safeguard easily, blade lethality is little, the feature of safety of operation.Not only play in military field the effect become more and more important, also multiple civil area such as photography aloft, agricultural plant protection, power-line patrolling, traffic tour and Disaster Assessment is widely used.
At present, multi-rotor aerocraft all adopts battery powered direct motor drive, and because the bottleneck of battery technology is not yet broken through, battery energy density is lower, therefore the load-carrying of multi-rotor aerocraft and duration of voyage all very limited, this strongly limits the application of multi-rotor aerocraft.
Summary of the invention
The object of the present invention is to provide a kind of multi-rotor aerocraft, by adopting the power scheme of oil electric mixed dynamic to solve existing multi-rotor aerocraft load-carrying and the limited technical matters of duration of voyage.
The invention provides a kind of multi-rotor aerocraft, comprising:
Main rotor, it is driven by fuel engines, and described main rotor is arranged on lower end or the upper end of the center of the body of described fuel engines; And
Several secondary rotors, described secondary rotor is arranged in the surrounding of described body, and described secondary rotor is respectively by direct motor drive.
In the program, in the lower end at the center of the body of fuel engines or upper end, main rotor is installed, drives main rotor by fuel engines, the prevailing lift of aircraft is provided.Meanwhile, be provided with the secondary rotor of several direct motor drive around body, provide gesture stability moment and the small part lift of aircraft, all secondary rotors are symmetrically distributed in body surrounding.In this programme, the main rotor that the prevailing lift of aircraft is driven by fuel engines provides, when greatly can improve load-carrying and the boat of aircraft, the gesture stability moment of aircraft is directly provided by the secondary rotor of direct motor drive, eliminate the complex mechanism such as the pulp distance varying mechanism of traditional single-rotor helicopter, oar dish inclinator, improve the convenience of reliability, safety and operation.On the other hand, coarse adjustment can be carried out to aircraft lift by regulating main rotor rotating speed, can gesture stability be carried out to aircraft by regulating secondary gyroplane rotate speed and accurate adjustment be carried out to lift, thick, the thin two-stage regulation mechanism of lift had both been conducive to the economy improving fuel oil and battery, was conducive to again improving control accuracy.
In such scheme, as required, main rotor can adopt culvert type, to improve pneumatic efficiency.Also can adopt coaxial double-oar, increase lift further, and anti-twisted moment of cancelling out each other.When the resultant lift of aircraft changes greatly (when load-carrying change, fast lifting, attitude angle change greatly), the rotating speed just by adjusting main rotor regulates, and does not need frequently to control fuel engines rotating speed.Simultaneously, for secondary rotor, can select screw propeller and the electrical motor of suitable pitch, the lift that electrical motor provides can regulate, for gesture stability near a certain fixed value, the rotation speed change of secondary rotor is less, now, need the lift value that choose reasonable electrical motor is shared, favourable to reduction battery power consumption when the lift value shared is less, the lift value shared is favourable to the gesture stability ability improving aircraft greatly, and above measure can improve the economy of fuel oil and battery.
Preferably, in technique scheme, described main rotor is arranged on the lower end of the center of described body, and the plane at described secondary rotor place is in the upside of the plane at described main rotor place.In this programme, the plane of secondary rotor exceeds the certain height of the plane of main rotor, to improve attitude stability.And, the nextly on main rotor and secondary rotor to install, avoid interfering with each other of main rotor and secondary rotor.
Preferably, in technique scheme, the number of described secondary rotor is 4, and described secondary rotor is symmetrical between two with the center of described body.In this programme, by arranging four secondary rotors, being designed specifically to front secondary rotor, rear secondary rotor, left secondary rotor and right secondary rotor, the while of current secondary rotor and rear secondary rotor during acceleration or deceleration, accurate adjustment can being carried out to the resultant lift of aircraft; Acceleration in current secondary rotor and rear secondary rotor, another is when slowing down, and can control the pitch attitude of aircraft, change resultant lift direction simultaneously, thus the advance of change of flight device or astern speed; When right secondary rotor and left secondary rotor while during acceleration or deceleration, the size (the resultant lift change caused is by front secondary rotor and rear secondary rotor adjustment) of adjustable anti-twisted moment, thus the yaw attitude of change of flight device; When acceleration in right secondary rotor and left secondary rotor, another slow down time, the roll attitude of aircraft can be controlled, change resultant lift direction simultaneously, thus the side velocity of change of flight device.
Preferably, in technique scheme, described fuel engines is rotated by main rotor described in main rotating shaft Direct driver.In this programme, fuel engines directly installs main rotating shaft, main rotor is directly connected by with it, like this, fuel engines can work by Direct driver main rotor, for aircraft provides prevailing lift, and regulated the rotating speed of main rotor by the air door size of servos control driving engine, thus coarse adjustment is carried out to the lift of aircraft.
Preferably, in technique scheme, described secondary rotor is arranged on around described body by horn.In this programme, by arranging the installation horn of special secondary rotor, the installation of secondary rotor is firm, ensures the reliable of complete machine structure.
Preferably, in technique scheme, described electrical motor is fixed on the termination of described horn, and described electrical motor is by secondary rotor wing rotation described in secondary S. A. Direct driver.In this programme, electrical motor is directly fixed on the termination of horn, and electrical motor directly installs secondary S. A., secondary S. A. is directly connected with secondary rotor, just by the secondary rotor wing rotation of electrical motor Direct driver, can save the mechanisms such as reducing gear, compact conformation, controls sensitive.And motor speed is higher, the utilization ratio of electrical motor and propeller can be improved.
Preferably, in technique scheme, the plane at described secondary rotor place and the plane at described body place have angle.In this programme, the secondary rotor of relative direction can inclined design, such as, secondary rotor on left and right directions is respectively when its line of centres rotates certain angle installation (the angular dimension equal direction that both rotate is contrary), its place plane becomes a little angle with body place plane, make the lift of generation have a little component, to offset " reactive torque " that main rotor produces, the speed of response in aircraft rotary course can be improved.In this programme, need the inclined installation angle of the secondary rotor of choose reasonable left and right directions, when the anti-twisted moment that the small component of both pulling force is formed and the anti-twisted moment balance that main rotor produces, the lift that both lift component sum Ying Yuqi share is equal.In addition, as required, the angle that the secondary rotor of fore-and-aft direction also can tilt certain is installed, and rotates the anti-twisted moment produced, can improve rotation speed of response further to balance self blade.
Preferably, in technique scheme, described fuel engines is by transport pipe by ground oil pump device fuel feeding, and described electrical motor is powered by ground power supply by power transmission line.
Preferably, in technique scheme, the center annular along described body is furnished with fuel tank or container.In this programme, the fuel oil supply of fuel engines can design fuel tank separately, and fuel tank is arranged along the center annular of described body, can reduce the impact of fuel oil consumption on aircraft centroid position like this.In addition, if the capacity weight of aircraft is the liquid loads such as agricultural chemicals to be sprayed, then also can adopts the container be circular layout around body center, the liquid-consumed impact on aircraft centroid position can be reduced equally.
Preferably, in technique scheme, this multi-rotor aerocraft also comprises balance wing, the plane at described balance wing place and the plane orthogonal at described main rotor place.In this programme, namely offsetting the anti-twisted moment of main rotor by balance wing by arranging balance wing, carrying out the control of yaw attitude, and then the inclination stagger angle of secondary rotor of left and right directions can be cancelled.
Accompanying drawing explanation
In order to be illustrated more clearly in the specific embodiment of the invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in detailed description of the invention or description of the prior art below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The front view of the multi-rotor aerocraft that Fig. 1 provides for the embodiment of the present invention;
The schematic perspective view of the multi-rotor aerocraft that Fig. 2 provides for the embodiment of the present invention;
The another schematic perspective view of the multi-rotor aerocraft that Fig. 3 provides for the embodiment of the present invention;
The schematic perspective view of the multi-rotor aerocraft that Fig. 4 provides for another embodiment of the present invention;
The schematic perspective view of the multi-rotor aerocraft that Fig. 5 provides for further embodiment of this invention;
The front view of the multi-rotor aerocraft that Fig. 6 provides for further embodiment of this invention;
Fig. 7 is the schematic perspective view of the multi-rotor aerocraft shown in Fig. 6.
Reference numeral:
1-body; 11-main rotor; The secondary rotor of 12-;
13-balance wing; 112-main rotating shaft; 121-horn;
122-electrical motor; 123-lithium battery kit; The secondary S. A. of 124-;
101-fuel tank; 102-container; 131-extension arm;
132-balancing motor.
Detailed description of the invention
Be clearly and completely described technical scheme of the present invention below in conjunction with accompanying drawing, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
In describing the invention, it should be noted that, orientation or the position relationship of the instruction such as term " " center ", " on ", D score, "left", "right", " vertically ", " level ", " interior ", " outward " they be based on orientation shown in the drawings or position relationship; be only the present invention for convenience of description and simplified characterization; instead of instruction or imply the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as limitation of the present invention.In addition, term " first ", " second ", " the 3rd " only for describing object, and can not be interpreted as instruction or hint relative importance.
In describing the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, particular case above-mentioned term concrete meaning in the present invention can be understood.
Embodiment 1
The front view of the multi-rotor aerocraft that Fig. 1 provides for the embodiment of the present invention; The schematic perspective view of the multi-rotor aerocraft that Fig. 2 provides for the embodiment of the present invention; The another schematic perspective view of the multi-rotor aerocraft that Fig. 3 provides for the embodiment of the present invention; As Figure 1-3, the multi-rotor aerocraft that the embodiment of the present invention provides, comprise main rotor 11 and several secondary rotors 12, wherein main rotor 11 is driven by fuel engines (not shown), and main rotor 11 is arranged on lower end or the upper end of the center of the body 1 of fuel engines.Secondary rotor 12 is arranged in the surrounding of body 1, and secondary rotor 12 is driven by electrical motor 122 respectively.
In such scheme, in the downside at the center of the body 1 of fuel engines, main rotor 11 is installed, drives main rotor 11 by fuel engines, the prevailing lift of aircraft is provided.Meanwhile, around body 1, be provided with the secondary rotor 12 that several electrical motors 122 drive, provide gesture stability moment and the small part lift of aircraft, all secondary rotors 12 are symmetrically distributed in the surrounding of body 1.In the present embodiment, the main rotor 11 that the prevailing lift of aircraft is driven by fuel engines provides, when greatly can improve load-carrying and the boat of aircraft, the secondary rotor 12 that the gesture stability moment of aircraft is directly driven by electrical motor 122 provides, eliminate the complex mechanism such as the pulp distance varying mechanism of traditional single-rotor helicopter, oar dish inclinator, improve the convenience of reliability, safety and operation.On the other hand, coarse adjustment can be carried out to aircraft lift by regulating the rotating speed of main rotor 11, can gesture stability be carried out to aircraft by regulating the rotating speed of secondary rotor 12 and accurate adjustment be carried out to lift, thick, the thin two-stage regulation mechanism of lift had both been conducive to the economy improving fuel oil and battery, was conducive to again improving control accuracy.
In the present embodiment, as required, main rotor 11 can adopt culvert type, to improve pneumatic efficiency.Also can adopt coaxial double-oar, increase lift further, and anti-twisted moment of cancelling out each other.When the resultant lift of aircraft changes greatly (when load-carrying change, fast lifting, attitude angle change greatly), the rotating speed just by adjusting main rotor 11 regulates, and does not need the rotating speed frequently controlling fuel engines.Simultaneously, for secondary rotor 12, can select screw propeller and the electrical motor of suitable pitch, the lift that electrical motor provides can regulate, for gesture stability near a certain fixed value, the rotation speed change of secondary rotor 12 is less, now, need the lift value that choose reasonable electrical motor is shared, favourable to reduction battery power consumption when the lift value shared is less, the lift value shared is favourable to the gesture stability ability improving aircraft greatly, and above measure can improve the economy of fuel oil and battery.
As a kind of preferred embodiment, the number of secondary rotor 12 is designed to 4, and secondary rotor 12 is symmetrical between two with the center of body 1.Particularly, in an embodiment, four secondary rotors 12 are designed specifically to front secondary rotor, rear secondary rotor, left secondary rotor and right secondary rotor, the while of current secondary rotor and rear secondary rotor during acceleration or deceleration, can carry out accurate adjustment to the resultant lift of aircraft; Acceleration in current secondary rotor and rear secondary rotor, another is when slowing down, and can control the pitch attitude of aircraft, change resultant lift direction simultaneously, thus the advance of change of flight device or astern speed; When right secondary rotor and left secondary rotor while during acceleration or deceleration, the size (the resultant lift change caused is by front secondary rotor and rear secondary rotor adjustment) of adjustable anti-twisted moment, thus the yaw attitude of change of flight device; When acceleration in right secondary rotor and left secondary rotor, another slow down time, the roll attitude of aircraft can be controlled, change resultant lift direction simultaneously, thus the side velocity of change of flight device.
As a kind of preferred embodiment, on the basis of technique scheme, main rotor 11 is arranged on the lower end of the center of body, and the plane at secondary rotor 12 place is in the upside of the plane at main rotor 11 place.By design like this, the plane of secondary rotor 12 exceeds the certain height (see Fig. 1) of the plane of main rotor 11, to improve attitude stability.And, the nextly on main rotor and secondary rotor to install, avoid interfering with each other of main rotor and secondary rotor.
As a kind of preferred embodiment, on the basis of technique scheme, fuel engines is rotated (see Fig. 3) by main rotating shaft 112 Direct driver main rotor 11.Particularly, fuel engines directly installs main rotating shaft 112, main rotor 11 is directly connected by with it, like this, fuel engines can work by Direct driver main rotor 11, for aircraft provides prevailing lift, and regulated the rotating speed of main rotor by the air door size of servos control driving engine, thus coarse adjustment is carried out to the lift of aircraft.In addition, secondary rotor 12 is arranged on body 1 around by horn 121, and particularly, electrical motor 122 is fixed on the termination of horn 121, and electrical motor 122 is rotated (see Fig. 1) by the secondary rotor 12 of secondary S. A. 124 Direct driver.In this programme, electrical motor 122 is directly fixed on the termination of horn 121, and electrical motor 122 directly installs secondary S. A. 124, secondary S. A. 124 is directly connected with secondary rotor 12, just can be rotated by the secondary rotor 12 of electrical motor 122 Direct driver, save the mechanisms such as reducing gear, compact conformation, control sensitive.And electrical motor 122 rotating speed is higher, the utilization ratio of electrical motor and propeller can be improved.
Embodiment 2
The schematic perspective view of the multi-rotor aerocraft that Fig. 4 provides for another embodiment of the present invention; The schematic perspective view of the multi-rotor aerocraft that Fig. 5 provides for further embodiment of this invention; As shown in Figures 4 and 5, the multi-rotor aerocraft that another embodiment of the present invention provides, comprise main rotor 11 and several secondary rotors 12, wherein main rotor 11 is driven by fuel engines (not shown), and main rotor 11 is arranged on lower end or the upper end of the center of the body 1 of fuel engines.Secondary rotor 12 is arranged in the surrounding of body 1, and secondary rotor 12 is driven by electrical motor 122 respectively.
In the present embodiment, the plane of secondary rotor 12 and the plane of body 1 have angle (see Fig. 4).Particularly, secondary rotor 12 inclined design of relative direction, such as, secondary rotor 12 on left and right directions rotates certain angle installation around its line of centres respectively, and (angular dimension that both rotate is equal, direction is contrary) time, its place plane becomes a little angle with body 1 place plane, make the lift of generation have a little component, to offset " reactive torque " that main rotor 11 produces, the speed of response in aircraft rotary course can be improved.In this programme, specifically need the inclined installation angle of the secondary rotor 12 of choose reasonable left and right directions, when the anti-twisted moment that the small component of both pulling force is formed and the anti-twisted moment balance that main rotor 11 produces, the lift that both lift component sum Ying Yuqi share is equal.In addition, as required, the angle that the secondary rotor 12 of fore-and-aft direction also can tilt certain is installed, and rotates the anti-twisted moment produced, can improve rotation speed of response further to balance self blade.
As a kind of preferred embodiment, in the technical scheme of above-described embodiment 1 or embodiment 2, electrical motor can be powered (see Fig. 4) by lithium battery kit 123, and lithium battery kit 123 and controller are fixedly mounted on the upper end of body 1.In this programme, adopt lithium battery power supply, power reservoir capacity is strong, when extending the boat of aircraft.As a kind of preferred embodiment, on the basis of the technical scheme of above-described embodiment 1 or embodiment 2, the fuel oil supply of fuel engines can design fuel tank separately, can be furnished with fuel tank 101 particularly along the center annular of body 1.In addition, the container 102 storing liquid can be furnished with along the center annular of body 1, or can also be circular layout around fuel tank 101 and store the container 102 of liquid, in the technical program, fuel tank 101 or container 102 are arranged along the center annular of body, can reduce fuel oil consumption, or the capacity weight of aircraft is that the liquid such as agricultural chemicals to be sprayed are when reducing, on the impact of aircraft centroid position, ensure the balance of aircraft.
It should be noted that, for the application scenario needing long-time stagnant hovering to stop, fuel engines can by transport pipe by ground oil pump device fuel feeding, and electrical motor 122 is powered by ground power supply by power transmission line.Because load-carrying ability improves, transport pipe (and power transmission line) can be longer, and the height of aircraft hovering can be higher.
Further, if wish that the control torque in a direction requires larger, the power of corresponding electrical motor 122 can be improved or lengthen horn 121.
Embodiment 3
The present embodiment is as a kind of replacement scheme of embodiment 2, see Fig. 6 and Fig. 7, as required, this multi-rotor aerocraft also comprises balance wing 13, and the number of balance wing 13 is 1 or 2, it is also by electrical motor Direct driver, in the present embodiment, the plane at balance wing 13 place and the plane orthogonal at main rotor 11 place, so namely offset the anti-twisted moment of main rotor 11 by balance wing 13, carry out the control of yaw attitude, and then the inclination stagger angle of secondary rotor 12 of left and right directions can be cancelled.
As a kind of preferred embodiment, this multi-rotor aerocraft comprises 4 secondary rotors 12 and 1 balance wing 13, particularly, the horn of a secondary rotor 12 wherein extends extension arm 131, at the termination of extension arm 131 fixed installation balancing motor 132, balance wing 13 is driven by balancing motor 132, and the concrete installation of balance wing 13 is with other secondary rotors 12.Certainly, balance wing 13 also can be arranged on other positions around body, such as separately establishes horn at the midway location of two secondary rotors.
Last it is noted that above each embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a multi-rotor aerocraft, is characterized in that, comprising:
Main rotor, it is driven by fuel engines, and described main rotor is arranged on lower end or the upper end of the center of the body of described fuel engines; And
Several secondary rotors, described secondary rotor is arranged in the surrounding of described body, and described secondary rotor is respectively by direct motor drive.
2. multi-rotor aerocraft according to claim 1, is characterized in that, described main rotor is arranged on the lower end of the center of described body, and the plane at described secondary rotor place is in the upside of the plane at described main rotor place.
3. multi-rotor aerocraft according to claim 2, is characterized in that, the number of described secondary rotor is 4, and described secondary rotor is symmetrical between two with the center of described body.
4. multi-rotor aerocraft according to claim 3, is characterized in that, described fuel engines is rotated by main rotor described in main rotating shaft Direct driver.
5. multi-rotor aerocraft according to claim 4, is characterized in that, described secondary rotor is arranged on around described body by horn.
6. multi-rotor aerocraft according to claim 5, is characterized in that, described electrical motor is fixed on the termination of described horn, and described electrical motor is by secondary rotor wing rotation described in secondary S. A. Direct driver.
7. multi-rotor aerocraft according to claim 1, is characterized in that, the plane at described secondary rotor place and the plane at described body place have angle.
8. multi-rotor aerocraft according to claim 1, is characterized in that, described fuel engines is by transport pipe by ground oil pump device fuel feeding, and described electrical motor is powered by ground power supply by power transmission line.
9. multi-rotor aerocraft according to claim 1, is characterized in that, the center annular along described body is furnished with fuel tank or container.
10. multi-rotor aerocraft according to claim 1, is characterized in that, this multi-rotor aerocraft also comprises balance wing, the plane at described balance wing place and the plane orthogonal at described main rotor place.
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| CN105329448A (en) * | 2015-11-24 | 2016-02-17 | 中国航空工业集团公司沈阳飞机设计研究所 | Oil-electricity mixed power system of vertical taking-off and landing unmanned aerial vehicle |
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| WO2019233060A1 (en) * | 2018-06-04 | 2019-12-12 | 广州市华科尔科技股份有限公司 | Control system and control method for oil-electric hybrid multi-rotor unmanned aerial vehicle |
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