CN106004287B - Amphibious multifunctional vertical landing aircraft - Google Patents
Amphibious multifunctional vertical landing aircraft Download PDFInfo
- Publication number
- CN106004287B CN106004287B CN201610482793.4A CN201610482793A CN106004287B CN 106004287 B CN106004287 B CN 106004287B CN 201610482793 A CN201610482793 A CN 201610482793A CN 106004287 B CN106004287 B CN 106004287B
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- aircraft
- propeller
- steering engine
- pattern
- brushless motor
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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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Remote Sensing (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The present invention mainly proposes a kind of vertically taking off and landing flyer of new architecture, and composition includes：Propeller, DC brushless motor, steering engine, stepper motor and support base；The DC brushless motor is connect with propeller, and DC brushless motor is that main power output unit provides power by driving propeller rotational for aircraft；The steering engine is connected by steering engine control arm with DC brushless motor and propeller, and the level angle of propellerpiston is controlled, and realizes that the vertical of aircraft is climbed and forward flight；The stepper motor is set on the base, and is connected with steering engine control arm；The support base be four foot support bases, support base can dismounting and change be pulley seat or ship type pedestal；The Flight Vehicle Structure is reliable and stable, three kinds of aerial, land, water surface sail mode easy switchings, and future, which can search and rescue in civilian manned vehicle, military investigation aircraft, the water surface on a variety of directions such as aircraft, more development.
Description
Technical field
The invention belongs to aircraft manufacture fields, and in particular to a kind of novel airplane architecture is using single power system
In the case of system, a variety of sail modes such as airflight, land sailing and surface navigation can be met simultaneously.
Background technology
Vertically taking off and landing flyer is stagnant in zonule because take-off venue limits smaller for Fixed Wing AirVehicle
Empty ability is stronger, is favored by many people.However, either traditional helicopter or currently popular more rotations
The wing all lacks land, the locomitivity on the water surface in the case where not adding additional power plant.In limitation flight or sky
Between a lower height of special area, aircraft can only rely on artificial carrying, water surface flying overhead meet emergency situations need it is urgent
When landing, can even more there be the danger to hit the drink.It is above various, seriously limit the function of vertically taking off and landing flyer.If
It realizes that land and surface navigation ability additionally add power plant, can not only so that Flight Vehicle Structure is more complicated, cost higher,
And it will increase the weight of aircraft itself.
To solve the above problems, we devise it is a using single power system, by replaceable multifunctional base
Just may be implemented in water, land and air etc. it is a variety of in the case of the multifunction aircraft that navigates by water.
Invention content
Main innovation point of the present invention is that design proposes a kind of vertically taking off and landing flyer of new architecture, this aircraft is prominent
The limitation of airflight can only be carried out by having broken conventional vertical landing aircraft, be had the case where not adding other power plants
Under, it can be in the water surface, the ability of land navigation so that the purposes of single rotor vertically taking off and landing flyer greatly expands.
The structure composition of amphibious multifunctional vertical landing aircraft includes：Propeller, DC brushless motor, steering engine, stepping
Motor and support base；The DC brushless motor is connect with propeller, and DC brushless motor is main power output unit, is led to
Drive propeller rotational is crossed, power is provided for aircraft；The steering engine passes through steering engine control arm and DC brushless motor and spiral
Paddle is connected, and controls the level angle of propellerpiston, realizes that the vertical of aircraft is climbed and forward flight；The stepping electricity
Machine is set on the base, and by being connected to control propeller with steering engine control arm；The support base supports for four feet
Pedestal, support base can dismounting and change be pulley seat or ship type pedestal.
The stepper motor can 360 ° rotation, to change the direction of travel of the aircraft.
The steering engine is arranged on rectangular steering engine support base, left back, right the first two diagonal position of rectangular steering engine support base
It is provided with auxiliary rotor holder, the opposite auxiliary rotor in direction is correspondingly arranged on two auxiliary rotor holders；The auxiliary rotation
The installation site of the wing is more than the radius of auxiliary rotor with the distance between surfaces of revolution where steering engine control arm.
The amphibious multifunctional vertical landing aircraft, multi-functional navigation control method are：
(1) airflight pattern：Propellerpiston is substantially parallel to the ground under the pattern or small angle inclination, master
Kinetic energy output is wanted to overcome gravity acting；In flight course, when the surfaces of revolution of propeller is parallel to the ground, aircraft can be real
The lifting of existing hovering and vertical direction；When servos control propellerpiston tilts by a small margin, can be provided for aircraft
Preceding winged power, at this point, the control of heading can be achieved in stepper motor rotation；
(2) land sailing pattern：Land sailing pattern can realize that the traveling of aircraft on the ground, the pattern are equipped with
Pulley seat；Under servos control, propellerpiston is substantially perpendicular to the ground, and DC brushless motor drives propeller rotation at this time
Turn, generate the forward pulling force in direction, aircraft is driven to advance；The deflection angle of step motor control propeller under the pattern
Degree, it can be achieved that aircraft land steering；To keep steering steady, pulley seat, as support, is protected using four universal wheels
Card aircraft on the ground multi-party marches forward；
(3) surface navigation pattern：Surface navigation pattern can realize that band is assembled in traveling of the aircraft on the water surface, the pattern
There is ship type pedestal；Surface navigation pattern and land sailing pattern are essentially identical, and under the pattern, the surfaces of revolution of propeller is in steering engine control
It is substantially vertical with the water surface under system, it is driven by DC brushless motor before generating to pulling force, aircraft is driven to advance；The electricity of stepping at this time
Machine is equally the direction of advance for controlling aircraft, unlike, under such pattern, stepper motor drives aircraft deflecting process
In, the rotating speed of propeller should be suitably reduced, after hull pedestal completes body amendment under the action of flow, is accelerated again；This
The purpose that sample is done, which is that the resistance to water-flow that prevents the side of hull pedestal to be subject to is uneven, to be caused to turn on one's side, it is ensured that aircraft is on the water surface
Steady traveling.
Because of the presence of steering engine, propeller can realize the adjusting of wide-angle.When steering engine drives the surfaces of revolution of propeller to make
When 90 ° of rotations, the power output main function of propeller in the horizontal direction on, aircraft auxiliary is with pulley or ship type bottom at this time
Seat 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 also will produce anti-twisted power drive while providing lift for fuselage
Fuselage rotates, and flight effect is influenced, here, it is proposed that two sets of solutions.
Scheme one：It is anti-twisted when the surfaces of revolution of propeller is parallel to the ground and when aircraft only does the movement of vertical direction
Influence of the power to fuselage is the most apparent；In such cases, anti-twisted power can be overcome to fuselage by the reverse rotation of stepper motor
It influences, cost is loss part efficiency；Under the action of stepper motor, the surfaces of revolution and the ground of propeller generate centainly
When inclination angle and aircraft forward flight, as shown in figure 5, the gravity of aircraft itself effectively can overcome anti-twisted power to aircraft
It influences, the rotation of stepper motor at this time is mainly used for controlling heading.Such scheme can reduce aircraft cost, can be used for letter
Solo flight row.
Scheme two：Add auxiliary rotor.In opposite two of left back, right the first two diagonal position setting direction of aircraft
Auxiliary rotor shown in Fig. 6, under the collective effect of two auxiliary rotors, will produce opposite with the anti-twisted force direction of main screw
Torsion, the two are cancelled out each other, and ensure the smooth flight of aircraft.It touches, is setting to prevent the control arm of auxiliary rotor and steering engine from wiping
Count auxiliary rotor holder, it should be ensured that the distance between the installation site of auxiliary rotor and the surfaces of revolution where control arm are more than auxiliary rotation
The radius of the wing.
Compared with prior art, the invention has the advantages that：
(1) the amphibious operational capabilities of vertically taking off and landing flyer are realized；
(2) single main rotor is exported as main kinetic energy, simplifies structure；
(3) servos control power output direction, step motor control direction of travel ensure that the flexibility, steady of aircraft
Qualitative and mobility；
(4) can the multi-functional sub-mount of replacement easy to disassemble can meet the needs of different flights.
Description of the drawings
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 vertical 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 engine, 4, stepper motor, 5, auxiliary rotor, 6, steering engine control arm, 7,
Auxiliary rotor holder, 8, support base, 9, pulley seat, 10, ship type pedestal, 11, rectangular steering engine support base.
Specific implementation mode
The structure composition of amphibious multifunctional vertical landing aircraft includes：Propeller 1, DC brushless motor 2, steering engine 3, step
Stepper motor 4 and support base 8；The DC brushless motor 2 is connect with propeller 1, and DC brushless motor 2 is main power output
Unit provides power by driving propeller 1 to rotate for aircraft；The steering engine 3 passes through steering engine control arm 6 and brush DC
Motor 2 is connected with propeller 1, controls the level angle of 1 surfaces of revolution of propeller, realizes that the vertical of aircraft climbs and advance winged
Row；The stepper motor 4 is arranged in support base 8, and by being connected to control propeller 1 with steering engine control arm；Institute
State support base 8 be four foot support bases, support base 8 can dismounting and change be pulley seat 9 or ship type pedestal 10.
The stepper motor 4 can 360 ° rotation, to change the direction of travel of the aircraft.
The steering engine 3 is arranged on rectangular steering engine support base 11, and left back, right the first two of rectangular steering engine support base 11 is diagonal
Position is provided with auxiliary rotor holder 7, and the opposite auxiliary rotor 5 in direction is correspondingly arranged on two auxiliary rotor holders 7；It is described
The distance between the installation site of auxiliary rotor 5 and the 6 place surfaces of revolution of steering engine control arm are more than the radius of auxiliary rotor 5.
Because of the presence of steering engine 3, propeller 1 can realize the adjusting of wide-angle.When steering engine 3 drives the surfaces of revolution of propeller 1
When making 90 ° of rotations, the power output main function of propeller 1 in the horizontal direction on, aircraft auxiliary is with pulley seat 9 at this time
Or ship type pedestal 10, there can be 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.
The amphibious multifunctional vertical landing aircraft, multi-functional navigation control method are：
(1) airflight pattern：1 surfaces of revolution of propeller is substantially parallel to the ground under the pattern or small angle inclination, master
Kinetic energy output is wanted to overcome gravity acting；In flight course, when the surfaces of revolution of propeller 1 is parallel to the ground, aircraft can
Realize the lifting of hovering and vertical direction；Can be aircraft when steering engine 3, which controls 1 surfaces of revolution of propeller, to be tilted by a small margin
Winged power before providing, at this point, the control of heading can be achieved in the rotation of stepper motor 4；
(2) land sailing pattern：Land sailing pattern can realize that the traveling of aircraft on the ground, the pattern are equipped with
Pulley seat 9；Under the control of steering engine 3,1 surfaces of revolution of propeller is substantially perpendicular to the ground, and DC brushless motor 2 drives spiral at this time
Paddle 1 rotates, and generates the forward pulling force in direction, and aircraft is driven to advance；Stepper motor 4 controls the left and right of propeller 1 under the pattern
Deflection angle, it can be achieved that aircraft land steering；To keep steering steady, pulley seat 9 uses four universal wheel conducts
Support ensures that aircraft on the ground multi-party marches forward；
(3) surface navigation pattern：Surface navigation pattern can realize that band is assembled in traveling of the aircraft on the water surface, the pattern
There is ship type pedestal 10；Surface navigation pattern and land sailing pattern are essentially identical, and under the pattern, the surfaces of revolution of propeller 1 is in rudder
Machine 3 is substantially vertical with the water surface under controlling, and is driven by DC brushless motor 2 before generating to pulling force, aircraft is driven to advance.At this time
Stepper motor 4 is equally the direction of advance for controlling aircraft, unlike, under such pattern, stepper motor 4 drives aircraft to become
To in the process, the rotating speed of propeller 1 should be suitably reduced, after hull pedestal 10 completes body amendment under the action of flow, weight
It is new to accelerate.The purpose for the arrangement is that preventing the resistance to water-flow that the side of hull pedestal 10 is subject to is uneven from causing to turn on one's side, it is ensured that fly
Steady traveling of the row device on the water surface.
During practical flight, propeller 1 also will produce anti-twisted power drive while providing lift for fuselage
Fuselage rotates, and flight effect is influenced, here, it is proposed that two sets of solutions.
Scheme one：When the surfaces of revolution of propeller 1 is parallel to the ground and when aircraft only does the movement of vertical direction, instead
Influence of the torsion to fuselage is the most apparent.In such cases, anti-twisted power can be overcome to fuselage by the reverse rotation of stepper motor 4
Influence, cost be loss part efficiency.Under the action of stepper motor 4, the surfaces of revolution and the ground of propeller 1 generate one
When fixed inclination angle and aircraft forward flight（As shown in Figure 5）, the gravity of aircraft itself can effectively overcome anti-twisted power to flight
The influence of device, the at this time rotation of stepper motor 4 are mainly used for controlling heading.Such scheme can reduce aircraft cost, can
For simply flying.
Scheme two：Add auxiliary rotor 5.Left back, right the first two diagonal position setting direction of aircraft it is opposite two
A auxiliary rotor 5 shown in Fig. 6, under the collective effect of two auxiliary rotors 5, will produce and 1 anti-twisted force direction phase of main screw
Anti- torsion, the two are cancelled out each other, and ensure the smooth flight of aircraft.To prevent auxiliary rotor 5 and the control arm of steering engine 3 from wiping
It touches, in Design assistant rotor holder 7, it should be ensured that between the 6 place surfaces of revolution of installation site and steering engine control arm of auxiliary rotor 5
Distance be more than auxiliary rotor 5 radius.
Claims (4)
1. amphibious multifunctional vertical landing aircraft, which is characterized in that its structure composition includes：Propeller, DC brushless motor,
Steering engine, stepper motor and support base；The DC brushless motor is connect with propeller, and DC brushless motor is that major power is defeated
Go out unit, by driving propeller rotational, power is provided for aircraft；The steering engine passes through steering engine control arm and brush DC electricity
Machine is connected with propeller, controls the level angle of propellerpiston, realizes that the vertical of aircraft is climbed and forward flight；Institute
It states steering engine to be arranged on rectangular steering engine support base, left back, right the first two diagonal position of rectangular steering engine support base is provided with auxiliary
Rotor holder is correspondingly arranged on the opposite auxiliary rotor in direction on two auxiliary rotor holders；The stepper motor setting is being propped up
It supports on pedestal, and is connected with steering engine control arm；The support base is four foot support bases, and support base being capable of dismounting and change
For pulley seat or ship type pedestal.
2. amphibious multifunctional vertical landing aircraft according to claim 1, which is characterized in that the stepper motor can
360 ° of rotations, to change the direction of travel of the aircraft.
3. amphibious multifunctional vertical landing aircraft according to claim 1, which is characterized in that the peace of the auxiliary rotor
Holding position is more than the radius of auxiliary rotor with the distance between surfaces of revolution where steering engine control arm.
4. amphibious multifunctional vertical landing aircraft according to claim 1, which is characterized in that its multi-functional navigation control
Method is：
(1) airflight pattern：Propellerpiston is substantially parallel to the ground under the pattern or small angle inclination, main kinetic energy
Output is to overcome gravity acting；In flight course, when the surfaces of revolution of propeller is parallel to the ground, aircraft can be realized in the air
The lifting of hovering and vertical direction；When servos control propellerpiston tilts by a small margin, fly before being provided for aircraft
Power, at this point, the control of heading can be achieved in stepper motor rotation；
(2) land sailing pattern：Land sailing pattern can realize that the traveling of aircraft on the ground, the pattern are equipped with pulley bottom
Seat；Under servos control, propellerpiston is substantially perpendicular to the ground, and DC brushless motor drives propeller rotation, production at this time
The raw forward pulling force in direction, drives aircraft to advance；The deflection angle of step motor control propeller under the pattern, can be real
Steering of the existing aircraft in land；To keep steering steady, pulley seat, as support, ensures aircraft using four universal wheels
On the ground multi-party marches forward；
(3) surface navigation pattern：Surface navigation pattern can realize that traveling of the aircraft on the water surface, pattern assembly carry ship type
Pedestal；Surface navigation pattern and land sailing pattern are essentially identical, under the pattern, the surfaces of revolution of the propeller base under servos control
This is vertical with the water surface, is driven by DC brushless motor before generating to pulling force, aircraft is driven to advance；Step motor control at this time
The direction of advance of aircraft, during stepper motor drives aircraft deflecting, the appropriate rotating speed for reducing propeller waits for hull pedestal
After completing body amendment under the action of flow, accelerate again, it is ensured that steady traveling of the aircraft on the water surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610482793.4A CN106004287B (en) | 2016-06-28 | 2016-06-28 | Amphibious multifunctional vertical landing aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610482793.4A CN106004287B (en) | 2016-06-28 | 2016-06-28 | Amphibious multifunctional vertical landing aircraft |
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| CN106004287A CN106004287A (en) | 2016-10-12 |
| CN106004287B true CN106004287B (en) | 2018-10-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2752769C1 (en) * | 2020-11-23 | 2021-08-03 | Сергей Васильевич Румянцев | Rescue aircraft |
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| 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 |
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| CN107639983A (en) * | 2017-10-10 | 2018-01-30 | 南京工程学院 | A kind of land and air double-used quadrotor |
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| 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 |
| 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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| US3096044A (en) * | 1962-02-08 | 1963-07-02 | Gould Morray Whitfield | Helicopter |
| CN1065433A (en) * | 1991-12-30 | 1992-10-21 | 王福生 | Long-range and high-speed rotor helicopter |
| SE9800231D0 (en) * | 1998-01-28 | 1998-01-28 | Avia Adviser Hb | Unmanned rotor-carrying aircraft |
| US6598827B2 (en) * | 1998-11-16 | 2003-07-29 | Tom Kusic | Telescopic vertical take-off aircraft |
| SE516367C2 (en) * | 2000-10-23 | 2002-01-08 | Unmanned rotor propelled aircraft, controlled by rudders actuated by air flow from rotor, and provided with articulated rotor shaft | |
| CN101804862B (en) * | 2010-04-07 | 2013-10-02 | 南京航空航天大学 | Thrust steering device of unmanned aerial vehicle and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2752769C1 (en) * | 2020-11-23 | 2021-08-03 | Сергей Васильевич Румянцев | Rescue aircraft |
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| CN106004287A (en) | 2016-10-12 |
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