CN106427435A

CN106427435A - Triphibian flying vehicle

Info

Publication number: CN106427435A
Application number: CN201510480296.6A
Authority: CN
Inventors: 刘新广
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-08-07
Filing date: 2015-08-07
Publication date: 2017-02-22

Abstract

The invention relates to a triphibian flying vehicle. The triphibian flying vehicle is provided with four wheels, wherein each of the wheels is formed in the manner that a plurality of fan blades are uniformly distributed and coupled to an outer circle of an outer rotor of a motor, a wheel rim is coupled to the top ends of the corresponding fan blades, and a tire is mounted on the corresponding wheel rim; a stator shaft of each wheel motor is coupled to an outer circle of an outer rotor of a corresponding servo motor; the upper end of the outer rotor of each servo motor is coupled to the lower end of a corresponding shock absorber; the lower end of a front airfoil and the lower end of a rear airfoil are coupled to the upper end of the corresponding shock absorber; the front airfoil and the rear airfoil are symmetrically arranged on the left side and the right side of the vehicle body; an aileron and a steering engine thereof are arranged on each of the airfoils; the root of the front airfoil and the root of the rear airfoil are coupled to an electric worm wheel and worm mechanism on an inner top of the vehicle, so that the front airfoil and the rear airfoil can be unfolded and extended like a pair of bird wings; a controller, a push and pull machine, an intelligent controller, an accumulator, an electricity generating device, an environment perception sensor and a speed sensor which are in electrical connection are arranged on the vehicle; the wheel motors, the servo motors, a motor on a worm, and the steering engine are respectively and electrically coupled to the intelligent controller; a driver seat is arranged in the vehicle; a vertical plate of a lifting plate penetrates through a bottom plate of a vehicle body, and the vertical plate and the bottom plate are in sliding fitting; and the lifting plate is coupled to the pull and push machine.

Description

Three dwell driving

Technical field

The driving the present invention relates to vehicle and vehicle technology, particularly one kind three are dwelt.

Background technology

Developing driving is the dream that people pursue always, long-standing.So far, existing driving substantially has Three classes：1. by driving combined to the wing of fixed wing airplane and car, such as Terrafugia company of the U.S. grinds The transition driving of system；2. will be similar to that the rotor of helicopter and the carplane that car is combined, such as lotus The PAL-V driving of blue PALV Europe company research and development；3. by multiple can tilting duct propeller and car phase group The driving closing, such as Mo Le company skycarM400 driving, can VTOL.1. driving, Lu Hangshi, Wing needs to fold, or goes to ahead running height by after wing length direction；Such driving still needs to when taking off Slide the no small distance of race；Such driving yardstick that takes up space is big.2. driving, energy VTOL, but and The same flight speed of conventional helicopters is slow.3. driving, particularly can tilting type shrouded propeller driving, Energy VTOL, and can be with driving speed about the same flight 1..But, above-mentioned three class drivings fly There is serious defect, that is, wheel mechanism becomes " deadweight ", and windage is big during row；In land locomotion, Wing or rotor mechanism become " deadweight ", so energy dissipation is serious, this is too deficient to meet and develop driving Basic principle-cost wants little and effect is good.Secondly, existing driving, all cannot stop on the water and Navigation, can only be air-ground amphibious driving.

Content of the invention

In order to overcome the drawbacks described above of existing driving, present invention design a kind of three is dwelt driving, and its wing is even Band culvert type fan shape wheel can be taken down the exhibits as bird's wing, can more according to the situation that faces, at any time land, Flexible conversion motion between water, sky.

The present invention is achieved through the following technical solutions.

Fig. 1 is three organigrams dwelling driving, be also three dwell driving terrestrial when schematic diagram, Fig. 2 is The left view of Fig. 1.As Fig. 1 shows, longitudinal axiss 5 are in relation to vehicle body 2 top；In axle 5 front portion forward Wing 4 before the connection of lower section, aileron 4-1, front steering wheel 4-1-1 before arranging on front wing 4, front aileron 4-1 Contact with front steering wheel 4-1-1；Wing 9 after axle 5 rear portion is to back lower place connection, sets on rear wing 9 Postpone aileron 9-1, rear steering wheel 9-1-1, rear aileron 9-1 is contacted with rear steering wheel 9-1-1；In the middle part of axle 5 Worm gear 6 is installed.As Fig. 1 Fig. 2 shows, axle 5, worm gear 6, front wing 4, rear wing 9 are symmetrical in vehicle body 2 about settings.As Fig. 1 shows, the bottom of front wing 4, the bottom of rear wing 9 lean against positive stop respectively 19th, backstop 10.Fig. 3 is the A-A diagrammatic cross-sectional view of Fig. 1, and Fig. 4 is the B-B diagrammatic sectional view of Fig. 1. As Fig. 1 Fig. 4 shows, the stator of a motor 8 is fixed in the middle part of top in vehicle body 2；Worm screw 7 and an electricity The rotor axial connection of machine 8, then, the hangers 2-1 on vehicle body 2 inner top is inserted at the two ends of worm screw 7 And be made into and be rotatably assorted；Worm screw 7 and worm gear 6 are made into transmission cooperation, and the left part 7-1 of worm screw 7 passes The right part 7-2 in the direction and worm screw 7 that turn worm gear 6 passes and turns the in opposite direction of worm gear 6.As Fig. 3 shows, Outer rotor several fan blade 1-1 of cylindrical uniform connection of No. two motor 1-2, in fan blade 1-1 Top couples wheel rim 1-3, mounting tyre 1-4 on wheel rim 1-3, and wheel 1 is so constituted.Wheel 1 Like culvert type fan.Electromagnetic brake 21, electromagnetic brake are installed on the stator axis of No. two motor 1-2 21 brake head is corresponding with the end face of the outer rotor of outer No. two motor 1-2.The stator axis of No. two motor 1-2 Right-hand member be connected in servomotor 20 outer rotor cylindrical.The upper end of the outer rotor of servomotor 20 with The lower end connection of amortisseur 3.As Fig. 1 to Fig. 3 shows, front wing 4, the lower end of rear wing 9 and damping The upper end connection of device 3.

As Fig. 1 shows, manipulator 18, pilot set 17 are arranged on vehicle body 2, draws thruster 15, intelligence Energy controller 13 (containing computer, driver, radio set etc.), accumulator 12, TRT 11, Environment sensing sensor (includes photographic head, laser radar, GPS location receptor etc..Do not draw in figure), Velocity sensor (is not drawn in figure), and accumulator 12 is connected with wire with TRT 11.Manipulator In 18 contain start, motion (land, water, air) pattern switching, direction, throttle, brake, front steering wheel 4-1-1, Steering wheel 9-1-1, a motor 8 and draw thruster 15 actuation means afterwards, has manipulation (people in manipulator 18 Control, remote control, Autonomous Control) mode switches switch.Rise and fall plate 16 perpendicular plate pass through vehicle body 2 base plate And be made into and be slidably matched, the upper client link montant 14 of the perpendicular plate of the plate 16 that rises and falls, the level of the plate 16 that rises and falls Plate is in outside the base plate of vehicle body 2.Montant 14 is made into transmission cooperation with drawing thruster 15.Number motor 8, No. two motor 1-2, servomotor 20, front steering wheel 4-1-1, rear steering wheel 9-1-1, manipulators 18, draw Thruster 15, environment sensing sensor, velocity sensor are all electrically connected with intelligent controller 13.

The mode that driving of dwelling to described three is manipulated has three kinds of modes：People's control, remote control, Autonomous Control. People is controlled, and that is, driver directly manipulates manipulator 18 by bus to 13 commandant's signals of intelligent controller, intelligence Controller 13 is further according to needing to each motor, each steering wheel, draw thruster 15 to be energized or power-off.Remote control refers to people Leave three to dwell driving, with remote control to 13 numbers commandants of intelligent controller.Autonomous Control, is Based Intelligent Control Device 13 is controlled according to environment sensing sensor, velocity sensor and driving software.

Three dwell driving, and such as Fig. 1 shows, by land, intelligent controller 13 leads to identical to each No. two motor 1-2 Electricity (include voltage and current size or frequency, the sense of current), different electricity, car can be made with different Speed is advanced, retreats, turning, around 360 ° of rolling rotation of vertical centre.When car is static, make to draw thruster 15 Release is risen and fallen plate 16, and vehicle body 2 leaves the suitable height in ground with wheel 1.Then, manipulate a motor 8 rotations turn worm screw 7, and worm screw 7 is driven worm gear 6, and worm gear 6 carries rotating shaft 5, so that front wing 4 He Wing 9 launches afterwards, so that wheel 1 is away from vehicle body 2, then manipulation servomotor 20 is so that wheel 1 turns over different angles, then, car can be made to move in parallel to any direction.After having moved in parallel, pass through Reversely manipulation makes wheel 1, the plate 16 that rises and falls return in situ.Positive stop 19, the effect of backstop 10 be, three When driving of dwelling moves ahead by land, greatly reduce the root Moment of front wing 4, rear wing 9.Stop Che Shi, first makes No. two motor 1-2 power-off, then, on the one hand utilizes turning after No. two motor 1-2 dead electricity Dynamic inertia generates electricity to recover energy and produces brake force simultaneously；Another aspect intelligent controller 13 drives electromagnetism to stop The end face of the outer rotor of brake head conflict motor 1-2 of car device 21 causes friction to produce brake force.

Three dwell driving to rise from land and flying in the air, and intelligent controller 13 is first drawn thruster 15 Logical positive direction electricity, is contacted to earth with pushing down on the plate 16 that rises and falls, until car rises and wheel 1 is liftoff, then intelligence Controller 13 is energized to a motor 8, so that front wing 4 and rear wing 9 are fully deployed, thereon Wheel 1 is also with ramping to horizontal position (as Fig. 5 shows.Fig. 5 is three to dwell the vertical view after driving expansion wing Schematic diagram), at this moment three dwell driving as four gyroplanes.Intelligent controller 13 gives No. two motor 1-2 energisings, Wheel 1 rotates, and downwards, three drivings of dwelling vertically rise fan blade 1-1 turn air, are raised to certain height, By controlling rotating speed and the steering of the rotation of each wheel 1, three drivings of dwelling can be made clever as four gyroplanes Live and move.Reach certain height, intelligent controller 13 is energized to servomotor 20, make wheel 1 gradually to Lean forward the fan blade 1-1 sweeping plane going to wheel 1 vertically (as Fig. 6 shows.Fig. 6 is Three dwell schematic top plan view when putting down winged for the driving), in this process, three dwell the motion of driving forward upward, Zhi Daoping Fly.Three drivings of dwelling are put down when flying, and front wing 4 and rear wing 9 produce lift, fan blade 1-1 of rotation Propulsive force, and pitching, direction and horizontal control are provided, be intelligent controller 13 to front steering wheel 4-1-1, Afterwards the actuating of steering wheel 9-1-1 joint so that corresponding aileron suitably deflection and realize.Three dwell driving put down fly when, The plate 16 that rises and falls is not upper always to be received, and plays certain horizontal tail and the effect of vertical fin.Three are made to dwell driving from flat winged Switch to four gyroplane offline mode, control wheel 1 gradually to vert upwards and put down to fan blade 1-1 sweeping Face is horizontally oriented.Three dwell driving landing, should from four gyroplane shapes land.When landing, rise and fall plate 16 first land, and are then energized to a motor 8, make front wing 4 and rear wing 9 be retracted to vehicle body, After pack up plate 16.

Situation be suitable in the case of, three dwell driving also can rolling start to save energy consumption.Method is, under boost The plate 16 that falls contacts to earth, and until wheel 1 is liftoff, then it is suitable so that wing (front wing 4 and rear wing 9) is launched Angle stops, and packing up plate 16 makes wheel 1 land.Cunning goes to certain speed, the foot being produced using wing Enough lift rises, and flies inertia before at this moment car has obtained, and car, upon liftoff, should reverse rapidly wheel immediately 1 makes its end face forward, with the power that flies before providing, then makes wing fully deployed, enters normal flight.

When three dwell driving enter deeper water when, after buoyancy force, first make front wing 4 and rear wing 9 Open suitable angle, then control wheel 1 to make fan blade 1-1 sweeping plane forward (as Fig. 7 Fig. 8 Show.Fig. 7 be three dwell driving on the water when schematic diagram, Fig. 8 is the left view of Fig. 7), then make wheel 1 rotation, plays the effect of similar screw propeller of striking, and three drivings of dwelling will navigate by water forward.Three dwell winged The car speed of a ship or plane, the control in course, the control rotating in place, the control of any translational motion, method is with land Ground driving mode.When three dwell driving be in dynamic waters when, the movement velocity according to water and direction, adjust The fan blade 1-1 sweeping in-plane of whole each wheel 1 and rotating speed, can make three drivings of dwelling pinpoint on the water, This is rare to tasks such as execution undersea detection, salvagings.

Three dwell driving compared with 1. driving described in the background or 2. driving：When travelling by land, 1. the folding driving machine of driving aerial propelling screws mechanism or the 2. rotor mechanism of driving, wing or rotor Structure, empennage are all " deadweights ", have three " deadweights ", and their wing, empennage have not little Air drag.And three dwell driving when travelling by land, motor 8, worm screw 7, worm gear 6, an axle 5 The wing 4 of composition and the folding-unfolding mechanism of wing 9 are " deadweights ", and four servomotors 20, rise and fall plate 16 And draw thruster 15 to be also " deadweight ", and have seven " deadweights ", " more dead than many four of 1. driving or 2. driving Weight ".However, can not represent more than " deadweight " number of packages that total " deadweight " mass value is just big.Such as, press Prior art general knowledge is estimated, the 1. quality of aerial propelling screws mechanism of driving or 2. driving rotor mechanism Quality, four servomotors 20 of driving of will not dwelling less than three.Seem there is a problem, three dwell winged The wing of car is also " deadweight ", but, this " deadweight " structure almost with fixing vehicle wheel on existing driving Quite, when both compare, big being believed that offsets " deadweight " of part.So, when travelling by land, Three dwell the about the same of total " deadweight " quality of driving and 1. driving or 2. driving.And three dwell driving When travelling by land, there is no the air drag that wing or rotor, empennage cause, and take up space and fly than 1. Car or 2. driving take up space small.Fly in the air, 1. four wheels of driving or 2. driving become " dead Weight ", the folding drive mechanism of wing or rotor is also " deadweight ".And three drivings of dwelling fly in the air, one Number motor 8, worm screw 7, the folding-unfolding mechanism of worm gear 6, the wing 4 of axle 5 composition and wing 9 are " deadweights ", Four servomotors 20 and draw thruster 15 to be also " deadweight ", be equivalent to empennage because of plate 16 function of rising and falling and Non- " deadweight ".2. four servomotors 20 and draw thruster 15 " deadweight " gross mass, fly than 1. driving or " deadweight " gross mass of four wheels of car is little many.And, three air drag dwelling driving wheel Less than the air drag of 1. driving or 2. four wheels of driving.In a word, three dwell driving than 1. driving or 2. the energy that driving wastes is little.

Three dwell driving compared with driving 3. described in the background：When travelling by land, by existing skill Art general knowledge is estimated, the shrouded propeller (at least wanting four sets) of driving 3. and its inclining rotary mechanism total " dead Weight " quality, wing 4 and of dwell than three motor 8 of driving, worm screw 7, worm gear 6, axle 5 composition The folding-unfolding mechanism of wing 9, four servomotors 20, rise and fall plate 16 and draw total " deadweight " matter of thruster 15 Amount is big, and shrouded propeller has windage.Fly in the air, the verting of the shrouded propeller of driving 3. Total " deadweight " quality of mechanism and wheel, a motor 8 of driving of dwelling than three, worm screw 7, worm gear 6, The wing 4 of axle 5 composition and the folding-unfolding mechanism of wing 9, four servomotors 20 and draw thruster 15 total " dead Weight " quality is smaller.But driving wheel 3. has windage.If driving 3. improve flight speed with three dwell winged Car is the same, and one is to increase fixed-wing is reached with increasing lift, so necessarily increases gross mass, is equivalent to increasing Add most " deadweight ", in the case, flown in the air, its total " deadweight " has been greater than three Dwell driving；Two are to increase vertical shrouded propeller, and this will increase more quality.In a word, three dwell winged Car is less than the energy that driving 3. wastes.

Beneficial effect of the present invention：

1st, existing driving, has " deadweight " of propeller mechanism or rotor, flies in the air in land locomotion There is wheel " deadweight ", have wheel air drag, and three dwell driving, do not have propeller or rotation in land locomotion " deadweight " of wing mechanism, fly no wheel " deadweight " in the air, carplane wheel air drag ratio in the air Existing driving is little, so, three driving efficiency of dwelling are higher.

2nd, 1. driving or 2. driving need rolling start it is impossible to VTOL.3. driving can vertically rise Fall, but flight speed to be improved, must pay bigger cost.And three dwell driving, can VTOL, Again can be compared with the equal high-speed flight of driving, and much less than driving 3. of the cost paid.

3rd, existing driving compared by three drivings of dwelling, compact, takes up space little, it, can be easily like automobile Use in the cities and towns of congestion today, and existing driving is difficult to be accepted by the cities and towns of congestion today.

4th, three dwell driving, land can around vertical centre 360 ° roll rotation, can be parallel to any direction Mobile, and existing driving difficult to reach or be unable to reach.So three drivings of dwelling are more flexible on land, park Easy and take up an area little.

5th, three dwell driving, its wing related culvert type fan shape wheel can be taken down the exhibits as bird's wing, tool There is land, water, air three to dwell function, and existing driving only has land, empty amphibious function, so three dwell driving work( Effect is higher.Three dwell driving, to military struggle, anti-terrorism, search and rescue, detect investigation, effect is bigger.

Brief description

Fig. 1 is three organigrams dwelling driving；

Fig. 2 is the left view of Fig. 1；

Fig. 3 is the A-A diagrammatic cross-sectional view of Fig. 1；

Fig. 4 is the B-B diagrammatic sectional view of Fig. 1；

Fig. 5 is three to dwell the schematic top plan view after driving expansion wing；

Fig. 6 is three to dwell schematic top plan view when putting down winged for the driving；

Fig. 7 be three dwell driving on the water when schematic diagram；

Fig. 8 is the left view of Fig. 7.

Specific embodiment

As Fig. 1 shows, manipulator 18, pilot set 17 are arranged on vehicle body 2, draws thruster 15, intelligence Energy controller 13 (closing computer, driver, radio set etc.), accumulator 12, TRT 11, Environment sensing sensor (includes photographic head, laser radar, GPS location receptor etc..Do not draw in figure), Velocity sensor (is not drawn in figure), and accumulator 12 is connected with wire with TRT 11.Manipulator In 18 contain start, motion (land, water, air) pattern switching, direction, throttle, brake, front steering wheel 4-1-1, Steering wheel 9-1-1, a motor 8 and draw thruster 15 actuation means afterwards, has manipulation (people in manipulator 18 Control, remote control, Autonomous Control) mode switches switch.Rise and fall plate 16 perpendicular plate pass through vehicle body 2 base plate And be made into and be slidably matched, the upper client link montant 14 of the perpendicular plate of the plate 16 that rises and falls, the level of the plate 16 that rises and falls Plate is in outside the base plate of vehicle body 2.Montant 14 is made into transmission cooperation with drawing thruster 15.Number motor 8, No. two motor 1-2, servomotor 20, front steering wheel 4-1-1, rear steering wheel 9-1-1, manipulators 18, draw Thruster 15, environment sensing sensor, velocity sensor are all electrically connected with intelligent controller 13.

Claims

1. three dwell driving, it is characterized in that：

Longitudinal axiss (5) are in relation to vehicle body (2) top；Wing before the forward downward connection of axle (5) front portion (4), aileron (4-1), front steering wheel (4-1-1), front aileron (4-1) before front wing (4) upper setting With front steering wheel (4-1-1) contact；Wing (9) after axle (5) rear portion is to back lower place connection, in rear wing (9) aileron (9-1), rear steering wheel (9-1-1), rear aileron (9-1) and rear steering wheel (9-1-1) after upper setting Contact；Worm gear (6) is installed in the middle part of axle (5)；Axle (5), worm gear (6), front wing (4), rear wing (9) it is symmetrical in setting about vehicle body (2)；The bottom of front wing (4), the lower part of rear wing (9) Do not lean against positive stop (19), backstop (10)；The stator of a number motor (8) is fixed in vehicle body (2) In the middle part of top；Worm screw (7) is coupled with the rotor axial of a motor (8), then, the two ends of worm screw (7) Hangers (2-1) being made on insertion vehicle body (2) inner top is rotatably assorted；Worm screw (7) and worm gear (6) It is made into transmission cooperation, and the left part (7-1) of worm screw (7) passes the direction turning worm gear (6) and worm screw (7) Right part (7-2) pass turn the in opposite direction of worm gear (6)；Cylindrical all in the outer rotor of No. two motors (1-2) Cloth couples several fan blade (1-1), on the top of fan blade (1-1) connection wheel rim (1-3), in wheel The upper mounting tyre (1-4) of rim (1-3), wheel (1) is so constituted；Stator in No. two motors (1-2) Electromagnetic brake (21), the brake head of electromagnetic brake (21) and outer No. two motors (1-2) are installed on axle Outer rotor end face correspond to；The right-hand member of the stator axis of No. two motors (1-2) is connected in servomotor (20) Outer rotor cylindrical；The upper end of outer rotor of servomotor (20) is coupled with the lower end of amortisseur (3)； Front wing (4), the lower end of rear wing (9) are coupled with the upper end of amortisseur (3)；

In vehicle body (2) upper setting manipulator (18), pilot set (17), draw thruster (15), intelligence Controller (13), accumulator (12), TRT (11), environment sensing sensor, velocity sensor, Accumulator (12) is connected with wire with TRT (11)；Startup, motion mould is contained in manipulator (18) Formula switching, direction, throttle, brake, front steering wheel (4-1-1), rear steering wheel (9-1-1), a motor 8 And draw thruster (15) actuation means, there is control mode switching switch in manipulator (18)；Rise and fall plate (16) Perpendicular plate pass through the base plate being made into of vehicle body (2) to be slidably matched, the upper end of the perpendicular plate of the plate that rises and falls (16) Connection montant (14), the horizontal plate of the plate that rises and falls (16) is in outside the base plate of vehicle body (2)；Montant (14) It is made into transmission cooperation with drawing thruster (15)；Number motor (8), No. two motors (1-2), servomotor (20), Front steering wheel (4-1-1), rear steering wheel (9-1-1), manipulator (18), draw thruster (15), environment sensing pass Sensor, velocity sensor are all electrically connected with intelligent controller (13).