CN105857594B

CN105857594B - Hedgehopping device

Info

Publication number: CN105857594B
Application number: CN201610376528.8A
Authority: CN
Inventors: 聂平利
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-05-31
Filing date: 2016-05-31
Publication date: 2018-11-09
Anticipated expiration: 2036-05-31
Also published as: CN105857594A

Abstract

This application involves a kind of hedgehopping devices, including strip rack, the rack includes the fuselage at middle part, it is provided on the downside of front fuselage to loading or manned cockpit, fuselage afterbody bends downward to form tail, and concave shaped space is formed between tail and cockpit, power unit after being provided in the space, power unit includes coaxial double-rotary wing after described, and the coaxial double-rotary wing is by being arranged the second driven by engine in tail.Front fuselage both sides be provided with by holder it is symmetrical before power unit, the preceding power unit includes upper and lower rotor arranged up and down, wherein upper rotor is driven by motor, lower rotor is by the first driven by engine for being arranged in fuselage.The application while improving lifting force, ensures the overall stability of rack by the forward and backward forward and backward side power unit in isosceles triangle arrangement.The application can be in complicated landform stable landing, so that application range is wider by landing mechanism.

Description

Hedgehopping device

Technical field

This application involves a kind of flight stabilities, and loading capacity is larger, and can stable landing hedgehopping device.

Background technology

With the development of science and technology, unmanned plane or small-sized manned vehicle have been applied in and take photo by plane, measure, transporting, overhauling, rescuing The multiple fields such as help.Unmanned plane in the prior art or small-sized manned vehicle are mostly Fixed Wing AirVehicle or multiaxis flight Device.

One or more wings are set on Fixed Wing AirVehicle, and propeller is set on wing, are driven by motor The air-flow that propeller rotation generates pushes aircraft flight.

Multi-axis aircraft is by taking four-axle aircraft as an example comprising be uniformly arranged on rack surrounding four are motor-driven Rotor adjusts rotor rotating speed by controlling motor speed, the positive and negative rotation of rotor is controlled by the positive and negative rotation of motor, to changeable Air flow direction, and then control complete machine and the actions such as make hovering, draw high, advance, deflecting, rolling.Such as application No. is 201510217561.1 Chinese invention patent application " aircraft " just propose it is a kind of there is the first power unit, have the One rotor driver is mounted in the rack；Second power unit has the second rotor driver, rotatably by shaft In the rack；Rotary power units are mounted in the rack, and the shaft is driven to rotate；Second rotor Device includes the first sub- rotor and the second sub- rotor, and the first sub- rotor is distributed in the shaft two with the described second sub- rotor Side.Although the Multi-axis aircraft has preferable flexibility and stability, it is flown in the case of non-loading, if loading Flight can then influence its whole machine balancing, therefore be not appropriate for loading flight.

Currently, aircraft utilizes inertia measuring module（IMU）Control flight attitude.Inertia measuring module includes acceleration Meter and gyroscope, also known as inertial navigation combination.With reference to rectangular coordinate system in space, in X, Y, Z axis direction, it is respectively arranged one Gyroscope, for measuring rotary motion of the Multi-axis aircraft on above three direction；In X, Y, Z axis direction, difference cloth Set an accelerometer, the acceleration for measuring Multi-axis aircraft translational motion on above three direction.Inertia measurement mould Block such as is able to detect that aircraft pitch, tilts, yaws at the postures, and corresponding signal is fed back to Multi-axis aircraft Control circuit, Multi-axis aircraft according to be preset in the memory in control circuit gesture stability rule or remote controler input Control signal control motor rotating speed adjust flight attitude.But manned vehicle is generally required to relatively flat in landing Ground, if meet abrupt slope, hollow etc. complicated landforms, when landing easily send danger.

Invention content

The purpose of the application is to propose a kind of flight stability, and loading capacity is larger, and can be in complicated landform stable landing Hedgehopping device.

What the purpose of the application was realized in：Hedgehopping device includes strip rack, and the rack includes middle part Fuselage, be provided on the downside of front fuselage and bend downward to form tail to loading or manned cockpit, fuselage afterbody, Concave shaped space is formed between tail and cockpit, power unit after being provided in the space, the rear power unit includes altogether Axis DCB Specimen, the coaxial double-rotary wing is by being arranged the second driven by engine in tail.It is set up by branch in front fuselage both sides It is equipped with symmetrical preceding power unit, the preceding power unit includes upper and lower rotor arranged up and down, wherein upper rotor is by motor It drives, lower rotor is by the first driven by engine for being arranged in fuselage.

Due to carrying out said program, the application is reasonable for structure, passes through the forward and backward forward and backward side power list in isosceles triangle arrangement Member ensures the overall stability of rack while improving lifting force.By the rotation of air flow guide to change whole flying Deflection angle when row state, it is steady by speed discrepancy change of flight height between upper rotor and lower rotor and adjustment rack, So that steady, flexibility of the application in state of flight.The application can steadily be dropped by mechanism of landing in complicated landform It falls, so that application range is wider.

Description of the drawings：The technical solution of the application is provided by drawings and examples below：

Fig. 1 is the application structural schematic diagram that the second power unit is installed in frame underside；

Fig. 2 is the application structural schematic diagram that the second power unit is installed on the upside of rack；

Fig. 3 is the overlooking structure diagram of Fig. 1；

Fig. 4 is the structural schematic diagram of landing mechanism；

Fig. 5 is the circuit control principle figure of the application.

Legend：1, preceding power unit, the 2, first air flow guide, 3, motor, 4, upper rotor, 5, lower rotor, 6, preceding air-flow Cover, the 7, first engine, 8, fuselage, the 9, second engine, 10, electric appliance cabin, 11, tail, 12, fuel tank, 13, rear power unit, 14, the second air flow guide, 15, concentric shafts, 16, coaxial double-rotary wing, 17, rear air bell, 18, cockpit, 19, third air-flow leads Plate, 20, rear undercarriage, 21, nose-gear, 22, mobile jib adjust hydraulic arm, 23, mobile jib, 24, tappet adjust hydraulic arm, 25, Undercarriage, 26, undercarriage adjust hydraulic arm, 27, tappet.

Specific implementation mode：The application is not limited by following embodiments, can be according to the technical solution and reality of the application Situation determines specific embodiment.

Embodiment 1：As shown in Figure 1,3, hedgehopping device includes strip rack, and the rack includes the fuselage at middle part 8, it is provided on the downside of 8 front end of fuselage to loading or manned cockpit 18,8 rear portion of fuselage bends downward to form tail 11, Concave shaped space is formed between tail 11 and cockpit 18, power unit 13 after being provided in the space, the rear power list Member 13 includes coaxial double-rotary wing 16, which is driven by the second engine 9 for being arranged in tail 11.In fuselage 8 Front end both sides are provided with symmetrical preceding power unit 1 by holder, and the preceding power unit 1 includes upper and lower rotation arranged up and down The wing 4,5, wherein upper rotor 4 is driven by motor 3, lower rotor 5 is driven by the first engine 7 being arranged in fuselage.

Coaxial double-rotary wing 16 after described in power unit 13 is prior art comprising a concentric shafts 15, the concentric shafts 15 are located at 8 length direction center of fuselage, and the non-the present application point of remaining structure is not described in detail herein.

The preceding power unit further includes the preceding air bell 6 covered in outside upper and lower rotor 4,5, is arranged in 6 lower end of preceding air bell There are two parallel first air flow guides 2.

Power unit further includes the rear air bell 17 covered in outside coaxial double-rotary wing 16 after described, is set in 17 lower end of rear air bell It is equipped with two parallel second air flow guides 14.

The extended line that first and second air flow guide 2,14 projects in the horizontal plane intersects vertically.

Embodiment 2：As shown in Fig. 2, 8 rear horizontal of fuselage is laid, the setting of rear power unit 13 is in 8 upside of fuselage, at this time Cockpit 18 can be retained on the downside of 8 front end of fuselage, cockpit 18 can be also arranged in 8 front end of fuselage.Remaining structure is the same as real Apply example 1.

When rear power unit 13 is arranged in 8 upside of fuselage, third, two are respectively arranged in 17 upper and lower end of rear air bell Air flow guide 19,14.The third, the projection of two air flow guides 19,14 in the horizontal plane intersect vertically.

As shown in Fig. 1,2,4, nose-gear 21 is installed under cockpit 18, undercarriage after being installed under tail 11 20, the nose-gear 21 or rear undercarriage 20 are controlled by landing-gear, and the landing-gear includes a mobile jib 23, mobile jib 23 Center and cockpit 18 or tail 11 are hinged, and 23 center both sides of mobile jib, which are provided with symmetrical mobile jib, adjusts hydraulic arm 22, mobile jib It adjusts 22 one end of hydraulic arm to be fixedly linked with cockpit 18 or tail 11, the other end is hinged with mobile jib 23.It is cut with scissors at 23 both ends of mobile jib Be connected to undercarriage and adjust hydraulic arm 26, undercarriage adjust be connected at hydraulic arm 26 with undercarriage adjust hydraulic arm 26 it is servo-actuated with Lever 27 is connected with tappet between tappet 27 and mobile jib 23 and adjusts hydraulic arm 24.

Undercarriage, which is adjusted, connects nose-gear 21 or rear undercarriage 20 under hydraulic arm 26, set in forward and backward undercarriage 21,20 lower ends It is equipped with first pressure sensor, is adjusted in tappet and is provided with second pressure sensor, first and second pressure at hydraulic arm 24 Sensor and inertia measuring module（IMU）Interior master cpu circuit is connected.

As shown in figure 5, in inertia measuring module（IMU）Lateral circuit is connected with to control the circuit control of 3 rotating speed of motor Unit processed, to control main regulation hydraulic arm 22, tappet adjusts hydraulic arm 24 and undercarriage adjusts the flexible liquid of hydraulic arm 26 Press control unit.

When flight, by adjusting the swing angle of the first, second and third air flow guide 2,14,19, you can control turning for aircraft To, while can also be by adjusting the rotating speed of motor 3, so that it is high to adjust upper speed discrepancy change of flight between rotor and lower rotor Degree and adjustment rack are steady.

When landing, master control back is passed forward and backward undercarriage 21,20 pressure signals by the first, second pressure sensor In CPU, pre-set programs are analyzed in master cpu, are adjusted the flexible of hydraulic arm 26 to control undercarriage, are controlled tappet hydraulic arm 24 stretch, controls mobile jib and adjusts the flexible of hydraulic arm 22, collective effect completes the telescopic adjustment of forward and backward undercarriage 21,20, protects Rack level is held, the landing of complicated landform is adapted to.

The above technical characteristic constitutes the most preferred embodiment of the application, is imitated with stronger adaptability and best implementation Fruit can increase and decrease inessential technical characteristic according to actual needs.

Claims

1. a kind of hedgehopping device, including strip rack, the rack includes the fuselage at middle part, is set on the downside of front fuselage It is equipped with to loading or manned cockpit, it is characterised in that：Fuselage afterbody bends downward to form tail, in tail and cockpit Between form concave shaped space, power unit after being provided in the space, it is described after power unit include coaxial double-rotary wing, this is total Axis DCB Specimen is dynamic before front fuselage both sides are provided with symmetrically by holder by the second driven by engine in tail is arranged Power unit, the preceding power unit include upper and lower rotor arranged up and down, wherein upper rotor is driven by motor, lower rotor by The first driven by engine being arranged in fuselage.

2. hedgehopping device as described in claim 1, it is characterised in that：The preceding power unit further includes covering in above and below Preceding air bell outside rotor is provided with two parallel first air flow guides in preceding air bell lower end.

3. hedgehopping device as claimed in claim 2, it is characterised in that：Power unit further includes covering in coaxial pair after described Rear air bell outside rotor is provided with two parallel second air flow guides in rear air bell lower end.

4. hedgehopping device as claimed in claim 3, it is characterised in that：First and second air flow guide is in the horizontal plane The extended line of projection intersects vertically.

5. hedgehopping device as described in claim 1, it is characterised in that：Fuselage afterbody horizontal layout, rear power unit are set It sets on the upside of fuselage, cockpit can be retained at this time on the downside of front fuselage.

6. hedgehopping device as claimed in claim 5, it is characterised in that：It is respectively arranged in rear air bell upper and lower end Three, two air flow guide, the third, the projection of two air flow guides in the horizontal plane intersect vertically.

7. the hedgehopping device as described in claim 1 or 5, it is characterised in that：It is installed with nose-gear under cockpit, Rear undercarriage is installed under tail, the nose-gear or rear undercarriage are controlled by landing-gear, and the landing-gear includes One mobile jib, mobile jib center and cockpit or tail are hinged, and mobile jib center both sides, which are provided with symmetrical mobile jib, adjusts hydraulic arm, main Bar adjusts hydraulic arm one end and is fixedly linked with cockpit or tail, and the other end is hinged with mobile jib, is hinged with and rises and falls at mobile jib both ends Frame adjusts hydraulic arm, and undercarriage adjusts to be connected at hydraulic arm adjusts the servo-actuated tappet of hydraulic arm with undercarriage, in tappet It is connected with tappet between mobile jib and adjusts hydraulic arm.

8. hedgehopping device as claimed in claim 7, it is characterised in that：Undercarriage adjust hydraulic arm under connect nose-gear or Undercarriage afterwards is provided with first pressure sensor in forward and backward undercarriage lower end, is adjusted in tappet and is provided with second at hydraulic arm Pressure sensor, first and second pressure sensor and inertia measuring module（IMU）Interior master cpu circuit is connected.