CN104760696A - Multi-rotor aircraft - Google Patents
Multi-rotor aircraft Download PDFInfo
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- CN104760696A CN104760696A CN201510192778.1A CN201510192778A CN104760696A CN 104760696 A CN104760696 A CN 104760696A CN 201510192778 A CN201510192778 A CN 201510192778A CN 104760696 A CN104760696 A CN 104760696A
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- 239000000446 fuel Substances 0.000 claims abstract description 28
- 230000001360 synchronised effect Effects 0.000 claims abstract description 13
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 2
- 239000000725 suspension Substances 0.000 abstract 1
- 239000003921 oil Substances 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000000295 fuel oil Substances 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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Abstract
The invention discloses a multi-rotor aircraft, which comprises a craft body, a landing gear, propellers (primary and auxiliary propellers), a motor, an electronic speed controller, a battery and a fly control system, wherein the craft body is composed of a fuel engine, a synchronous gear driving mechanism, a rack and multiple motor support arms; the propellers comprise a pair of primary propellers and multiple pairs of auxiliary propellers; the primary propellers are coaxial and rotate at the same speed in opposite directions; the primary propellers are driven through the synchronous gear driving mechanism by the fuel engine and are used for bearing primary lifting force of an aircraft body; each primary propeller is provided with two rotors; the auxiliary propellers are driven by the motor and used for controlling altitude balance, suspension, lifting and maneuver flight in front, back, left and right directions of the aircraft; the auxiliary propellers are also used for bearing small part of the lifting force. According to the multi-rotor aircraft, the disadvantages of electric power and fuel power are improved; the advantages of the electric power and the fuel power are perfectly combined; through oil-electricity hybrid power, the load capacity and the duration of the multi-rotor aircraft are improved to a great extent.
Description
Technical field
The present invention relates to aircraft, particularly relate to power and the flight control technology of aircraft.
Background technology
At present, the aircraft kind that can realize vertical takeoff and landing and hovering is a lot, as: dirigible, autogyro, vertical takeoff and landing fixed wing aircraft, cyclogyro, multi-rotor aerocraft (also known as Multi-axis aircraft) etc.The power driven mode of these aircraft is generally with regard to three kinds: fuel engines, electric motor or the mixing of oil electricity are powered.
But the aircraft of three kinds of type of drive all respectively has its disadvantage, under equal take-off weight condition, take fuel engines as the feature of the aircraft of power be that cruise duration is long, load carrying ability is large, but need more complicated mechanical control mechanism, dynamicoverload ability is weak, Power output and gesture stability difficulty.
Take electrical motor as the feature of the aircraft of power be to save Mechanical course structure, dynamicoverload ability is strong, Power output and gesture stability sharp reliable, but be subject to the restriction of current battery technology, relative cruise duration is short, and load carrying ability is limited, frequently need change battery, operating efficiency is low, and cost is higher.
Oil electricity mixing multi-rotor aerocraft then has plenty of the generating of use fuel engines and charging, then electric motor uses, and the energy transformation ratio of this scheme is too low.Also have plenty of and add several groups of fuel engines collocation screw propellers in current multi-rotor aerocraft, larger lift is obtained by the High Rotation Speed of oar, although considered the anti-twisted power that the quantity of driving engine is set to even number and arrange in pairs or groups positive oar and anti-oar can be cancelled out each other simultaneously, but multiple stage driving engine fails to accomplish that mechanical synchronization links, when the power that multiple stage fuel engines exports is slightly different, complicated and diversified unbalanced moment will be produced, make aircraft be difficult to stabilized flight and control.
Therefore, need to provide a kind of multi-rotor aerocraft, make it be not limited to propulsion source form, also do not rely on complicated Mechanical course structure, just can realize the flare maneuver such as steadily hovering and lifting.
Summary of the invention
The present invention is in order to solve the problem of above-mentioned prior art, a kind of multi-rotor aerocraft is proposed, comprise the fuselage of fuel engines, synchronizer gear driver train, frame and Duo Gen motor support arm composition, alighting gear, screw propeller, electrical motor, electronic governor, battery pack and flight control system, screw propeller comprises: the main screw of a pair synchronized reverse coaxial double-rotary wing, driven by synchronizer gear driver train by one or more fuel engines, bear the prevailing lift of aircraft; At least 4n secondary screw propeller, their speed is adjustable, every 2 secondary screw propellers are one group, its hand of rotation is contrary, be mainly used in controlling the posture balancing of aircraft and hovering, lifting, all around, the maneuvering flight in direction, bear the fraction lift of aircraft, n is positive integer simultaneously, and n>=1.
The present invention to be driven for active force by fuel engines and electrical motor provides lift and gesture stability and flight control for assistive drive is mixed into aircraft, driven by synchronizer gear driver train by one or more fuel engines, drive the synchronized contrarotation of a pair main screw (a positive and a negative), for aircraft provides prevailing lift, by the multipair secondary screw propeller of more than at least 4 direct motor drive, be mainly used in the posture balancing and the hovering that control aircraft, lifting, all around, the maneuvering control in direction, bear the fraction lift of aircraft simultaneously, synchronizer gear driver train is used for synchronous, coordinate, slow down and tuning initiatively power-actuated input and output, the lift of controlled balance and stability is provided to export, eliminate overbalance moment of torsion to export.To guarantee the assistant drive system good combination formed with electrical motor, secondary screw propeller, become practical, feasible oil electric mixed dynamic drive scheme, in the aircraft such as many rotors when can be widely used in the long boat of vertical takeoff and landing fixed wing aircraft and heavy－duty, especially medium-and-large-sized aircraft.
Accompanying drawing explanation
Fig. 1 is front view of the present invention;
Fig. 2 is lateral plan of the present invention;
Fig. 3 is birds-eye view of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, structural principle of the present invention is described.
As shown in Figure 1 to Figure 3, multi-rotor aerocraft of the present invention comprises frame 1, alighting gear 2, flight control system and two cover power-driven mechanisms, and this two covers power-driven mechanism is respectively main power pack and auxiliary power pack.
Wherein main power pack comprises propulsion source, synchronizer gear driver train and main screw 12, synchronizer gear driver train comprises a pair power take-off shaft and synchronous gear wheels, power take-off shaft is made up of with the mandrel 4 running through this hollow shaft 3 hollow shaft 3, synchronous gear wheels are correspondingly also provided with two big gear wheels 5, these two big gear wheels 5 are connected with mandrel 4, hollow shaft 3 concentric respectively, and are provided with modulus and the on all four one or more miniature gears 6 of the number of teeth between the opposite face of two big gear wheels 5.Synchronizer gear driver train has four large functions, synchronously, coordinate, slow down and tuning, synchronizing function can ensure that each power output shaft speed is consistent, coordination function can ensure when using multiple stage fuel engines or mair motor, balanced each driving engine, the Power output state difference of electrical motor, deceleration can ensure that main screw mechanical efficiency is the highest, tuning function can ensure that power take-off shaft forms in pairs by rotating and reverse, with the reactive torque that main screw of cancelling out each other produces, power take-off shaft when can ensure at use multiple stage fuel engines simultaneously or use main screw electrical motor or use electrical generator and the direction of power input shaft meet installation requirement.
Propulsion source in main power pack has two kinds of embodiments, wherein, what the first propulsion source adopted is at least one fuel engines 7, fuel tank 8, the power take-off shaft of every platform fuel engines 7 is connected to miniature gears by power-transfer clutch 11, each miniature gears 6 be engaged on upper and lower two big gear wheels 5 double wedge between.Fuel oil moves driving engine 7 and drives two main screws (a positive and a negative) to provide prevailing lift needed for aircraft by synchronous gear wheels.
The second embodiment of the propulsion source in main power pack adopts mair motor 9 to replace fuel engines 7, the power take-off shaft of mair motor 9 is directly connected to a miniature gears 6, powered by battery pack 10 pairs of mair motor, thus drive synchronous gear wheels, drive two main screws by synchronizer gear driver train.
No matter be adopt fuel engines or adopt mair motor, its number can be configured as required, for fuel engines, when fuel engines has multiple, can arrange along the circumferencial direction of big gear wheel in synchronous gear wheels, and be connected with the big gear wheel in synchronizer gear driver train with independent miniature gears respectively by independent power-transfer clutch, through synchronous, coordinate after unified in order driving main screw work.When solving the work of multiple stage fuel engines, the inharmonious nonsynchronous problem of power, also solves multiple stage fuel engines and drives branched main screw easily to produce the problem of complicated and diversified unbalanced moment.Therefore, can allow that multiple stage fuel engines works or some work simultaneously.
The screw propeller of main power pack arranges in pairs, it can be a pair, also can be multipair, the homogeneous symmetry of making peace of aerodynamic characteristic such as diameter, spiral shell square of often pair of main screw 12, often pair of main screw aerodynamic arrangement in aircraft is all the controlled of equilibrium to produced lift size, direction is all consistent, reduce or eliminate the output of three-dimensional overbalance moment of torsion and torsion to greatest extent, only producing consistent controlled lift upwards, is bear main lift and the significant components of some electrical power in aircraft.When main screw is a pair, the pair of rotary shafts line of main screw and the vertical centering control dead in line of aircraft, i.e. three axle unifications.When main screw is multipair, the rotation axis of often pair of main screw and the aerodynamic center of aircraft are apart from equal, and in multipair main screw, the rotation axis layout of often pair of screw propeller is all symmetrical between two with the vertical centering control axis of aircraft.
Auxiliary power pack of the present invention comprises secondary screw propeller 13, electrical motor 14 and battery pack 10, and support the motor support arm 15 of secondary screw propeller 13 and electrical motor, for control the posture balancing of aircraft and hovering, lifting, all around, the maneuvering flight in direction, bear the fraction lift of aircraft simultaneously.
Wherein the quantity of secondary screw propeller 13 at least needs 4, also it can be 6,8 etc., therefore 2n is at least needed, n is positive integer, and n>=2, correspondingly the quantity of motor support arm also needs setting so many, and multiple motor support arm 15 is uniformly distributed around the vertical centering control axis of aircraft.Be provided with altogether 4 groups of 8 secondary screw propellers in the present embodiment, for control the posture balancing of aircraft and hovering, lifting, all around, the maneuvering flight in direction.The hand of rotation of 2 secondary screw propellers in these 4 groups secondary screw propellers in each group is contrary, each electrical motor is connected with an electronic governor, flight control system can pass through programmed instruction, also ground remote control instruction can be received, control the rotating speed of electronic governor to single secondary screw propeller to regulate, realize the steadily hovering and up and down and the side flight of multiple directions and the rotation of various angle such as up and down of aircraft all around all around.
The present invention also can provide whole lift needed for aircraft separately through auxiliary power pack, and that is, even if main power pack lost efficacy, auxiliary power pack also can maintain the normal flight of aircraft.Rotate by the lifting and direction that the secondary propeller speed of diverse location have been changed to aircraft, hover.The lifting of aircraft leans on the rotating speed of secondary screw propeller motor increase simultaneously or reduce to control; Aircraft, regulates flight attitude change by controlling the secondary screw propeller motor speed of diverse location awing, can realize easily up and down all around and the side multiple directions flight such as all around and hovering up and down.
The S. A. of main oar is parallel to the vertical centering control axis of aircraft, the vertical centering control axis of aircraft be through the aerodynamic center of aircraft and perpendicular to the horizontal surface of aircraft, motor support arm is horizontal by certain angle, in the present embodiment, the S. A. of secondary screw propeller and the vertical centering control axis of aircraft are that the lift direction of angle about 3-10 degree and secondary screw propeller is to the introversion of direction, axis.Aircraft presets leaning angle by secondary screw propeller, make the flight of unmanned vehicle more stable, simultaneously, secondary screw propeller is also preset with angle of roll, aircraft horizontal rotatio direction is regulated sharper, improve stability and the manoevreability of aircraft horizontal rotatio direction, angle of roll is that the S. A. of secondary screw propeller is except to except the direction introversion of aircraft axis, also tilt to side, aircraft axis or opposite side simultaneously, the axial rotary lopsidedness of the secondary screw propeller of all rotating forwards, the axial rotary opposite side of the secondary screw propeller of all reversions tilts, the scope of angle of roll is ± 2-5 degree.
After summarizing existing electronic and fuel oil two kinds of power operated merits and faultss, applicant is through the Experience of more than ten years, develop and can the oil electric mixed dynamic driving method of practical application (move based on oil, electronic is the auxiliary novel type of drive of one), (improving can load carrying ability, and increase cruise duration, structure is simpler to have gathered the advantage of tradition two kinds of type of drive, it is easier to control), significantly promote the performance of aircraft.Compared with prior art, the present invention provide not only two kinds of dynamic modes, even and if main power pack inefficacy aircraft still can continue flight, relative similar-type products is more safe and reliable, and stability improves greatly.Pass through modular design, simplify many rotor structures, make the physical construction relative simplicity of secondary screw propeller, more easy to assemble and safeguard, can the secondary screw propeller assembly of quick dispatch and main oar, (load onto fuel engines is exactly oil electric mixed dynamic to fuel engines, oil bunkering driving engine or dress main motor are not exactly pure electronic), chassis cover, The Cloud Terrace, the accessories such as camera.Simplify production technology, reduce productive costs.Control aircraft flight state by the computing machine of ground station by digital communication radio station, over the horizon can control flight, also control flight by remote controller.Technical scheme of the present invention reduces aircraft operation difficulty, makes the beginner without handling basis also can handle aircraft smooth flight.And eight rotor structures in the present embodiment also also make aircraft performance more reliable than four rotors, six rotor structures.
Should be understood that, the above-mentioned description for specific embodiment is comparatively detailed, and therefore can not think the restriction to scope of patent protection of the present invention, scope of patent protection of the present invention should be as the criterion with claims.
Claims (10)
1. a multi-rotor aerocraft, comprise by frame, screw propeller, synchronizer gear driver train, propulsion source and flight control system, it is characterized in that, described screw propeller comprises the main screw of at least one pair of synchronized reverse coaxial many rotor, described propulsion source is driven by synchronizer gear driver train, drives main screw to provide prevailing lift for aircraft.
2. multi-rotor aerocraft as claimed in claim 1, is characterized in that, when described main screw is a pair, the rotation axis of described a pair main screw is with the vertical central axis line parallel of aircraft and overlap.
3. multi-rotor aerocraft as claimed in claim 1, it is characterized in that, when described main screw is multipair, the rotation axis of often pair of screw propeller in described multipair main screw and the aerodynamic center of aircraft are apart from equal, and in multipair main screw, the rotation axis layout of often pair of screw propeller is all symmetrical between two with the vertical centering control axis of aircraft.
4. the multi-rotor aerocraft as described in claims 1 to 3 any one, is characterized in that, described synchronizer gear driver train comprises: power take-off shaft, is made up of a hollow shaft and the mandrel running through described hollow shaft; Synchronous gear wheels, comprise two big gear wheels be connected with mandrel, hollow shaft concentric respectively, the opposite face of two big gear wheels is provided with on all four double wedge;
Described propulsion source comprises at least one fuel engines, and its power take-off shaft connects miniature gears, and described miniature gears is engaged between the double wedge of two big gear wheels.
5. multi-rotor aerocraft as claimed in claim 4, it is characterized in that, each fuel engines connects a centrifugal clutch.
6. the multi-rotor aerocraft as described in claim 1-3,5 any one, it is characterized in that, described screw propeller also comprises: the secondary screw propeller that at least 2n rotative speed is adjustable, every 2 secondary screw propellers are one group, its hand of rotation is contrary, for control the posture balancing of aircraft and hovering, lifting, all around, the maneuvering flight in direction, n is positive integer, and n>=2.
7. multi-rotor aerocraft as claimed in claim 6, it is characterized in that, described secondary screw propeller passes through direct motor drive, each electrical motor is all connected with an electronic governor, described flight control system is by programmed instruction and receive ground remote control instruction, controls the rotating speed of electronic governor to single secondary screw propeller and regulates.
8. multi-rotor aerocraft as claimed in claim 6, it is characterized in that, the aerodynamic arrangement of described secondary screw propeller is arranged in the outermost away from aircraft axis, described secondary screw propeller and electrical motor are connected with frame by motor support arm, the circle distribution of described motor support upper-arm circumference around the axis of aircraft.
9. multi-rotor aerocraft as claimed in claim 8, it is characterized in that, described secondary screw propeller has leaning angle and angle of roll.
10. the multi-rotor aerocraft as described in claim 2-3,7-8 any one, is characterized in that, described propulsion source comprises mair motor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510192778.1A CN104760696B (en) | 2015-04-22 | 2015-04-22 | A kind of multi-rotor aerocraft |
| PCT/CN2015/088128 WO2016169176A1 (en) | 2015-04-22 | 2015-08-26 | Multi-rotor aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510192778.1A CN104760696B (en) | 2015-04-22 | 2015-04-22 | A kind of multi-rotor aerocraft |
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| Publication Number | Publication Date |
|---|---|
| CN104760696A true CN104760696A (en) | 2015-07-08 |
| CN104760696B CN104760696B (en) | 2016-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510192778.1A Expired - Fee Related CN104760696B (en) | 2015-04-22 | 2015-04-22 | A kind of multi-rotor aerocraft |
Country Status (2)
| Country | Link |
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| CN (1) | CN104760696B (en) |
| WO (1) | WO2016169176A1 (en) |
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| CN105501438A (en) * | 2016-02-04 | 2016-04-20 | 刘海涛 | Reaction torque aileron |
| CN105539828A (en) * | 2015-12-08 | 2016-05-04 | 陈蜀乔 | Petrol-electric hybrid multi-rotor aerial vehicle capable of self electricity generation |
| CN106005385A (en) * | 2016-06-22 | 2016-10-12 | 北京航空航天大学 | Gasoline-electric hybrid coaxial helicopter based on multi-rotor manipulation |
| WO2016169176A1 (en) * | 2015-04-22 | 2016-10-27 | 深圳市艾特航空科技股份有限公司 | Multi-rotor aircraft |
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| CN106927030A (en) * | 2017-03-15 | 2017-07-07 | 西北工业大学 | A kind of oil electric mixed dynamic multi-rotor aerocraft and its flight control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2016169176A1 (en) * | 2015-04-22 | 2016-10-27 | 深圳市艾特航空科技股份有限公司 | Multi-rotor aircraft |
| CN105539828A (en) * | 2015-12-08 | 2016-05-04 | 陈蜀乔 | Petrol-electric hybrid multi-rotor aerial vehicle capable of self electricity generation |
| CN105539828B (en) * | 2015-12-08 | 2024-05-31 | 湖南众盛机械设备有限公司 | Self-generating oil-electricity hybrid power multi-rotor aircraft |
| CN105501438A (en) * | 2016-02-04 | 2016-04-20 | 刘海涛 | Reaction torque aileron |
| CN109153445A (en) * | 2016-02-17 | 2019-01-04 | 雅顿技术有限公司 | Multi-rotor aerocraft with different purposes propellers |
| CN106005385A (en) * | 2016-06-22 | 2016-10-12 | 北京航空航天大学 | Gasoline-electric hybrid coaxial helicopter based on multi-rotor manipulation |
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| CN104760696B (en) | 2016-07-27 |
| WO2016169176A1 (en) | 2016-10-27 |
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