CN106004287A - Amphibious multifunctional vertical take-off and landing aircraft - Google Patents
Amphibious multifunctional vertical take-off and landing aircraft Download PDFInfo
- Publication number
- CN106004287A CN106004287A CN201610482793.4A CN201610482793A CN106004287A CN 106004287 A CN106004287 A CN 106004287A CN 201610482793 A CN201610482793 A CN 201610482793A CN 106004287 A CN106004287 A CN 106004287A
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- aircraft
- propeller
- pattern
- steering wheel
- motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
Abstract
The invention mainly provides a vertical take-off and landing aircraft with a novel framework. The vertical take-off and landing aircraft comprises a propeller, a brushless direct current motor, a steering engine, a stepping motor and a supporting base. The brushless direct current motor is connected with the propeller. The brushless direct current motor is a main power output unit and drives the propeller to rotate to provide power for the aircraft. The steering engine is connected with the brushless direct current motor and the propeller through a steering engine operating arm and controls the horizontal deflection angle of a rotation face of the propeller, and vertical climbing and forward flight of the aircraft are achieved. The stepping motor is arranged on the base and connected with the steering engine operating arm. The supporting base is a four-leg supporting base and can be dismounted and replaced with a pulley base or a ship-shaped base. The aircraft is stable and reliable in structure, an aerial navigation mode, a land navigation mode and a water navigation mode are switched conveniently, and the aircraft can be much developed on manned aircrafts for civil use, investigation aircrafts for military use, water search-and-rescue aircrafts and other.
Description
Technical field
The invention belongs to aircraft manufacture field, be specifically related to a kind of novel airplane architecture, use single power system
In the case of system, just can meet the multiple sail modes such as airflight, land sailing and surface navigation simultaneously.
Background technology
Vertically taking off and landing flyer is for Fixed Wing AirVehicle, because take-off venue limits less, and stagnant in zonule
Empty ability is higher, is favored by a lot of people.But, it is no matter many rotations of traditional helicopter or current trend
The wing, in the case of without extra power set, all lacks the motor capacity on land, the water surface.Limiting flight or empty
Between the most relatively low special area, aircraft can only rely on a dead lift, and meeting emergency situations at water surface flying overhead needs urgent
During landing, the danger hit the drink can be there is especially.The most all, seriously limit the function of vertically taking off and landing flyer.If
Realize land and surface navigation ability additionally add power set, not only can make that Flight Vehicle Structure is more complicated, cost is higher,
And the weight of aircraft self can be increased.
For solving the problems referred to above, we devise a employing single power system, by removable multifunctional base
Just may be implemented in water, land and air etc. multiple in the case of the multifunction aircraft of navigation.
Summary of the invention
Main innovation point of the present invention is the vertically taking off and landing flyer that design proposes a kind of novel framework, and this aircraft is dashed forward
Break conventional vertical landing aircraft and can only carry out the limitation of airflight, possessed in the situation without other power set
Under, it is possible in the water surface, the ability of land navigation so that the purposes of single rotor vertically taking off and landing flyer is greatly expanded.
The structure composition of amphibious multifunctional vertical landing aircraft includes: propeller, DC brushless motor, steering wheel, stepping
Motor and support base；Described DC brushless motor is connected with propeller, and DC brushless motor is major power output unit, logical
Cross drive propeller rotational, provide power for aircraft；Described steering wheel is by steering wheel control arm and DC brushless motor and spiral
Oar is connected, and controls the level angle of propellerpiston, it is achieved vertically climbing and forward flight of aircraft；Described stepping electricity
Machine is arranged on base, and controls propeller by being connected with steering wheel control arm；Described support base is that four feet support
Base, supporting base can dismounting and change be pulley seat or ship type base.
Described motor can 360 ° of rotations, thus change the direct of travel of this aircraft.
Described steering wheel is arranged on square steering wheel and supports on seat, and square steering wheel supports the first two diagonal position left back, right of seat
It is provided with auxiliary rotor support, two auxiliary rotor supports are correspondingly arranged on auxiliary rotor in opposite direction；Described auxiliary rotation
Distance between installation site and the steering wheel control arm place surfaces of revolution of the wing is more than the radius of auxiliary rotor.
Described amphibious multifunctional vertical landing aircraft, its multi-functional navigation control method is:
(1) airflight pattern: under this pattern propellerpiston is the most parallel to the ground or small angle inclination, and it mainly moves
Can be output as overcoming gravity acting；In flight course, when the surfaces of revolution of propeller is parallel to the ground, aircraft can realize sky
Middle hovering and the lifting of vertical direction；When servos control propellerpiston tilts by a small margin, can be to fly before aircraft provides
Power, now, motor rotates and can realize the control of heading；
(2) land sailing pattern: land sailing pattern can realize aircraft traveling on the ground, this pattern is equipped with pulley
Base；Under servos control, propellerpiston is the most perpendicular to the ground, and now DC brushless motor drives propeller to rotate,
Produce direction pulling force forward, drive aircraft to advance；The deflection angle of step motor control propeller under this pattern, can
Realize aircraft turning on land；For making to turn to steadily, pulley seat uses four universal wheels as support, it is ensured that flight
Device multi-direction advance on the ground；
(3) surface navigation pattern: surface navigation pattern can realize aircraft traveling on the water surface, this pattern is assembled with ship
Type base；Surface navigation pattern is essentially identical with land sailing pattern, and under this pattern, the surfaces of revolution of propeller is under servos control
Basic vertical with the water surface, driven by DC brushless motor and produce forward direction pulling force, drive aircraft to advance；Now motor is same
Sample is the direction of advance controlling aircraft, except for the difference that, under this kind of pattern, during motor drives aircraft break-in, and should
Suitably reduce the rotating speed of propeller, after hull base completes body correction under the effect of current, again accelerate；Do so
Purpose is that the resistance to water-flow preventing the side of hull base to be subject to is uneven causes rollover, it is ensured that steady on the water surface of aircraft
Advance.
Because the existence of steering wheel, propeller can realize the regulation of wide-angle.When steering wheel drives the surfaces of revolution of propeller to make
During 90 ° of rotations, the power output Main Function of propeller is gone up in the horizontal direction, and now aircraft assists at the bottom of with pulley or ship type
Seat, just can have the operational capabilities on ground or the water surface.The design sketch of two kinds of sail modes is as shown in Figure 7, Figure 8.
During practical flight, propeller, while providing lift for fuselage, also can produce anti-twisted power and drive
Fuselage rotates, and affects flight effect, here, it is proposed that two set solutions.
Scheme one: when the surfaces of revolution of propeller is parallel to the ground, and when aircraft only does the motion of vertical direction, anti-twisted
Power is the most obvious on the impact of fuselage；In such cases, anti-twisted power can be overcome fuselage by the reverse rotation of motor
Impact, its cost is loss part efficiency；When, under the effect of motor, the surfaces of revolution of propeller produces certain with ground
Inclination angle, and during aircraft forward flight, as it is shown in figure 5, the gravity of aircraft self can effectively overcome anti-twisted power to aircraft
Impact, the now rotation of motor is mainly used in controlling heading.This kind of scheme can reduce aircraft cost, can be used for letter
Solo flight row.
Scheme two: add auxiliary rotor.Two that the first two diagonal position setting direction left back, right at aircraft is contrary
Auxiliary rotor, shown in Fig. 6, under the common effect of two auxiliary rotors, can produce force direction anti-twisted with main screw contrary
Torsion, both cancel out each other, it is ensured that the smooth flight of aircraft.For preventing auxiliary rotor from touching with the control arm wiping of steering wheel, setting
Meter auxiliary rotor support, it should be ensured that the distance between installation site and the control arm place surfaces of revolution of auxiliary rotor is more than auxiliary rotation
The radius of the wing.
Compared with prior art, the invention have the advantages that:
(1) the amphibious operational capabilities of vertically taking off and landing flyer is achieved；
(2) single main rotor exports as main kinetic energy, simplifies structure；
(3) servos control power outbound course, step motor control direct of travel, it is ensured that the motility of aircraft, stability
And mobility；
(4) the multi-functional sub-mount that can conveniently dismantle replacement can meet the needs of different flight.
Accompanying drawing explanation
Fig. 1 is typical structure front view；
Fig. 2 is typical structure front view；
Fig. 3 is typical structure left view；
Fig. 4 is typical structure top view；
Fig. 5 is aircraft forward flight schematic diagram；
Fig. 6 is expansion structure schematic diagram；
Fig. 7 is land sailing pattern diagram；
Fig. 8 is surface navigation pattern diagram；
1, propeller, 2, DC brushless motor, 3, steering wheel, 4, motor, 5, auxiliary rotor, 6, steering wheel control arm, 7, auxiliary
Rotor support, 8, support base, 9, pulley seat, 10, ship type base, 11, square steering wheel support seat.
Detailed description of the invention
The structure composition of amphibious multifunctional vertical landing aircraft includes: propeller 1, DC brushless motor 2, steering wheel 3, step
Enter motor 4 and support base 8；Described DC brushless motor 2 is connected with propeller 1, and DC brushless motor 2 exports for major power
Unit, by driving propeller 1 to rotate, provides power for aircraft；Described steering wheel 3 is by steering wheel control arm 6 and brush DC
Motor 2 is connected with propeller 1, control propeller 1 surfaces of revolution level angle, it is achieved aircraft vertically climb and advance flies
OK；Described motor 4 is arranged on support base 8, and controls propeller 1 by being connected with steering wheel control arm；Institute
Stating support base 8 is that four feet support base, and supporting base 8 can dismounting and change be pulley seat 9 or ship type base 10.
Described motor 4 can 360 ° of rotations, thus change the direct of travel of this aircraft.
Described steering wheel 3 is arranged on square steering wheel and supports on seat 11, and square steering wheel supports the first two diagonal angle left back, right of seat 11
Position is provided with auxiliary rotor support 7, and two auxiliary rotor supports 7 are correspondingly arranged on auxiliary rotor 5 in opposite direction；Described
Distance between installation site and the steering wheel control arm 6 place surfaces of revolution of auxiliary rotor 5 is more than the radius of auxiliary rotor 5.
Because the existence of steering wheel 3, propeller 1 can realize the regulation of wide-angle.When steering wheel 3 drives the surfaces of revolution of propeller 1
When making 90 ° of rotations, the power output Main Function of propeller 1 is gone up in the horizontal direction, and now aircraft assists with pulley seat 9
Or ship type base 10, just can have the operational capabilities on ground or the water surface.The design sketch of two kinds of sail modes such as Fig. 7, Fig. 8 institute
Show.
Described amphibious multifunctional vertical landing aircraft, its multi-functional navigation control method is:
(1) airflight pattern: under this pattern propeller 1 surfaces of revolution is the most parallel to the ground or small angle inclination, and it mainly moves
Can be output as overcoming gravity acting；In flight course, when the surfaces of revolution of propeller 1 is parallel to the ground, aircraft can realize
Hovering and the lifting of vertical direction；When steering wheel 3 control propeller 1 surfaces of revolution tilt by a small margin time, can be aircraft provide
Before the power that flies, now, motor 4 rotates the control that can realize heading；
(2) land sailing pattern: land sailing pattern can realize aircraft traveling on the ground, this pattern is equipped with pulley
Base 9；Under steering wheel 3 controls, propeller 1 surfaces of revolution is the most perpendicular to the ground, and now DC brushless motor 2 drives propeller 1
Rotate, produce direction pulling force forward, drive aircraft to advance；Under this pattern, motor 4 controls the deflection of propeller 1
Angle, can realize aircraft turning on land；For making to turn to steadily, pulley seat 9 use four universal wheels as support,
Ensure aircraft multi-direction advance on the ground；
(3) surface navigation pattern: surface navigation pattern can realize aircraft traveling on the water surface, this pattern is assembled with ship
Type base 10；Surface navigation pattern is essentially identical with land sailing pattern, and under this pattern, the surfaces of revolution of propeller 1 is controlled at steering wheel 3
System is lower the most vertical with the water surface, is driven by DC brushless motor 2 and produces forward direction pulling force, drives aircraft to advance.Now stepping
Motor 4 is the direction of advance controlling aircraft equally, and except for the difference that, under this kind of pattern, motor 4 drives aircraft break-in
Cheng Zhong, should suitably reduce the rotating speed of propeller 1, after hull base 10 completes body correction under the effect of current, again add
Speed.The purpose of do so is that the resistance to water-flow preventing the side of hull base 10 to be subject to is uneven causes rollover, it is ensured that aircraft
Steady traveling on the water surface.
During practical flight, propeller 1, while providing lift for fuselage, also can produce anti-twisted power and drive
Fuselage rotates, and affects flight effect, here, it is proposed that two set solutions.
Scheme one: when the surfaces of revolution of propeller 1 is parallel to the ground, and when aircraft only does the motion of vertical direction, instead
Torsion is the most obvious on the impact of fuselage.In such cases, anti-twisted power can be overcome fuselage by the reverse rotation of motor 4
Impact, its cost for loss part efficiency.When, under the effect at motor 4, the surfaces of revolution of propeller 1 produces one with ground
Fixed inclination angle, and, the gravity of aircraft self can effectively overcome anti-twisted power to flight during aircraft forward flight (as shown in Figure 5)
The impact of device, the now rotation of motor 4 is mainly used in controlling heading.This kind of scheme can reduce aircraft cost, can
For simple flight.
Scheme two: add auxiliary rotor 5.The first two diagonal position setting direction left back, right at aircraft contrary two
Individual auxiliary rotor 5, shown in Fig. 6, under the common effect of two auxiliary rotors 5, can produce force direction phase anti-twisted with main screw 1
Anti-torsion, both cancel out each other, it is ensured that the smooth flight of aircraft.For preventing the control arm wiping of auxiliary rotor 5 and steering wheel 3
Touch, when Design assistant rotor support 7, it should be ensured that between installation site and the steering wheel control arm 6 place surfaces of revolution of auxiliary rotor 5
Distance more than the radius of auxiliary rotor 5.
Claims (5)
- The most amphibious multifunctional vertical landing aircraft, it is characterised in that its structure composition include: propeller, DC brushless motor, Steering wheel, motor and support base；Described DC brushless motor is connected with propeller, and DC brushless motor is that major power is defeated Go out unit, by driving propeller rotational, provide power for aircraft；Described steering wheel is by steering wheel control arm and brush DC electricity Machine is connected with propeller, controls the level angle of propellerpiston, it is achieved vertically climbing and forward flight of aircraft；Institute State motor to be arranged on support base, and be connected with steering wheel control arm；Described support base is that four feet support base, Support base can dismounting and change be pulley seat or ship type base.
- Amphibious multifunctional vertical landing aircraft the most according to claim 1, it is characterised in that described motor can 360 ° of rotations, thus change the direct of travel of this aircraft.
- Amphibious multifunctional vertical landing aircraft the most according to claim 1, it is characterised in that the described steering wheel side of being arranged on Shape steering wheel supports on seat, and square steering wheel supports the first two diagonal position left back, right of seat and is provided with auxiliary rotor support, and two auxiliary Help and on rotor support, be correspondingly arranged on auxiliary rotor in opposite direction.
- Amphibious multifunctional vertical landing aircraft the most according to claim 4, it is characterised in that the peace of described auxiliary rotor Distance between holding position and the steering wheel control arm place surfaces of revolution is more than the radius of auxiliary rotor.
- Amphibious multifunctional vertical landing aircraft the most according to claim 1, it is characterised in that its multi-functional navigation controls Method is:(1) airflight pattern: under this pattern propellerpiston is the most parallel to the ground or small angle inclination, and it mainly moves Can be output as overcoming gravity acting；In flight course, when the surfaces of revolution of propeller is parallel to the ground, aircraft can realize sky Middle hovering and the lifting of vertical direction；When servos control propellerpiston tilts by a small margin, can be to fly before aircraft provides Power, now, motor rotates and can realize the control of heading；(2) land sailing pattern: land sailing pattern can realize aircraft traveling on the ground, this pattern is equipped with pulley Base；Under servos control, propellerpiston is the most perpendicular to the ground, and now DC brushless motor drives propeller to rotate, Produce direction pulling force forward, drive aircraft to advance；The deflection angle of step motor control propeller under this pattern, can Realize aircraft turning on land；For making to turn to steadily, pulley seat uses four universal wheels as support, it is ensured that flight Device multi-direction advance on the ground；(3) surface navigation pattern: surface navigation pattern can realize aircraft traveling on the water surface, this pattern is assembled with ship Type base；Surface navigation pattern is essentially identical with land sailing pattern, and under this pattern, the surfaces of revolution of propeller is under servos control Basic vertical with the water surface, driven by DC brushless motor and produce forward direction pulling force, drive aircraft to advance；Now motor control The direction of advance of aircraft processed, during motor drives aircraft break-in, suitably reduces the rotating speed of propeller, treats at the bottom of hull After seat completes body correction under the effect of current, again accelerate, it is ensured that the aircraft steady traveling on the water surface.
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| CN201610482793.4A CN106004287B (en) | 2016-06-28 | 2016-06-28 | Amphibious multifunctional vertical landing aircraft |
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|---|---|---|---|
| CN201610482793.4A CN106004287B (en) | 2016-06-28 | 2016-06-28 | Amphibious multifunctional vertical landing aircraft |
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| CN106004287A true CN106004287A (en) | 2016-10-12 |
| CN106004287B CN106004287B (en) | 2018-10-19 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106739890A (en) * | 2016-12-01 | 2017-05-31 | 天津农学院 | Wheel-leg combined type amphibious robot with ground moving and sporting flying mode |
| CN107010215A (en) * | 2017-05-31 | 2017-08-04 | 锐合防务技术（北京）有限公司 | Aircraft |
| CN107639983A (en) * | 2017-10-10 | 2018-01-30 | 南京工程学院 | A kind of land and air double-used quadrotor |
| CN108819631A (en) * | 2018-06-15 | 2018-11-16 | 南京理工大学 | Two rotor balance car land, water and air Duo Qi robots of one kind and its control method |
| CN108819630A (en) * | 2018-06-15 | 2018-11-16 | 南京理工大学 | A kind of land, water and air Bi Duoqi robot and its control method |
| CN109358654A (en) * | 2018-11-16 | 2019-02-19 | 江苏科技大学 | A kind of empty amphibious search and rescue support unmanned vehicle system of water |
| CN109720571A (en) * | 2017-10-31 | 2019-05-07 | 一飞智控(天津)科技有限公司 | The unmanned device of manned helicopter |
| CN110217385A (en) * | 2019-05-26 | 2019-09-10 | 苏州科技大学 | The amphibious unmanned plane of rotor type |
| CN110662662A (en) * | 2017-04-27 | 2020-01-07 | 弗莱昂空中系统有限公司 | Integrated air-ground transport system |
| CN111516443A (en) * | 2020-05-08 | 2020-08-11 | 中国人民解放军陆军炮兵防空兵学院 | Hollow wheel multi-rotor aerocar |
| CN112406434A (en) * | 2019-08-23 | 2021-02-26 | 中国科学院沈阳自动化研究所 | Electric water-air dual-purpose propeller |
| CN109720571B (en) * | 2017-10-31 | 2024-04-26 | 一飞智控(天津)科技有限公司 | Unmanned device of manned helicopter |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106739890A (en) * | 2016-12-01 | 2017-05-31 | 天津农学院 | Wheel-leg combined type amphibious robot with ground moving and sporting flying mode |
| CN110662662A (en) * | 2017-04-27 | 2020-01-07 | 弗莱昂空中系统有限公司 | Integrated air-ground transport system |
| CN107010215A (en) * | 2017-05-31 | 2017-08-04 | 锐合防务技术（北京）有限公司 | Aircraft |
| CN107010215B (en) * | 2017-05-31 | 2023-06-23 | 瑞电恩吉能源技术(深圳)有限公司 | Aircraft with a plurality of aircraft body |
| CN107639983A (en) * | 2017-10-10 | 2018-01-30 | 南京工程学院 | A kind of land and air double-used quadrotor |
| CN109720571B (en) * | 2017-10-31 | 2024-04-26 | 一飞智控(天津)科技有限公司 | Unmanned device of manned helicopter |
| CN109720571A (en) * | 2017-10-31 | 2019-05-07 | 一飞智控(天津)科技有限公司 | The unmanned device of manned helicopter |
| CN108819630A (en) * | 2018-06-15 | 2018-11-16 | 南京理工大学 | A kind of land, water and air Bi Duoqi robot and its control method |
| CN108819631B (en) * | 2018-06-15 | 2021-09-03 | 南京理工大学 | Amphibious robot with two rotor wing balance cars and control method thereof |
| CN108819630B (en) * | 2018-06-15 | 2021-09-21 | 南京理工大学 | Water, land and air wall multi-purpose robot and control method thereof |
| CN108819631A (en) * | 2018-06-15 | 2018-11-16 | 南京理工大学 | Two rotor balance car land, water and air Duo Qi robots of one kind and its control method |
| CN109358654B (en) * | 2018-11-16 | 2022-03-29 | 江苏科技大学 | Water-air amphibious search and rescue support unmanned aerial vehicle system |
| CN109358654A (en) * | 2018-11-16 | 2019-02-19 | 江苏科技大学 | A kind of empty amphibious search and rescue support unmanned vehicle system of water |
| CN110217385A (en) * | 2019-05-26 | 2019-09-10 | 苏州科技大学 | The amphibious unmanned plane of rotor type |
| CN112406434A (en) * | 2019-08-23 | 2021-02-26 | 中国科学院沈阳自动化研究所 | Electric water-air dual-purpose propeller |
| CN112406434B (en) * | 2019-08-23 | 2022-01-18 | 中国科学院沈阳自动化研究所 | Electric water-air dual-purpose propeller |
| CN111516443A (en) * | 2020-05-08 | 2020-08-11 | 中国人民解放军陆军炮兵防空兵学院 | Hollow wheel multi-rotor aerocar |
| CN111516443B (en) * | 2020-05-08 | 2021-07-13 | 中国人民解放军陆军炮兵防空兵学院 | Hollow wheel multi-rotor aerocar |
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