CN106314787B - Aircraft - Google Patents
Aircraft Download PDFInfo
- Publication number
- CN106314787B CN106314787B CN201610811579.9A CN201610811579A CN106314787B CN 106314787 B CN106314787 B CN 106314787B CN 201610811579 A CN201610811579 A CN 201610811579A CN 106314787 B CN106314787 B CN 106314787B
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- CN
- China
- Prior art keywords
- aircraft
- propeller
- metaplasm
- pair
- rudder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
- B64C9/02—Mounting or supporting thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
- B64C2009/005—Ailerons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
- B64C2027/8227—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft comprising more than one rotor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
- B64C2027/8236—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft including pusher propellers
Abstract
It includes: aircraft body that the present invention, which provides a kind of aircraft, the main rotor device for being used to generate vertical thrust being mounted in the aircraft body and the multiple metaplasm devices for being used to generate lateral thrust being mounted on around the aircraft body, the multiple metaplasm device are formed with the multipair propeller turned to for aircraft and the multipair propeller translated for aircraft.Since the present invention is to realize the steering and translation of aircraft by the pairs of propeller of multiple metaplasm devices formation, so aircraft of the invention is not in the inclination of fuselage when realizing steering or translation motion, to ensure that the smooth flight of aircraft.Meanwhile aircraft of the invention can rapidly respond steering and translation instruction, so that the control to aircraft is more flexibly rapid.
Description
Technical field
The present embodiments relate to technical field of aerospace more particularly to a kind of aircraft.
Background technique
With the development of science and technology, multi-rotor aerocraft applied in various industries field it is more and more extensive, therefore by
The favor of the majority of consumers and enterprise.Multi-rotor aerocraft structure includes four or multiple rotors being horizontally mounted, Duo Zhongchuan
Sensor and control system composition.
Since the rotor of Multi-axis aircraft currently on the market is all horizontally mounted, so in order to realize the flat of aircraft
It moves, is merely able to complete the change of posture by the speed difference between controlled level rotor.For example, forward, backward, to the left, to the right
Movement and around axis body clockwise and counterclockwise rotation.But this speed difference by between controlled level rotor changes
Flight attitude method makes aircraft can not smooth flight.For example, for quadrotor, when control aircraft
It needs to increase the revolving speed of two rotors on the right of aircraft when flight to the left, reduces the revolving speed of two rotors in the left side.Due to four
Rotor is horizontally mounted so entire aircraft is necessarily caused the inclination of left low and right high occur, and the rolling of entire fuselage is caused
It is dynamic.
It on the one hand, is just to need to configure to require high holder since the shaking of fuselage causes aircraft to be used to take photo by plane
The steady of photographic device is kept, to guarantee the quality of shooting picture.So configuration high-performance holder institute band is necessarily increased
The expense come.
On the other hand, if necessary to realize rapidly realize the moving to left of aircraft if just need to increase aircraft or so two
The rotating speed difference of the rotor on side, and the bigger inclination that aircraft generation will be caused bigger of rotating speed difference.Excessive inclination will be led
Cause aircraft out of hand (because control system is the detection knot by the gyroscope of the state of flight for sense aircraft
Fruit controls the safe flight of aircraft, and the range of gyroscope is limited, so being tilted beyond gyro when aircraft
Control system will lose control to aircraft when the range of instrument, cause security risk).Therefore, in order to guarantee flight safety
Property, aircraft in the prior art can not timely respond the course changing control to aircraft.
Summary of the invention
The embodiment of the present invention provides a kind of aircraft, and the aircraft at least to solve in above-mentioned technical problem can not be put down
The technical issues of steady flight.
In some embodiments, aircraft provided by the invention includes: aircraft body, is mounted on the aircraft body
On for generate vertical thrust main rotor device and be mounted on around the aircraft body be used for generate lateral thrust
Multiple metaplasm devices, the multiple metaplasm device is formed with the multipair propeller turned to for aircraft and multipair for flying
The propeller of device translation.
The aircraft of the present embodiment is provided by main rotor device promotes power to realize lifting, by being mounted on aircraft
Multiple metaplasm devices around main body provide the power of horizontal direction to realize the steering of aircraft or move horizontally.Due to this
Embodiment is that the steering and translation of aircraft are realized by the pairs of propeller of multiple metaplasm devices formation, so this reality
The aircraft for applying example is not in the inclination of fuselage when realizing steering or translation motion, to ensure that the steady of aircraft
Flight.Simultaneously as being special metaplasm device to control the steering of aircraft and move horizontally, so the present embodiment flies
Row device can rapidly respond steering and translation instruction, so that the control to aircraft is more flexibly rapid.
In some embodiments, the multipair propeller turned to for aircraft includes at least a pair of clockwise for aircraft
The propeller of steering and a pair of propeller turned to counterclockwise for aircraft；
A propeller in the pair of propeller turned to clockwise for aircraft is with the pair of for flying
A propeller shape in the propeller that device the turns to counterclockwise propeller for aircraft translation in a pair.
By being set as the propeller for being used to turn to and the propeller for being used to translate to include at least one in the present embodiment
The propeller for turning to and translating for realizing aircraft has been reduced at least by the structure of public propeller, to simplify winged
The structure of row device alleviates the overall weight of aircraft.On the other hand, during realizing the steering and translation to aircraft
Reduce the quantity for needing the propeller controlled, the processing to data volume is reduced, to simplify the control to aircraft.
In some embodiments, multiple metaplasm devices are around the aircraft body according to the uniform cloth of predetermined space
It sets.Entire aircraft is made to be able to maintain weight distribution according to multiple metaplasm devices that predetermined space is evenly arranged in the present embodiment
On equilibrium, be conducive to aircraft smooth flight.
In some embodiments, multiple batteries have been evenly arranged according to predetermined space around the aircraft body to pacify
Fill seat；Wherein the every two adjacent metaplasm device in the multiple metaplasm device is both with respect at least one battery mounting base pair
Claim the left and right sides for being arranged at least one battery mounting base.
Battery mounting base is evenly distributed on the structure around aircraft body in the present embodiment and makes all of installation
It is mutually isolated between battery, be conducive to quickly distribute heat caused by battery in the course of work, avoid heat production collection
In damage to the damage of battery and to whole aircraft.
It in some embodiments, further include being mounted on the arrow being located at below the main rotor device in the aircraft body
Measure rudder；The vector rudder can be rotated to change the area towards the main rotor device.
In some embodiments, vector rudder includes:
Steering engine and the multiple rudder blades being connected with the steering engine, the rudder blade is the cyclic annular profile of class isosceles trapezoid, described
Four angles of cyclic annular profile are rounding off.
Vector rudder in the present embodiment can realize aircraft for assisting when the metaplasm device of aircraft breaks down
Steering and translation, to guarantee in the case where metaplasm device breaks down still to can be realized safe flight and the control of aircraft
System, increases the safety coefficient of aircraft.
In some embodiments, metaplasm device include for connect two adjacent battery mounting bases along first party
To extension the first linking arm,
Along be different from the first direction second direction extend the second linking arm, one end of second linking arm with
The first linking arm connection, the other end are equipped with the motor for driving propeller.By two along difference in the present embodiment
The motor for being used to drive propeller is mounted on the structure in aircraft body by the linking arm in direction
In some embodiments, the other end of second linking arm is provided with two fork of class V-arrangement, in two fork
The first fork and the second fork be separately installed with first motor and the second motor for driving propeller.
In some embodiments, propeller is coaxial double paddles.
In some embodiments, main rotor device is coaxial double-rotary wing.
It in some embodiments, further include the photographic device being mounted in the aircraft body.
In some embodiments, aircraft body is the ring-shaped frame for being formed with hollow space；The main rotor device peace
In the hollow centre of the ring-shaped frame.
In some embodiments, ring-shaped frame includes the upper supporting mechanism of annular, the lower supporting mechanism of annular and multiple battery holders；
One end of the multiple battery holder is fixed on the upper supporting mechanism of the annular, and the other end is fixed on the lower supporting mechanism of the annular
On；The multiple battery holder is uniformly distributed around the ring-shaped frame.
The present invention is a kind of aircraft different from existing product, its structure is simple, flight stability, securely and reliably.It
Existing product is different from structure, mainly by the main rotor device positioned at center offer power and vector rudder below, position
In multiple metaplasm devices that body surrounding is at an angle of certainly.No matter the method for realizing the control of aircraft redundance, take off, and lands,
Cruise can keep horizontal attitude.It is to be changed during translation by the revolving speed for being located at multiple metaplasm devices of main body surrounding
Become, makes aircraft that position change occur, while the vector rudder below inclination main rotor device, change of flight device side can also be passed through
To.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram of one embodiment of aircraft of the present invention；
Fig. 2 is the structural representation of one embodiment of the annular frame for being mounted with main rotor device of aircraft of the present invention
Figure；
Fig. 3 is the structural schematic diagram of one embodiment of the metaplasm device of aircraft of the present invention；
Fig. 4 is the structural schematic diagram of one embodiment of the mounting means of the vector rudder of aircraft of the present invention；
Fig. 5 is the structural schematic diagram of one embodiment of the vector rudder of aircraft of the present invention；
Fig. 6 is the top view of one embodiment of aircraft of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1, the embodiment of the present invention provides a kind of aircraft, the aircraft includes:
Aircraft body 1；
The main rotor device 2 for being used to generate vertical thrust being mounted in the aircraft body 1；It is described winged with being mounted on
The multiple metaplasm devices 3 for being used to generate lateral thrust around row device main body 1, the multiple metaplasm device 3 are formed with multipair use
In propeller and the multipair propeller for aircraft translation that aircraft turns to.
The flying instrument of the present embodiment, which is provided with, promotes power to realize the main rotor device 2 of lifting and be mounted on aircraft
Multiple metaplasm devices 3 of the power of offer horizontal direction around main body to realize the steering of aircraft or move horizontally.By
The steering and translation of aircraft, institute are realized in the present embodiment is the pairs of propeller that is formed by multiple metaplasm devices 3
Be not in the inclination of fuselage when realizing steering or translation motion with the aircraft of the present embodiment, to ensure that aircraft
Smooth flight.Simultaneously as being special metaplasm device to control the steering of aircraft and move horizontally, so this implementation
The aircraft of example can rapidly respond steering and translation instruction, so that the control to aircraft is more flexibly rapid.
In some embodiments, the multipair propeller turned to for aircraft includes at least a pair of suitable for aircraft
The propeller and a pair of propeller turned to counterclockwise for aircraft that hour hands turn to；
A propeller in the pair of propeller turned to clockwise for aircraft is with the pair of for flying
A propeller shape in the propeller that device the turns to counterclockwise propeller for aircraft translation in a pair.
By being set as the propeller for being used to turn to and the propeller for being used to translate to include at least one in the present embodiment
The propeller for turning to and translating for realizing aircraft has been reduced at least by the structure of public propeller, to simplify winged
The structure of row device alleviates the overall weight of aircraft.On the other hand, during realizing the steering and translation to aircraft
Reduce the quantity for needing the propeller controlled, the processing to data volume is reduced, to simplify the control to aircraft.
Aircraft body 1 in embodiment shown in FIG. 1 is the ring-shaped frame 1 for being formed with hollow space, and main rotor
Device is mounted in the hollow space of the ring-shaped frame 1.But it is ring that aircraft of the invention, which is not limited to aircraft body,
The aircraft of shape frame, aircraft body can be arbitrary shape, and main rotor device can be mounted in aircraft body
Either above or below.In order to more clearly protrude inventive point of the invention, below using aircraft body as ring frame
The embodiment of frame describes in detail.Annular frame 1 in the present embodiment can be also possible to regular polygon for circular ring shape
Cyclic annular (for example, regular pentagon, regular hexagon etc.).The aircraft of embodiment illustrated in fig. 1 further includes being mounted on annular frame
Fly control installation base plate 5, the winged control installation base plate 5 flies control device 7 for carrying.
In some embodiments, ring-shaped frame 1 includes the upper supporting mechanism of annular, the lower supporting mechanism of annular and multiple batteries
Seat；One end of the multiple battery holder is fixed on the upper supporting mechanism of the annular, and the other end is fixed on the lower support of the annular
In mechanism；The multiple battery holder is uniformly distributed around the ring-shaped frame.
Annular frame 1 in embodiment as shown in Figure 2 includes multiple battery holders 11, muti-piece annular base plate 12 and multiple substrates
Connector 13.Annular base plate 12 shares four pieces in the present embodiment, and every two pieces of annular base plates 12 and multiple substrate connectors 13 are total
With one supporting mechanism of composition (supporting mechanism and the lower supporting mechanism of annular in annular).Two supporting mechanisms of the present embodiment are opposite
Setting, and 13 position of substrate connector included in two supporting mechanisms is opposite.One end of battery holder 11 is fixed on one
On the substrate connector 13 of supporting mechanism, the other end of battery holder 11 is fixed on the substrate connector 13 of another supporting mechanism
On, battery holders 11 multiple in this way, muti-piece annular base plate 12 and multiple substrate connectors 13 just together constitute annular frame.First
Annular base plate 12, substrate connector 13 and battery holder 11 are fixed by screw, each battery holder 11 of vertical direction be by
Upper and lower two screws are connect with annular base plate 12 and substrate connector 13 at rigid body, horizontally again by three screws by they at
Rigid body connection thus constitutes local three-legged structure enhancing stability.Annular frame in the present embodiment subtracts to the greatest extent
The light weight of itself, so that more long continuation of the journey can be obtained when ensure that for aircraft.In addition, the ring frame in the present embodiment
Frame can also be integrally formed, and which reduces the presence in the connection gap between the connecting component of dispersion, avoid winged
The resonance damage caused by entire body that may cause during row, eventually affects the safety of flight.
It further include main rotor device in embodiment illustrated in fig. 2, the main rotor device 2 includes main rotor 21, motor installation
Seat 22 and multiple arm bars 23.Wherein main rotor device 2 is mounted in annular frame by multiple arm bars 23.Arm bar
23 quantity is identical as the quantity of battery holder 11, and one end of multiple arm bars 23 is fixed on motor mount 22, another
End is fixedly mounted on battery holder 11.Multiple arm bars 23 are evenly distributed on around motor mount 22.
The mounting means of main rotor device 2 is by upper and lower two motor mounts 22 by the identical arm of force of four thickness length
About 23 bar is clamped, then is fixed into rigid body by screw and glue, is then rigidly connected by the structure and battery holder 11.When
When main rotor 21 rotates, generated lift is transmitted to battery holder 11 by arm bar 23, and such battery holder 11 just becomes the main force
Bearing member.
In some embodiments, main rotor device 2 is coaxial double-rotary wing.By that will be used to provide lift in the present embodiment
Power device is set as coaxial double-rotary wing and counteracts main rotor device torsion caused by aircraft body, to avoid aircraft
Main body with main rotor device rotation.
In some embodiments, metaplasm device includes
For connecting the first linking arm of two adjacent battery mounting bases extended in a first direction, and
Along be different from the first direction second direction extend the second linking arm, one end of second linking arm with
The first linking arm connection, the other end are equipped with the motor for driving propeller.
As shown in Figure 3 in some embodiments, metaplasm device 3 includes propeller 31, motor 32, motor mount 33, machine
Armed lever 34 (i.e., the second linking arm), mounting base 35 are transversely mounted bar 36 (i.e., the first linking arm).Propeller 31 is with motor 32
It is screwed, motor mount 33 is also that screw is fixed with the mounting hole that motor 32 has corresponding motor 32.Motor mount
33 and horn bar 34 and horn bar 34 and mounting base 35 be all to be fixed with glue after grafting, this mounting means is simple and fast,
Mounting base 35 is screwed with bar 36 is transversely mounted, and is transversely mounted bar 36 for the screw thread with two adjacent battery holder side walls
Hole carries out screw and fixes.
In some embodiments, the other end of second linking arm is provided with two fork of class V-arrangement, in two fork
The first fork and the second fork be separately installed with first motor and the second motor for driving propeller.
Propeller in any of the above-described embodiment is single screw or coaxial double paddles.
As shown in figure 4, aircraft further includes the shield 6 for being mounted on 1 bottom of annular frame in some embodiments.
Shield 6 in the present embodiment is for protecting the main rotor device 2 inside annular frame 1 not by external sundries (for example, earth's surface is convex
Rise, branch when in-flight passing through trunk) damage extend service life to ensure that the safe flight of aircraft, drop
The low cost that aircraft is safeguarded.
As shown in Figure 1 and Figure 4, in some embodiments aircraft further include be mounted in the annular frame 1 with it is described
The opposite vector rudder 4 of main rotor device 2, the vector rudder 4 are located at the blowing direction side of the main rotor device 2；The arrow
Amount rudder 4 can be rotated to change the area towards the main rotor device 2.
As shown in figure 4, vector rudder 4 include: multiple rudder blades (for example, the first rudder blade 41, the second rudder blade 42, third rudder blade 43,
4th rudder blade 44) and include mounting base 45 for controlling the steering engine of the multiple rudder blade rotation, the center of the shield 6
Position is provided with fixing seat 61；Wherein, the multiple rudder blade passes through linking arm respectively and connect with the steering engine；The vector rudder 4
It is mounted in the fixing seat 61 by the mounting base.Multiple rudder blades are formed with the multipair rudder blade and more turned to for aircraft
To the rudder blade translated for aircraft.The rudder blade is at least cyclic annular or plate.
The present embodiment by increasing vector rudder 4, ensure that the metaplasm device 3 of aircraft break down be unable to complete it is normal
Aerial mission the case where get off to control vector rudder 4 continue normally fly or can at least be controlled by vector rudder 4
Aircraft adjustment direction simultaneously returns safely.In addition, the vector rudder 4 in the present embodiment can also be used to offset main rotor device 2 to ring
Torsion caused by shape frame 1, to avoid annular frame 1 with the rotation of main rotor device 2.
In some embodiments, the multipair rudder blade turned to for aircraft includes at least a pair of aircraft that is used for and turns clockwise
To rudder blade and a pair of rudder blade turned to counterclockwise for aircraft；
A rudder blade in the pair of rudder blade turned to clockwise for aircraft and the pair of to be used for aircraft inverse
The rudder blade in rudder blade that hour hands turn to forms a pair of rudder blade for aircraft translation.
With reference to Fig. 4, Fig. 5, rudder blade 41 is the cyclic annular profile of class isosceles trapezoid, and four angles of the ring-type profile are round and smooth mistake
It crosses.The annular profile is integrally formed.Or the shape of rudder blade 41 be by two panels it is round and smooth it is curved first connection panel 411,
The round and smooth curved second connection panel 412 of two panels, two panels central plane plate 413, upper bottom surface plate 414 and bottom panel 415 enclose
Class isosceles trapezoid；For connecting with the aircraft body, the both ends of the upper bottom surface plate 414 lead to upper bottom surface plate 414 respectively
It crosses a piece of first connection panel 411 to connect with one end of the two panels central plane plate 413, the both ends difference of the bottom panel 415
It is connect by a piece of second connection panel 412 with the other end of the two panels central plane plate 413.The first rudder blade is set in the present embodiment
41 and second be partially between rudder blade 42 aircraft front.The first rudder blade 41 and third rudder blade 43 in the present embodiment are a pair
The rudder blade turned to clockwise and/or counterclockwise for aircraft.The second rudder blade 42 and the 4th rudder blade 44 in the present embodiment are one
To the rudder blade turned to clockwise and/or counterclockwise for aircraft.First rudder blade 41 and the second rudder blade 42 are a pair of for flying
The rudder blade that device moves horizontally backward, third rudder blade 43 and the 4th rudder blade 44 are a pair of rudder mobile for aircraft forward horizontal
Leaf, the first rudder blade 41 and the 4th rudder blade 44 are a pair of rudder blade moved horizontally to the left for aircraft, the second rudder blade 42 and third
Rudder blade 43 is a pair of rudder blade moved horizontally to the right for aircraft.
In some embodiments, the method that aircraft carries out different directions translation and steering is controlled by vector rudder are as follows:
When aircraft is controlled to control device when right translation, is flown: the second rudder blade 42 rotates clockwise certain angle, third rudder blade
43 rotate counterclockwise certain angle, and the first rudder blade 41 rotates clockwise certain angle, and the 4th rudder blade 44 rotates counterclockwise certain angle
Degree, such aircraft can move horizontally to the right.Or it controls whole vector rudder and is tilted to the right.
When aircraft is to left, fly control device control: the second rudder blade 42 rotates counterclockwise certain angle, third rudder blade
43 rotate clockwise certain angle, and the first rudder blade 41 rotates counterclockwise certain angle, and the 4th rudder blade 44 rotates clockwise certain angle
Degree, such aircraft can level be moved to the left.Or it controls whole vector rudder and is tilted to the left.
When aircraft is translate forward, fly control device control: third rudder blade 43 rotates clockwise certain angle, the 4th rudder blade
44 rotate counterclockwise certain angle, and the first rudder blade 41 rotates counterclockwise certain angle, and the second rudder blade 42 rotates clockwise certain angle
Degree, such aircraft can move horizontally forward.Or it controls whole vector rudder and turns forward.
When aircraft translates backward, fly control device control: third rudder blade 43 rotates counterclockwise certain angle, the 4th rudder blade
44 rotate clockwise certain angle, and the first rudder blade 41 rotates clockwise certain angle, and the second rudder blade 42 rotates counterclockwise certain angle
Degree, such aircraft can level move backward.Or it controls whole vector rudder and tilts backwards.
When aircraft rotation counterclockwise around axis, fly control device control: the first rudder blade 41, third rudder blade 43, the second rudder blade
42 and the 4th rudder blade 44 rotate counterclockwise certain angle, such aircraft can rotate counterclockwise around axis.
When aircraft rotation clockwise around axis, fly control device control: the first rudder blade 41, third rudder blade 43, the second rudder blade
42 and the 4th rudder blade 44 rotate clockwise certain angle, aircraft can be rotated clockwise around axis.
In some embodiments, the multipair propeller turned to for aircraft includes at least a pair of clockwise for aircraft
The propeller of steering and a pair of propeller turned to counterclockwise for aircraft；
A propeller in the pair of propeller turned to clockwise for aircraft is with the pair of for flying
A propeller shape in the propeller that device turns to counterclockwise is used for the propeller of aircraft translation in a pair.
In some embodiments, it can also be tilted by controlling whole vector rudder to any direction to control aircraft to phase
It is corresponding to fly with inclined direction.I.e., it is possible to realize aircraft in the translation flight of 360 degree of any directions by vector rudder.
Fig. 6 is the top view of aircraft one embodiment of the present invention.First to fourth metaplasm device is shown in figure.This reality
Apply set in example between the first metaplasm device 21 and the second metaplasm device 22 be partially aircraft front.In the present embodiment
One metaplasm device 21 and third metaplasm device 23 are a pair of metaplasm device (corresponding a pair turned to clockwise for aircraft
Propeller is a pair of propeller turned to clockwise for aircraft).The second metaplasm device 22 and fourth officer in the present embodiment
Paddle device 24 is that (corresponding a pair of propeller is a pair of for flying to a pair of metaplasm device turned to counterclockwise for aircraft
The propeller that device turns to clockwise).First metaplasm device 21 and the second metaplasm device 22 are a pair of horizontal backward for aircraft
Mobile metaplasm device, third metaplasm device 23 and the 4th metaplasm device 24 are a pair of pair mobile for aircraft forward horizontal
Paddle device, the first metaplasm device 21 and the 4th metaplasm device 24 are a pair of metaplasm device moved horizontally to the right for aircraft,
Second metaplasm device 22 and third metaplasm device 23 are a pair of metaplasm device moved horizontally to the left for aircraft.
In some embodiments, the method that aircraft carries out different directions translation and steering is controlled by metaplasm device
Are as follows:
When aircraft is to when right translation, winged control device improves the revolving speed of the first metaplasm device 21 and the 4th metaplasm device 24,
The revolving speed of the second metaplasm device 22 and third metaplasm device 23 is reduced, such aircraft can move horizontally to the right.
When aircraft is to left, controller improves the revolving speed of the second metaplasm device 22 and third metaplasm device 23, drop
The revolving speed of low first metaplasm device 21 and the 4th metaplasm device 24, such aircraft can level be moved to the left.
When aircraft is translate forward, controller improves the revolving speed of third metaplasm device 23 and the 4th metaplasm device 24, drop
The speed of low first metaplasm device 21 and the second metaplasm device 22, aircraft can move horizontally forward.
When aircraft translates backward, controller improves the revolving speed of the first metaplasm device 21 and the second metaplasm device 22, drop
The revolving speed of low third metaplasm device 23 and the 4th metaplasm device 24, aircraft can level move backward.
When aircraft rotation counterclockwise around axis, controller improves turn of the second metaplasm device 22 and the 4th metaplasm device 24
Speed, reduces the revolving speed of the first metaplasm device 21 and third metaplasm device 23, and aircraft can rotate counterclockwise around axis.
When aircraft rotation clockwise around axis, controller improves turn of the first metaplasm device 21 and third metaplasm device 23
Speed, reduces the revolving speed of the second metaplasm device 22 and the 4th metaplasm device 24, and aircraft can be rotated clockwise around axis.
As shown in fig. 6, multiple metaplasm devices are around the ring-shaped frame according to predetermined space in some embodiments
It is evenly arranged, wherein the installation direction of each metaplasm device is the direction so that the blowing of propeller level, and propeller
Blowing direction and annular frame concentric circles it is tangent.The present embodiment realizes the steering of aircraft by least metaplasm device
With move horizontally, simplify the structure of aircraft, reduce the production cost of aircraft.
In some embodiments, multiple batteries have been evenly arranged according to predetermined space around the ring-shaped frame to install
Seat；Every two adjacent metaplasm device wherein in the multiple metaplasm device is symmetrical both with respect at least one battery mounting base
Arrangement.The reasonable Arrangement of middle battery mounting base and metaplasm device through this embodiment, so that entire aircraft matches fold symmetry, thus
It ensure that the smooth flight of aircraft.
In some embodiments, aircraft further includes the photographic device being mounted in the aircraft body.The present embodiment
In photographic device can be mounted on any positions such as inside or around aircraft body or top or lower part.This reality
Applying the photographic device in example to be can be common high definition or non-high definition camera device or VR photographic device.The present embodiment
Aircraft is due to can be with smooth flight, it is possible to can shoot with the holder for setting low precision low cost
The video pictures of high quality, to reduce the cost overhead of configuration high-precision holder.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (9)
1. a kind of aircraft, comprising:
Aircraft body；
The main rotor device for being used to generate vertical thrust being mounted in the aircraft body；With
The multiple metaplasm devices for being used to generate lateral thrust being mounted on around the aircraft body, the multiple metaplasm device
It is formed with the multipair propeller turned to for aircraft and the multipair propeller for aircraft translation；
The multipair propeller turned to for aircraft include at least a pair of propeller turned to clockwise for aircraft and
The propeller that a pair turns to counterclockwise for aircraft；
A propeller in the pair of propeller turned to clockwise for aircraft and the pair of to be used for aircraft inverse
The propeller shape in propeller that hour hands the turn to propeller for aircraft translation in a pair；
The multiple metaplasm device is evenly arranged around the aircraft body according to predetermined space.
2. aircraft according to claim 1, which is characterized in that according to predetermined space around the aircraft body
It has been evenly arranged multiple battery mounting bases；Wherein the every two adjacent metaplasm device in the multiple metaplasm device both with respect to
At least one battery mounting base is arranged symmetrically in the left and right sides of at least one battery mounting base.
3. aircraft according to claim 1, which is characterized in that the aircraft further includes being mounted on the aircraft master
The vector rudder being located at below the main rotor device on body.
4. aircraft according to claim 3, which is characterized in that the vector rudder includes steering engine and is connected with the steering engine
The multiple rudder blades connect, the rudder blade are the cyclic annular profile of class isosceles trapezoid, and four angles of the ring-type profile are rounding off.
5. aircraft according to claim 2, which is characterized in that each metaplasm device includes:
For connecting the first linking arm of two adjacent battery mounting bases extended in a first direction, and
Along be different from the first direction second direction extend the second linking arm, one end of second linking arm with it is described
The connection of first linking arm, the other end are equipped with the motor for driving propeller.
6. aircraft according to claim 5, which is characterized in that the other end of second linking arm is provided with class V-arrangement
Two fork, the first fork and the second fork in two fork are separately installed with the first motor and second for driving propeller
Motor.
7. aircraft according to claim 5 or 6, which is characterized in that the propeller is coaxial double paddles.
8. aircraft according to claim 1-6, which is characterized in that the aircraft body is hollow to be formed with
The ring-shaped frame in space；The main rotor device is mounted in the hollow centre of the ring-shaped frame.
9. aircraft according to claim 7, which is characterized in that the aircraft body is the ring for being formed with hollow space
Shape frame；The main rotor device is mounted in the hollow centre of the ring-shaped frame.
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| CN201610811579.9A CN106314787B (en) | 2016-09-08 | 2016-09-08 | Aircraft |
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| CN201610811579.9A CN106314787B (en) | 2016-09-08 | 2016-09-08 | Aircraft |
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| CN106314787B true CN106314787B (en) | 2019-05-07 |
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| 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 |
| CN108609181A (en) * | 2018-05-09 | 2018-10-02 | 重庆睿宇测绘有限责任公司 | Outdoor scene three-dimensional surveys and draws take photo by plane unmanned plane and its control method |
| JP6856903B2 (en) * | 2019-08-30 | 2021-04-14 | 株式会社エアロジーラボ | Multicopter |
| CN113212746B (en) * | 2021-05-24 | 2022-08-09 | 四川迅联达智能科技有限公司 | Shift-shaft reverse-rotation dual-rotor aircraft |
| CN115200648B (en) * | 2022-09-14 | 2022-11-29 | 四川省亚通工程咨询有限公司 | Bridge state monitoring system and method based on unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP0229896B1 (en) * | 1985-11-06 | 1990-09-19 | Dornier Gmbh | Aircraft, in particular a high-speed helicopter |
| US8590829B2 (en) * | 2009-04-06 | 2013-11-26 | Sky Sapience Ltd. | System, floating unit and method for elevating payloads |
| KR101217804B1 (en) * | 2010-06-01 | 2013-01-22 | (주)선택이앤티 | Bottom propeller control type vehicle |
| CN103754360B (en) * | 2014-02-08 | 2016-08-17 | 厦门大学 | One kind flying disc type gyroplane |
| CN104326081B (en) * | 2014-11-14 | 2016-03-16 | 吉林大学 | Be applied to eight rotor wing unmanned aerial vehicles of magnetic airborne surveys |
| CN105460214A (en) * | 2015-12-25 | 2016-04-06 | 天津全华时代航天科技发展有限公司 | Vertical take-off and landing tandem wing unmanned aerial vehicle |
| CN206050068U (en) * | 2016-09-08 | 2017-03-29 | 锐合防务技术（北京）有限公司 | Aircraft |
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Effective date of registration: 20190731 Address after: 518054 Virtual University Park C505, No. 2 Sandao, Yuexing Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Ruihe Aircraft Intelligent Equipment Co., Ltd. Address before: 100191 Beijing, Zhichun Road, College of International Building, No. 912,, 1 Patentee before: Sharp Defense Technology (Beijing) Co., Ltd. |
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