CN109665095A - Beam movable helicopter - Google Patents

Abstract

Beam movable helicopter uses cross-arranging type rotor structure, the rotor (or propeller) of surfaces of revolution level is mounted in pairs on crossbeam, it is symmetrical with fuselage vertical line, the longitudinal parallel propeller of the vertical normal of the surfaces of revolution and fuselage, it is symmetrically mounted on the right and left of crossbeam, undercarriage is set close to center of gravity under fuselage, center of gravity is in crossbeam central lower, one is arranged between fuselage and crossbeam can be along the platform of fuselage longitudinal sliding motion, crossbeam is fixed on platform, platform connecting sliding rail, sliding rail is fixed on fuselage, sliding rail is longitudinally parallel with fuselage, a servomechanism manoeuvring platform is arranged to slide along sliding rail, vertically move platform along fuselage, crossbeam is vertically moved along fuselage, drive centre of lift longitudinal movement, the lift difference of the rotor (or propeller) of left rotation and right rotation face level manipulates roll, the pulling force difference of the vertical propeller of the surfaces of revolution manipulates boat To manipulation cross beam movement controls pitching, and the vertical left-and-right spiral paddle of the surfaces of revolution can provide the pulling force of horizontal flight, flight efficiency of improving the standard.

Description

Beam movable helicopter

Technical field

The present invention relates to a kind of helicopters, can be vertically moved up or down, hovering, and horizontal flight especially executes the spiral shell of directional control Rotation paddle can also provide the pulling force flown before level, flight efficiency of improving the standard.

Background technique

Currently, well known side-by-side helicopter is by the rotor (hereinafter referred to as rotor) of two secondary surfaces of revolution levels along body It is transversely mounted on the crossbeam both ends of body, the center setting fuselage of crossbeam.The revolving speed of two secondary rotors is identical turn on the contrary, Torque is cancelled out each other, the weight of the lift balance body of two secondary rotors, before rotor generates when helicopter horizontal flight Row blade accelerates and retreating blade deceleration phenomenon, to generate the lift that advancing blade lift increases and retreating blade lift reduces Asymmetry eliminates lift asymmetry using blade flapping device to degree；Service life variable pitch device (hereinafter referred to as rotates Vert disk) (rotor rotation generates lift and centrifugal force to controlled level rotor circular cone, draws limited wave upwards of blade Circular cone, the normal direction of circular conical surface be rotor rotation lift resultant direction) incline to angle, to control the flight appearance of helicopter State.

Using inclining to angle for swashpiston two rotor circular cones of control, two swashpistons turn forward simultaneously, and two Rotor circular cone leans forward simultaneously, and helicopter turns forward, and two swashpistons tilt backwards simultaneously, and two rotor circular cones are simultaneously Layback, helicopter realize pitch control to layback；Two swashpistons are tilted to the left simultaneously, two rotor circular cones simultaneously to Left bank, helicopter roll to the left, two swashpistons are tilted to the right simultaneously, and two rotor circular cones are tilted to the right simultaneously, directly Machine roll to the right is risen, realizes roll manipulation；Left side swashpiston turns forward, and left side rotor circular cone turns forward, right Side swashpiston tilts backwards, and the right rotor circular cone tilts backwards, and helicopter turns to the right, left side swashpiston to Rear-inclined, left side rotor circular cone tilt backwards, and the right swashpiston turns forward, and the right rotor circular cone turns forward Tiltedly, helicopter turns to the left, realizes directional control, realizes the flight attitude of control helicopter.

For this control method since pitching, roll, course are all controlled by swashpiston, the work of swashpiston is negative Load weight, the pitch mechanical periodicity for making blade of swashpiston cause vibration and noise；The helicopter of this structure is not provided with The propeller of the surfaces of revolution and horizontal plane provides the pulling force of horizontal flight, and the power resources of horizontal flight are in rotor circular cone Inclined component, efficiency of the rotor in vertical lift is higher than propeller, but the efficiency in horizontal flight compares propeller It is low.

Summary of the invention

In order to reduce vibration and noise, the method for not using swashpiston control helicopter attitude, using different groups Part manipulates pitching, roll respectively, and course makes full use of high efficiency of the rotor in vertical lift, also makes full use of spiral High efficiency of the paddle in horizontal flight, the present invention provide a kind of beam movable helicopter and realize this target.

The technical solution adopted by the present invention to solve the technical problems is: using cross-arranging type rotor structure, two secondary horizontal rotations Along fuselage, laterally bilateral symmetry is mounted on the crossbeam both ends of fuselage the wing in fuselage vertical line, is arranged under fuselage close to center of gravity Fall frame.Center of gravity in crossbeam central lower, be arranged between fuselage and crossbeam one can along fuselage longitudinal sliding motion platform (also known as Sliding platform), crossbeam is fixed on platform, and platform connecting sliding rail, sliding rail is fixed on fuselage, and sliding rail is longitudinally parallel with fuselage, One servomechanism manoeuvring platform is set and slides (hereinafter referred to as sliding platform servomechanism) along sliding rail, moves platform longitudinally along fuselage Dynamic, crossbeam longitudinal movement drives the centre of lift of left and right horizontal rotor to vertically move along fuselage.

On the left side, the diameter propeller smaller than the diameter of rotor, the rotation of propeller is arranged in the right of rotor Turn face and horizontal plane, normal is longitudinal parallel (hereinafter referred to as left side vertical spin paddle) with fuselage, left side rotor and the left side The universal axis connection of vertical spin paddle, left outermost engine drive left side rotor and left side vertical spin paddle simultaneously；On the right The diameter propeller smaller than the diameter of rotor is arranged in the left side of rotor, and the surfaces of revolution and horizontal plane of propeller hang down Directly, normal and fuselage are longitudinal parallel (hereinafter referred to as right vertical propeller), and the right rotor and right vertical propeller are with ten thousand To axis connection, the right engine drives the right rotor and right vertical propeller, left and right vertical spin paddle also symmetrical simultaneously Installation.

When using blade flapping device come elimination of level flight, rotor lift asymmetry is to degree, two water in left and right The size of flat rotor is identical, and revolving speed is identical, and steering is opposite, and (each rotor and vertical spin paddle are by two blades or the above phase Same blade is constituted, and for convenience of showing, each rotor and vertical spin paddle are using three blades as example), left side water is set Flat rotor always away from controller, manipulate left side rotor always away from setting the right rotor is always away from controller, manipulation the right water Flat rotor always away from, setting left side vertical spin paddle always away from controller, manipulate left side vertical spin paddle always away from setting the right is hung down Straight propeller always away from controller, manipulate right vertical propeller always away from, have always the rotor away from controller be known as horizontal become Away from rotor, have always the propeller away from controller be known as variable-pitch propeller；Always the rotor away from controller is not referred to as horizontal fixed Away from rotor, always the propeller away from controller is not known as constant pitch airscrew.

The beam movable helicopter working principle of this layout is in this way: the identical throttle for increasing left and right engine, It is identical increase left and right horizontal displacement rotor always away from, beam movable helicopter vertical ascent, the vertical variable-pitch propeller in left and right Be always zero away from manipulation, the vertical variable-pitch propeller in left and right does not generate pulling force, and the lift of left and right horizontal displacement rotor is moved equal to crossbeam The weight of dynamic formula helicopter, the hovering of beam movable helicopter.

Since center of gravity is at crossbeam center, when sliding platform servomechanism manoeuvring platform is slided along sliding rail, keep platform vertical along fuselage To moving backward, crossbeam is moved backward, and the centre of lift of left and right horizontal displacement rotor moves backward, and center of gravity also slightly moves backward, Because the most weight of beam movable helicopter is in fuselage, so, the centre of lift of left and right horizontal displacement rotor moves backward Amplitude be greater than the amplitude that moves backward of center of gravity, make the centre of lift of left and right horizontal displacement rotor after center of gravity, lift makes cross It bows before beam movable type helicopter；When sliding platform servomechanism manoeuvring platform along sliding rail slide, move platform longitudinally forward along fuselage Dynamic, crossbeam moves forward, and the centre of lift of left and right horizontal displacement rotor moves forward, and center of gravity also slightly moves forward, because crossbeam moves The most weight of dynamic formula helicopter in fuselage, so, the amplitude that the centre of lift of left and right horizontal displacement rotor moves forward is big In the amplitude that center of gravity moves forward, make the centre of lift of left and right horizontal displacement rotor before center of gravity, lift makes beam movable Helicopter layback.It is mobile by manoeuvring platform, realize the pitch control of beam movable helicopter.

Increase the vertical variable-pitch propeller in the left side always away from (by zero always away from become just always away from), the vertical variable-pitch propeller in the left side generates Forward pulling force, right vertical variable-pitch propeller always away from remaining zero, right vertical variable-pitch propeller does not generate pulling force, and (or zero is total It is negative always away from right vertical variable-pitch propeller generates rearward pulling force away from becoming), turn to beam movable helicopter to the right；Increase right The vertical variable-pitch propeller in side always away from (by zero always away from become just always away from), right vertical variable-pitch propeller generate forward pulling force, the left side Vertical variable-pitch propeller always away from remaining zero, the vertical variable-pitch propeller in the left side does not generate pulling force, and (or zero always away from becoming negative always away from left The vertical variable-pitch propeller in side generates rearward pulling force), turn to beam movable helicopter to the left.Manipulate the vertical variable-pitch propeller in left and right Paddle always away from differential, realize manipulation course.

Increase the horizontal displacement rotor in the left side always away from, while reduce the horizontal displacement rotor in the right always away from left side level becomes Lift away from rotor is greater than the lift of the horizontal displacement rotor in the right, the roll to the right of beam movable helicopter；It is horizontal to increase the right Displacement rotor always away from while the always lift away from, the horizontal displacement rotor in the right for reducing the horizontal displacement rotor in the left side is greater than the left side The roll manipulation of beam movable helicopter is realized in the lift of horizontal displacement rotor, the roll to the left of beam movable helicopter.

In the roll manipulation process of beam movable helicopter, because the lift of left and right horizontal displacement rotor differs, reaction torque Also unequal, it generates and turns to coupled interference.

If the horizontal displacement rotor in the left side turns clockwise, the horizontal displacement rotor in the right turns counterclockwise, goes straight up in beam movable When machine roll to the right manipulates, generate the interference that turns to the left, by increase the vertical variable-pitch propeller in the left side always away from (or total by zero Away from become just always away from), increase left side vertical spin paddle forward pulling force, reduce right vertical variable-pitch propeller always away from (or total by zero It is negative always away from right vertical variable-pitch propeller generates rearward pulling force away from becoming), it turns to beam movable helicopter to the right, offsets horizontal When the roll to the right of beam movable type helicopter manipulates, the influence of interference is turned to the left；It is grasped in the roll to the left of beam movable helicopter When vertical, generate the interference turned to the right, by increase right vertical variable-pitch propeller always away from (or by zero always away from become just always away from), Increase right vertical propeller forward pulling force, reduce the vertical variable-pitch propeller in the left side always away from (or by zero always away from becoming negative always away from left The vertical variable-pitch propeller in side generates rearward pulling force), it turns to beam movable helicopter to the left, offsets beam movable helicopter When roll to the left manipulates, the influence of interference is turned to the right.

When beam movable helicopter hovers, left and right engine is opened the throttle in the same manner, and beam movable helicopter is vertical Rise, in the same manner reduce left and right horizontal displacement rotor always away from, make lift be equal to beam movable helicopter weight, meanwhile, phase Increase together the vertical variable-pitch propeller in left and right always away from the vertical variable-pitch propeller in, left and right generate identical forward pulling force (the two it Difference manipulation course, twice of minimum value are the pulling force for driving horizontal flight), fly before beam movable helicopter level is quick.

When beam movable helicopter hovers, left and right engine is opened the throttle in the same manner, and beam movable helicopter is vertical Rise, it is identical reduce left and right horizontal displacement rotor always away from, make lift be equal to beam movable helicopter weight, meanwhile, it is identical Ground reduce the vertical variable-pitch propeller in left and right always away from be negative always away from, the vertical variable-pitch propeller in left and right generates identical rearward pulling force, Beam movable helicopter is horizontal quickly rear winged.

When flying before beam movable helicopter is horizontal quickly, make the vertical variable-pitch propeller in the left side always away from hanging down greater than the right Straight variable-pitch propeller always away from vertical spin paddle forward pulling force in the left side is greater than the forward pulling force of right vertical propeller, crossbeam Mobile helicopter is turned right and is flown to the right；Make right vertical variable-pitch propeller always away from being greater than the left side vertical variable-pitch propeller Always be greater than the forward pulling force of left side vertical spin paddle away from, the forward pulling force of right vertical propeller, beam movable helicopter to Turn left and fly to the left, realizes directional control when horizontal rapid flight.

Directional control method and beam movable helicopter when flying after beam movable helicopter is horizontal quickly is horizontal Directional control method when flying before quickly is identical.

The beam movable helicopter of this layout is bowed by sliding platform servomechanism manoeuvring platform along sliding rail sliding manipulation Face upward, by left and right horizontal displacement rotor always away from differential control roll, the vertical variable-pitch propeller in left and right always away from differential control course, Pitching is manipulated by different components respectively, roll, course, bright analysis of dividing the work do not controlled using swashpiston, reduce shake Dynamic, vertical variable-pitch propeller provides pulling force in the same direction when flying before horizontal or so, and the vertical variable-pitch propeller pulling force difference in left and right manipulates course, Pulling force is wherein provided before 2 times of offer parts of lowest pull, since vertical variable-pitch propeller is always away from positive and negative can changing, vertical displacement The direction of pull of propeller can front and back variation, so, single vertical variable-pitch propeller can manipulate course, and left and right settings vertically becomes It is directional control Redundancy Design away from propeller, improves the reliability in manipulation course and the safety of flight.

Left and right vertical spin paddle another kind set-up mode is in this way: on the left side, the left side setting left side of horizontal displacement rotor is hung down Straight propeller, right vertical propeller, this layout pair of left and right vertical spin paddle is arranged in the right of horizontal displacement rotor on the right The manipulation of steering is sensitiveer, but the length of crossbeam increases, and increases crossbeam weight.

For not requiring the occasion of horizontal flight high speed, one of them is only arranged in left and right vertical spin paddle, but this is vertical Variable-pitch propeller cannot provide the pulling force flown before level, can only manipulate course.

In order to reduce drive mechanism complexity, left and right horizontal rotor and left and right vertical spin paddle another kind driving method It is: respectively by independent engine driving.

The diameter of rotor is bigger than propeller, lift variation of the lift variation of maneuvering propeller than manipulating rotor It is easy, between the left side variable-pitch propeller vertical with the left side of the horizontal displacement rotor in the left side, the spiral shell of a surfaces of revolution level is set It revolves paddle (hereinafter referred to as left side horizontal propeller), which is arranged by independent engine driving always away from controller Manipulate its always away from；On the right between the right and right vertical variable-pitch propeller of horizontal displacement rotor, a surfaces of revolution water is set Flat propeller (hereinafter referred to as the right horizontal propeller), the right horizontal propeller by independent engine driving, be arranged always away from Controller manipulate its always away from；The most weight of lift parallel beams movable type helicopter of left and right horizontal displacement rotor, left and right The lift differential of horizontal propeller manipulates roll, and the stable operation for being conducive to the horizontal displacement rotor of major diameter reduces vibration, double water The set-up mode of flat spin paddle, even if one of damage, remaining one can also manipulate roll, so, left and right horizontal spiral Paddle is Redundancy Design, improves the reliability of manipulation roll and the safety of flight.

In order to improve the lifting capacity of beam movable helicopter, the manufacture difficulty of rotor is reduced, in the horizontal displacement in the left side The left side of rotor increases a rotor, and the right of horizontal displacement rotor increases a rotor, such crossbeam on the right Upper there are four rotors, and respectively by independent engine driving, lifting capacity greatly improves four rotors, even if wherein One engine damage, closes another symmetrical engine, and remaining two horizontal displacement rotors can also provide vertical liter The lift of drop lands, so, four rotors are Redundancy Designs, improve the reliability of vertical lift and the safety of flight Property.

In the lesser occasion of load-carrying weight ratio, rotor is all replaced by the propeller of surfaces of revolution level, flat spin Paddle and vertical spin paddle are made of variable-pitch propeller, or are made of constant pitch airscrew；When using constant pitch airscrew, horizontal spacing spiral shell Rotation paddle and vertical constant pitch airscrew can be set more by independent engine driving because the size of propeller is smaller than rotor respectively More propellers is easy to get Redundancy Design, improves reliability and safety.

The velocity differential of the beam movable helicopter being made of constant pitch airscrew, the vertical constant pitch airscrew in left and right controls boat To the velocity differential of left and right horizontal constant pitch airscrew controls roll, is slided and is grasped along sliding rail by sliding platform servomechanism manoeuvring platform Vertical pitching.

The efficiency of rotor can be improved in the horizontal flight mode slightly before bowed, and left and right vertical spin paddle is increased by 5 ° or so Established angle (angle of surfaces of revolution normal and horizontal plane), in the level flight condition slightly before bowed, the rotation of left and right vertical spin paddle Face still perpendicular to horizontal plane, gives full play to the efficiency of propeller and rotor.

In order to further increase the horizontal flight speed of beam movable helicopter, fixed-wing is set at the middle part of crossbeam, Become the spar of fixed-wing in the middle part of crossbeam, left and right settings wing flap on fixed-wing, vertical variable-pitch propeller is separately positioned on fixation Nose of wing the right and left, horizontal variable-pitch propeller are separately positioned on the crossbeam of fixed-wing the right and left, the horizontal displacement spiral shell in the left side Paddle and the vertical variable-pitch propeller in the left side are revolved by the universal axis connection in the left side, and left outermost engine drives the horizontal variable-pitch propeller in the left side simultaneously Variable-pitch propeller vertical with the left side；The horizontal variable-pitch propeller in the right and right vertical variable-pitch propeller by the universal axis connection in the right, The right engine drives the horizontal variable-pitch propeller in the right and right vertical variable-pitch propeller simultaneously.

The tail portion setting tailplane of fuselage and vertical tail, setting can folding and unfolding wheel undercarriages.

Left and right horizontal variable-pitch propeller always manipulates roll away from variation, and the vertical variable-pitch propeller in left and right is always manipulated away from variation Course, sliding platform servomechanism manoeuvring platform are slided along sliding rail, realize manipulation pitching.

Identical increasing left and right engine throttle, beam movable helicopter vertical ascent, identical reduction left and right horizontal displacement Propeller always away from, so that lift is equal to the weight of beam movable helicopter, meanwhile, the vertical variable-pitch propeller in identical increasing left and right Always generate identical forward pulling force away from the vertical variable-pitch propeller in, left and right, beam movable helicopter it is horizontal quickly before fly, this When, fixed-wing generates lift, and the left and right flap control roll of fixed-wing continues the identical throttle for increasing left and right engine, continues It is identical reduce left and right horizontal propeller always away from, meanwhile, it is identical increase the vertical variable-pitch propeller in left and right always away from left and right is vertical to be become Bigger identical forward pulling force is generated away from propeller, with always reducing away from continuous for left and right horizontal propeller, left and right is vertical to be become Away from propeller always away from continuous increase, the output power of left and right engine is largely output to left and right vertical spin paddle, left and right Vertical variable-pitch propeller, which generates before identical forward pulling force driving beam movable helicopter level accelerates, to fly, what fixed-wing generated Lift is mainly responsible for the weight of equalizer movable type helicopter, the left and right flap control roll of fixed-wing, left and right horizontal displacement The lift assisted control roll of propeller, beam movable helicopter become the fixed wing aircraft of propeller propulsion, efficient high-speed Horizontal flight, at this point, tailplane manipulates pitching, platform servomechanism does not have to manoeuvring platform again, and vertical tail manipulates course, left and right Vertical variable-pitch propeller no longer manipulates course, pulls the quick horizontal flight of beam movable helicopter with all strength.

Identical reduction left and right engine throttle, it is identical reduce the vertical variable-pitch propeller in left and right always away from identical increasings controls Horizontal variable-pitch propeller is always reduced away from, horizontal flight speed, left as left and right horizontal variable-pitch propeller is always away from being continuously increased Right vertical variable-pitch propeller always away from continuous reduction, the output power of left and right engine is largely output to left and right horizontal displacement Propeller, as horizontal flight speed reduces, fixed-wing provides lift and reduces, and the lift of vertical direction is mainly become by left and right horizontal Away from propeller provide, at this point, left and right horizontal variable-pitch propeller always away from variation manipulate roll, the vertical variable-pitch propeller in left and right it is total Course is manipulated away from variation, sliding platform servomechanism manoeuvring platform is slided along sliding rail, and beam movable helicopter returns to helicopter work Operation mode.

This beam movable helicopter for having fixed-wing, when using constant pitch airscrew, horizontal constant pitch airscrew and vertical For constant pitch airscrew respectively by independent engine driving, the speed by manipulating constant pitch airscrew replaces manipulation always away from left and right is hung down The velocity differential of straight constant pitch airscrew controls course, and the velocity differential of left and right horizontal constant pitch airscrew controls roll, flat by sliding Platform servomechanism manoeuvring platform slides manipulation pitching, method of operating and the beam movable helicopter using variable-pitch propeller along sliding rail It is similar.

The invention has the advantages that the work of manipulation roll is responsible for by rotor (or horizontal propeller), manipulation is bowed It faces upward and is responsible for by sliding platform servomechanism, the work for manipulating course is responsible for by left and right vertical spin paddle, due to rotor (or water Flat spin paddle) and the efficiency of vertical spin paddle it is directly proportional to inflow velocity, when flying before level, rotor (or flat spin Paddle) the surfaces of revolution and course angle less than 90 °, the angle in the surfaces of revolution of vertical spin paddle and course is equal to 90 °, rotor The equivalent inflow velocity of (or horizontal propeller) is smaller than the equivalent inflow velocity of vertical spin paddle, so the efficiency of vertical spin paddle It is more high-efficient than rotor (or horizontal propeller)；Situation just (or the flat spin on the contrary, rotor in vertical ascent Paddle) the surfaces of revolution and course angle be equal to 90 °, the surfaces of revolution of vertical spin paddle and the angle in course are less than 90 °, rotor The equivalent inflow velocity of (or horizontal propeller) is bigger than the equivalent inflow velocity of vertical spin paddle, so rotor (or it is horizontal Propeller) efficiency it is more high-efficient than vertical spin paddle；The lift of vertical direction is provided by rotor (or horizontal propeller), The pulling force of horizontal direction is mainly provided by vertical spin paddle, so beam movable helicopter is in vertical lift and horizontal flight When, rotor (or horizontal propeller) and vertical spin paddle are each in peak efficiency state；When flying before level, fixed-wing Efficiency than rotor (or horizontal propeller) height, with fixed-wing replace rotor (or horizontal propeller) generate lift, There is the beam movable of fixed-wing to go straight up to function efficient high-speed horizontal flight.

Detailed description of the invention

Present invention will be further explained below with reference to the attached drawings and examples.

Fig. 1 is the first two rotor beam movable helicopter structure signal three-view diagram.

Fig. 2 is second liang of rotor beam movable helicopter structure signal three-view diagram.

Fig. 3 is the third two rotors beam movable helicopter structure signal three-view diagram.

Fig. 4 is the 4th kind of two rotor beam movable helicopter structure diagrammatic rear view and top view.

Fig. 5 is the 5th kind of two rotor beam movable helicopter structure diagrammatic rear view and top view.

Fig. 6 is the 6th kind of two rotor beam movable helicopter structure signal three-view diagram.

Fig. 7 is the 7th kind of two rotor beam movable helicopter structure signal three-view diagram.

Fig. 8 is four rotor beam movable helicopter structures signal three-view diagram.

Fig. 9 is the first six horizontal propeller beam movable helicopter structure signal three-view diagram.

Figure 10 is second of six horizontal propeller beam movable helicopter structures signal three-view diagrams.

Figure 11 is that the first has the beam movable helicopter structure signal three-view diagram of fixed-wing.

Figure 12 is second of beam movable helicopter structure signal three-view diagram for having fixed-wing.

1. left side first level rotor in figure, 2. the right first level rotors, 3. left side vertical spin paddles, 4. the right are hung down Straight propeller, 5. crossbeams, 6. sliding rails and sliding track holder, 7. sliding platforms, 8. sliding platform servomechanisms, 9. fuselages, 10. Sledge type (or wheeled) undercarriage, 11. left side first level rotors are always away from controller, 12. the right first level rotors Always away from controller, 13. left side vertical spin paddles are always away from controller, and 14. right vertical propellers are always away from controller, 15. left sides First level rotor engine, 16. the right first level rotor engines, 17. left side universal shafts, 18. the right universal shafts, 19. left side first level propeller, 20. the right first level propellers, 21. left side vertical spin paddle motors, 22. is right Side vertical spin paddle motor, for 23. left side first level propellers always away from controller, 24. the right first level propellers are total Away from controller, 25. left side first level airscrew engines, 26. the right first level airscrew engines, 27. left sides Two rotors, 28. the second rotors of the right, 29. the second rotors of the left side are always away from controller, 30. the second water of the right Flat rotor is always away from controller, and 31. left side the second rotor engines, 32. the second rotor engines of the right, 33. is left The second horizontal propeller of side, 34 the second horizontal propellers of the right, 35. left side third horizontal propellers, 36. the right third water Flat spin paddle, 37. left side the second flat spin paddle motors, 38 the second flat spin paddle motors of the right, 39. left sides the Three flat spin paddle motors, 40. the right third flat spin paddle motors, 41. the second horizontal propellers of the left side are always away from control Device processed, 42. the second horizontal propellers of the right connect whole left side horizontal propellers and left side vertical spin always away from controller, 43. The universal shaft of paddle, the universal shaft of the whole the right horizontal propellers and right vertical propeller of 44. connections, 45. vertical tails, 46. tailplane, 47. fixed-wing left side wing flaps, 48. fixed-wings the right wing flap, 49. fixed-wings, P. beam movable are straight Rise machine center of gravity and weight.

Specific embodiment

In Fig. 1, the first two rotor beam movable helicopter, left side first level rotor (1) is mounted on crossbeam (5) Far Left, the symmetrical left side first level rotor (1) of the right first level rotor (2) are mounted on the rightmost of crossbeam (5), Close to center of gravity (P) setting Sledge type undercarriage (10) under fuselage (9).

Beam movable helicopter center of gravity (P) is arranged one between fuselage (9) and crossbeam (5) in crossbeam (5) central lower It is a to be fixed on sliding platform (7) along the sliding platform (7) of fuselage (9) longitudinal sliding motion, crossbeam (5), sliding platform (7) installation On the sliding rail of sliding rail and sliding track holder (6), the sliding track holder of sliding rail and sliding track holder (6) is fixed on fuselage (9), The sliding rail of sliding rail and sliding track holder (6) is parallel with fuselage (9) vertical line, and sliding platform servomechanism (8) manipulation is arranged and slides Moving platform (7) is slided along the sliding rail of sliding rail and sliding track holder (6), vertically moves sliding platform (7) along fuselage (9), crossbeam (5) it is vertically moved along fuselage (9), drives the centre of lift edge of left side first level rotor (1) and the right first level rotor (2) Fuselage (9) longitudinal movement.

One diameter is set on the right crossbeam (5) of left side first level rotor (1) than left side first level rotor (1) The small propeller of diameter, the surfaces of revolution and horizontal plane of propeller, normal and longitudinal parallel (the hereinafter referred to as left side of fuselage (9) Vertical spin paddle (3)), left side first level rotor (1) is connected with left side universal shaft (17) and left side vertical spin paddle (3), left Side first level rotor engine (15) is driven while driving left side first level rotor (1) by left side universal shaft (17) Left side vertical spin paddle (3)；One diameter is set on the left side crossbeam (5) of first level rotor (2) on the right and compares the right first The small propeller of the diameter of rotor (2), the surfaces of revolution and horizontal plane of propeller, normal are longitudinal parallel with fuselage (9) (hereinafter referred to as right vertical propeller (4)), the right first level rotor (2) the right universal shaft (18) and right vertical propeller (4) it connects, the right first level rotor engine (16) is universal by the right while first level rotor (2) on the right of driving Axis (18) drives right vertical propeller (4), and left side vertical spin paddle (3) and right vertical propeller (4) are also symmetrically installed.

When using blade flapping device come elimination of level flight, rotor lift asymmetry is to degree, the first water of the left side Flat rotor (1) is identical with the size of the right first level rotor (2), and revolving speed is identical, turns to opposite.

First level rotor in the left side is set always away from controller (11), manipulate left side first level rotor (1) always away from setting The right first level rotor always away from controller (12), manipulation the right first level rotor (2) always away from left side vertical spin is arranged Paddle always away from controller (13), manipulate left side vertical spin paddle (3) always away from right vertical propeller is arranged always away from controller (14), manipulate right vertical propeller (4) always away from.

The identical oil for increasing left side first level rotor engine (15) and the right first level rotor engine (16) Door, it is identical increase left side first level rotor (1) and the right first level rotor (2) always away from beam movable helicopter Vertical ascent, left side vertical spin paddle (3) and right vertical propeller (4) are always zero away from manipulation, left side vertical spin paddle (3) Pulling force, the lift of left side first level rotor (1) and the right first level rotor (2) are not generated with right vertical propeller (4) Equal to the weight of beam movable helicopter, the hovering of beam movable helicopter.

Since the center of gravity (P) of beam movable helicopter is in crossbeam (5) central lower, when sliding platform servomechanism (8) are grasped Vertical sliding platform (7) are slided along sliding rail (6), keep sliding platform (7) moved longitudinally back along fuselage (9), crossbeam (5) moves back Dynamic, the centre of lift of left side first level rotor (1) and the right first level rotor (2) moves backward, and beam movable is gone straight up to The center of gravity (P) of machine also slightly moves backward, because the most weight of beam movable helicopter is in fuselage (9), so, the left side first The amplitude that the centre of lift of rotor (1) and the right first level rotor (2) moves backward is greater than beam movable helicopter The amplitude that moves backward of center of gravity (P), make the centre of lift of left side first level rotor (1) and the right first level rotor (2) After the center of gravity (P) of beam movable helicopter, lift is bowed before making beam movable helicopter；When sliding platform servomechanism (8) manipulation sliding platform (7) along sliding rail (6) slide, keep sliding platform (7) advanced longitudinally forward along fuselage (9), crossbeam (5) to The centre of lift of preceding movement, left side first level rotor (1) and the right first level rotor (2) moves forward, the weight of fuselage (9) The heart (P) also slightly moves forward, because the most weight of beam movable helicopter is in fuselage (9), so, the rotation of left side first level The amplitude that the centre of lift of the wing (1) and the right first level rotor (2) moves forward is greater than the center of gravity of beam movable helicopter (P) amplitude moved forward, makes the centre of lift of left side first level rotor (1) and the right first level rotor (2) in crossbeam Before the center of gravity (P) of mobile helicopter, lift makes beam movable helicopter swing back.By the shifting for manipulating sliding platform (7) It is dynamic, realize the pitch control of beam movable helicopter.

Increase left side vertical spin paddle (3) always away from (by zero always away from become just always away from), left side vertical spin paddle (3) generate to Preceding pulling force, right vertical propeller (4) always away from remaining zero, right vertical propeller (4) does not generate pulling force, and (or zero always away from change Bear always away from right vertical propeller (4) generates rearward pulling force), turn to beam movable helicopter to the right；Increase right vertical Propeller (4) always away from (by zero always away from become just always away from), right vertical propeller (4) generate forward pulling force, left side vertical spin Paddle (3) always away from remaining zero, left side propeller (3) does not generate pulling force, and (or zero always away from becoming negative always away from left side propeller (3) produces Raw rearward pulling force), it turns to beam movable helicopter to the left, manipulates left side vertical spin paddle (3) and right vertical propeller (4) always away from differential, realize manipulation course.

Increase left side first level rotor (1) always away from, while reduce the right first level rotor (2) always away from the left side The lift of first level rotor (1) is greater than the lift of the right first level rotor (2), the roll to the right of beam movable helicopter； Increase the right first level rotor (2) always away from, while reduce left side first level rotor (1) always away from the right first level The lift of rotor (2) is greater than the lift of left side first level rotor (1), and crossbeam is realized in the roll to the left of beam movable helicopter The roll of mobile helicopter manipulates.

In the roll manipulation process of beam movable helicopter, because of the first water of left side first level rotor (1) and the right The lift of flat rotor (2) is unequal, so, reaction torque is also unequal, generates and turns to coupled interference.

If left side first level rotor (1) turns clockwise, the right first level rotor (2) turns counterclockwise, in cross beam movement When the roll to the right of formula helicopter manipulates, generate the interference that turns to the left, by increase left side vertical spin paddle (3) always away from (or By zero always away from become just always away from), left side vertical spin paddle (3) generates forward pulling force, right vertical propeller (4) always away from remaining Zero, right vertical propeller (4) does not generate pulling force (or by zero always away from becoming negative always away from right vertical propeller (4) generation pulls back Power), turn to beam movable helicopter to the right, when offsetting beam movable helicopter roll to the right manipulation, steering stem to the left The influence disturbed；In beam movable helicopter roll to the left manipulation, the interference turned to the right is generated, by increasing right vertical Propeller (4) always away from (or by zero always away from become just always away from), right vertical propeller (4) generate forward pulling force, the vertical spiral shell in the left side Rotation paddle (3) always away from remaining zero, left side propeller (3) does not generate pulling force (or by zero always away from becoming negative always away from left side vertical spin Paddle (3) generates rearward pulling force), it turns to beam movable helicopter to the left, offsets beam movable helicopter roll to the left behaviour When vertical, the influence of interference is turned to the right.

Similarly, if left side first level rotor (1) turns counterclockwise, the right first level rotor (2) turns clockwise, in crossbeam When the roll to the right of mobile helicopter manipulates, the interference turned to the right is generated, cross beam movement is manipulated by left and right vertical spin paddle Formula helicopter turns to the left, offsets the interference of right turn；In beam movable helicopter roll to the left manipulation, generation is turned left To interference, by left and right vertical spin paddle manipulate beam movable helicopter turn to the right, offset the interference of left steering.

When beam movable helicopter hovers, left side first level rotor engine (15) and the right first are increased in the same manner The throttle of rotor engine (16), beam movable helicopter vertical ascent, at this point, reducing left side first level in the same manner Rotor (1) and the right first level rotor (2) always away from making left side first level rotor (1) and the right first level rotor (2) Lift and be equal to beam movable helicopter weight, meanwhile, increase left side vertical spin paddle (3) and right vertical in the same manner Propeller (4) always generates the identical forward pulling force in direction away from, left side vertical spin paddle (3) and right vertical propeller (4), Beam movable helicopter is horizontal quickly preceding winged.

When beam movable helicopter hovers, left side first level rotor engine (15) and the right first are increased in the same manner The throttle of rotor engine (16), beam movable helicopter vertical ascent, at this point, reducing left side first level in the same manner Rotor (1) and the right first level rotor (2) always away from making left side first level rotor (1) and the right first level rotor (2) Lift and be equal to beam movable helicopter weight, meanwhile, manipulate left side vertical spin paddle (3) and right vertical in the same manner Propeller (4) always away to be negative, always to generate direction away from, left side vertical spin paddle (3) and right vertical propeller (4) identical Rearward pulling force, beam movable helicopter are horizontal quickly rear winged.

When flying before beam movable helicopter is horizontal quickly, make left side vertical spin paddle (3) always away from hanging down greater than the right Straight propeller (4) always away from, left side vertical spin paddle (3) forward pulling force is greater than right vertical propeller (4) forward pulling force, Beam movable helicopter is turned right and is flown to the right；Make right vertical propeller (4) always away from be greater than left side vertical spin paddle (3) Be always greater than left side vertical spin paddle (3) forward pulling force, beam movable away from, right vertical propeller (4) forward pulling force Helicopter is turned left and is flown to the left.Realize directional control when horizontal rapid flight.

Directional control method and beam movable helicopter when flying after beam movable helicopter is horizontal quickly is horizontal Directional control method when flying before quickly is identical.

In Fig. 2, second liang of rotor beam movable helicopter, left side first level rotor (1) is mounted on crossbeam (5) the left side, the symmetrical left side first level rotor (1) of the right first level rotor (2) are mounted on the right of crossbeam (5), fuselage (9) close to center of gravity (P) setting Sledge type undercarriage (10) under.

Beam movable helicopter center of gravity (P) is arranged one between fuselage (9) and crossbeam (5) in crossbeam (5) central lower It is a to be fixed on sliding platform (7) along the sliding platform (7) of fuselage (9) longitudinal sliding motion, crossbeam (5), sliding platform (7) installation On the sliding rail of sliding rail and sliding track holder (6), the sliding track holder of sliding rail and sliding track holder (6) is fixed on fuselage (9), The sliding rail of sliding rail and sliding track holder (6) is longitudinal parallel with fuselage (9), and sliding platform servomechanism (8) manipulation sliding is arranged Platform (7) is slided along the sliding rail of sliding rail and sliding track holder (6), vertically moves sliding platform (7) along fuselage (9), crossbeam (5) It is vertically moved along fuselage (9), drives the centre of lift of left side first level rotor (1) and the right first level rotor (2) along machine Body (9) longitudinal movement.

Left side vertical spin paddle (3) are set on the left side crossbeam (5) of left side first level rotor (1), the first water of the left side Flat rotor (1) is connected with left side universal shaft (17) and left side vertical spin paddle (3), and left side first level rotor engine (15) exists By left side universal shaft (17) driving left side vertical spin paddle (3) while driving left side first level rotor (1)；On the right Right vertical propeller (4) are set on the right crossbeam (5) of one rotor (2), the right first level rotor (2) uses the right ten thousand It is connected to axis (18) and right vertical propeller (4), the right first level rotor engine (16) first level on the right of driving Pass through the right universal shaft (18) driving right vertical propeller (4), left side vertical spin paddle (3) and the right while rotor (2) Vertical spin paddle (4) is also symmetrically installed.

When using blade flapping device come elimination of level flight, rotor lift asymmetry is to degree, the first water of the left side Flat rotor (1) is identical with the size of the right first level rotor (2), and revolving speed is identical, turns on the contrary, setting left side first level is revolved The wing always away from controller (11), manipulate left side first level rotor (1) always away from setting the right first level rotor is always away from controller (12), manipulation the right first level rotor (2) always away from setting left side vertical spin paddle manipulates the left side always away from controller (13) Vertical spin paddle (3) always away from setting right vertical propeller manipulates right vertical propeller (4) always away from controller (14) Always away from.

Left side vertical spin paddle (3) and this layout of right vertical propeller (4) are sensitiveer to the manipulation in course, but crossbeam (5) length increases, and increases crossbeam (5) weight.

The back-and-forth motion of sliding platform (7) is manipulated, realizes the pitch control of beam movable helicopter；Manipulate the left side first Rotor (1) and the right first level rotor (2) always away from differential control roll；It manipulates left side vertical spin paddle (3) and right Side vertical spin paddle (4) always away from differential control course.

In Fig. 3, the third two rotors beam movable helicopter, left side first level rotor (1) is mounted on crossbeam (5) the left side, the symmetrical left side first level rotor (1) of the right first level rotor (2) are mounted on the right of crossbeam (5), fuselage (9) close to center of gravity (P) setting Sledge type undercarriage (10) under.

Beam movable helicopter center of gravity (P) is arranged one between fuselage (9) and crossbeam (5) in crossbeam (5) central lower It is a to be fixed on sliding platform (7) along the sliding platform (7) of fuselage (9) longitudinal sliding motion, crossbeam (5), sliding platform (7) installation On the sliding rail of sliding rail and sliding track holder (6), the sliding track holder of sliding rail and sliding track holder (6) is fixed on fuselage (9), The sliding rail of sliding rail and sliding track holder (6) is longitudinal parallel with fuselage (9), and sliding platform servomechanism (8) manipulation sliding is arranged Platform (7) is slided along the sliding rail of sliding rail and sliding track holder (6), vertically moves sliding platform (7) along fuselage (9), crossbeam (5) It is vertically moved along fuselage (9), drives the centre of lift of left side first level rotor (1) and the right first level rotor (2) along machine Body (9) longitudinal movement.

Left side vertical spin paddle (3) are set on the left side crossbeam (5) of left side first level rotor (1), the first water of the left side Left side first level rotor (1) is operated alone in flat rotor engine (15), and setting left side vertical spin paddle motor (21) is independent It drives left side vertical spin paddle (3)；Right vertical propeller is set on the right crossbeam (5) of first level rotor (2) on the right (4), the right first level rotor (2) is operated alone in the right first level rotor engine (16), and right vertical propeller is arranged Driving right vertical propeller (4), left side vertical spin paddle (3) and right vertical propeller (4) is operated alone in engine (22) Also it is symmetrically installed.

When using blade flapping device come elimination of level flight, rotor lift asymmetry is to degree, the first water of the left side Flat rotor (1) is identical with the size of the right first level rotor (2), and revolving speed is identical, turns on the contrary, setting left side first level is revolved The wing always away from controller (11), manipulate left side first level rotor (1) always away from setting the right first level rotor is always away from controller (12), manipulation the right first level rotor (2) always away from setting left side vertical spin paddle manipulates the left side always away from controller (13) Vertical spin paddle (3) always away from setting right vertical propeller manipulates right vertical propeller (4) always away from controller (14) Always away from.

Independently driving eliminates transmission parts for left side vertical spin paddle (3) and right vertical propeller (4), and simplification finishes Structure.

The back-and-forth motion of sliding platform (7) is manipulated, realizes the pitch control of beam movable helicopter；Manipulate the left side first Rotor (1) and the right first level rotor (2) always away from differential control roll；It manipulates left side vertical spin paddle (3) and right Side vertical spin paddle (4) always away from differential control course.

In Fig. 4, the 4th kind of two rotor beam movable helicopter, left side first level rotor (1) is mounted on crossbeam (5) the left side, the symmetrical left side first level rotor (1) of the right first level rotor (2) are mounted on the right of crossbeam (5), fuselage (9) close to center of gravity (P) setting Sledge type undercarriage (10) under.

Beam movable helicopter center of gravity (P) is arranged one between fuselage (9) and crossbeam (5) in crossbeam (5) central lower It is a to be fixed on sliding platform (7) along the sliding platform (7) of fuselage (9) longitudinal sliding motion, crossbeam (5), sliding platform (7) installation On the sliding rail of sliding rail and sliding track holder (6), the sliding track holder of sliding rail and sliding track holder (6) is fixed on fuselage (9), The sliding rail of sliding rail and sliding track holder (6) is longitudinal parallel with fuselage (9), and sliding platform servomechanism (8) manipulation sliding is arranged Platform (7) is slided along the sliding rail of sliding rail and sliding track holder (6), vertically moves sliding platform (7) along fuselage (9), crossbeam (5) It is vertically moved along fuselage (9), drives the centre of lift of left side first level rotor (1) and the right first level rotor (2) along machine Body (9) longitudinal movement.

Right vertical propeller (4) are set on the right crossbeam (5) of first level rotor (2) on the right, the first water of the right The right first level rotor (2) is operated alone in flat rotor engine (16), and left side first level rotor engine (15) individually drives Driving right vertical propeller is operated alone in dynamic left side first level rotor (1) setting right vertical airscrew engine (22) (4).

When using blade flapping device come elimination of level flight, rotor lift asymmetry is to degree, the first water of the left side Flat rotor (1) is identical with the size of the right first level rotor (2), and revolving speed is identical, turns on the contrary, setting left side first level is revolved The wing always away from controller (11), manipulate left side first level rotor (1) always away from setting the right first level rotor is always away from controller (12), manipulation the right first level rotor (2) always away from setting right vertical propeller is always away from controller (14), manipulation the right Vertical spin paddle (4) always away from.

The back-and-forth motion of sliding platform (7) is manipulated, realizes the pitch control of beam movable helicopter；Manipulate the left side first Rotor (1) and the right first level rotor (2) always away from differential control roll；Manipulate the total of right vertical propeller (4) Course is manipulated away from size.

The beam movable helicopter of this layout, right vertical propeller (4) cannot provide the drawing flown horizontally forward Power, by manipulation of preceding bowing, in the horizontal direction using the lift of left side first level rotor (1) and the right first level rotor (2) Component drive the horizontal flight of beam movable helicopter, it is relatively simple for structure, be suitble to low speed occasion.

In Fig. 5, the 5th kind of two rotor beam movable helicopter, left side first level rotor (1) is mounted on crossbeam (5) the left side, the symmetrical left side first level rotor (1) of the right first level rotor (2) are mounted on the right of crossbeam (5), fuselage (9) close to center of gravity (P) setting Sledge type undercarriage (10) under.

Beam movable helicopter center of gravity (P) is arranged one between fuselage (9) and crossbeam (5) in crossbeam (5) central lower It is a to be fixed on sliding platform (7) along the sliding platform (7) of fuselage (9) longitudinal sliding motion, crossbeam (5), sliding platform (7) installation On the sliding rail of sliding rail and sliding track holder (6), the sliding track holder of sliding rail and sliding track holder (6) is fixed on fuselage (9), The sliding rail of sliding rail and sliding track holder (6) is longitudinal parallel with fuselage (9), and sliding platform servomechanism (8) manipulation sliding is arranged Platform (7) is slided along the sliding rail of sliding rail and sliding track holder (6), vertically moves sliding platform (7) along fuselage (9), crossbeam (5) It is vertically moved along fuselage (9), drives the centre of lift of left side first level rotor (1) and the right first level rotor (2) along machine Body (9) longitudinal movement.

Left side vertical spin paddle (3) are set on the left side crossbeam (5) of left side first level rotor (1), the first water of the left side Left side first level rotor (1) is operated alone in flat rotor engine (15), and the right first level rotor engine (16) individually drives Driving left side vertical spin paddle is operated alone in dynamic the right first level rotor (2), setting left side vertical spin paddle motor (21) (3).

When using blade flapping device come elimination of level flight, rotor lift asymmetry is to degree, the first water of the left side Flat rotor (1) is identical with the size of the right first level rotor (2), and revolving speed is identical, turns on the contrary, setting left side first level is revolved The wing always away from controller (11), manipulate left side first level rotor (1) always away from setting the right first level rotor is always away from controller (12), manipulation the right first level rotor (2) always away from setting left side vertical spin paddle manipulates the left side always away from controller (13) Vertical spin paddle (3) always away from.

The back-and-forth motion of sliding platform (7) is manipulated, realizes the pitch control of beam movable helicopter；Manipulate the left side first Rotor (1) and the right first level rotor (2) always away from differential control roll；Manipulate the total of left side vertical spin paddle (3) Course is manipulated away from size.

The beam movable helicopter of this layout, left side vertical spin paddle (3) cannot provide the drawing flown horizontally forward Power, by manipulation of preceding bowing, in the horizontal direction using the lift of left side first level rotor (1) and the right first level rotor (2) Component drive the horizontal flight of beam movable helicopter, it is relatively simple for structure, be suitble to low speed occasion.

In Fig. 6, the 6th kind of two rotor beam movable helicopter, left side first level rotor (1) is mounted on crossbeam (5) the left side, the symmetrical left side first level rotor (1) of the right first level rotor (2) are mounted on the right of crossbeam (5), fuselage (9) close to center of gravity (P) setting Sledge type undercarriage (10) under.

Beam movable helicopter center of gravity (P) is arranged one between fuselage (9) and crossbeam (5) in crossbeam (5) central lower It is a to be fixed on sliding platform (7) along the sliding platform (7) of fuselage (9) longitudinal sliding motion, crossbeam (5), sliding platform (7) installation On the sliding rail of sliding rail and sliding track holder (6), the sliding track holder of sliding rail and sliding track holder (6) is fixed on fuselage (9), The sliding rail of sliding rail and sliding track holder (6) is longitudinal parallel with fuselage (9), and sliding platform servomechanism (8) manipulation sliding is arranged Platform (7) is slided along the sliding rail of sliding rail and sliding track holder (6), vertically moves sliding platform (7) along fuselage (9), crossbeam (5) It is vertically moved along fuselage (9), drives the centre of lift of left side first level rotor (1) and the right first level rotor (2) along machine Body (9) longitudinal movement.

The propeller that surfaces of revolution level is arranged on the left side crossbeam (5) of left side first level rotor (1) is (hereinafter referred to as left Side first level propeller (19)), left side vertical spin is set on the left side crossbeam (5) of left side first level propeller (19) Left side first level rotor (1) is operated alone in paddle (3), setting left side first level rotor engine (15), and the left side first is arranged Left side first level propeller (19) is operated alone in flat spin paddle motor (25), and left side vertical spin paddle motor is arranged (21) left side vertical spin paddle (3) is operated alone.

The propeller that surfaces of revolution level is arranged on the right crossbeam (5) of first level rotor (2) on the right is (hereinafter referred to as right Side first level propeller (20)), right vertical spiral is set on the right crossbeam (5) of first level propeller (20) on the right The right first level rotor (2), setting the right first is operated alone in paddle (4), setting the right first level rotor engine (16) The right first level propeller (20) is operated alone in flat spin paddle motor (26), and right vertical airscrew engine is arranged (22) right vertical propeller (4) are operated alone.

Left side first level propeller (19) and the right first level propeller (20) are symmetrically installed, left side vertical spin paddle (3) it is also symmetrically installed with right vertical propeller (4).

When using blade flapping device come elimination of level flight, rotor and horizontal propeller lift asymmetry are to journey Degree, left side first level rotor (1) is identical with the size of the right first level rotor (2), and revolving speed is identical, turns on the contrary, setting Left side first level rotor always away from controller (11), manipulate left side first level rotor (1) always away from setting the right first level Rotor always away from controller (12), manipulation the right first level rotor (2) always away from left side first level propeller is arranged always away from control Device (23) processed, manipulation left side first level propeller (19) always away from, setting the right first level propeller always away from controller (24), manipulation the right first level propeller (20) always away from for setting left side vertical spin paddle always away from controller (13), manipulation is left Side vertical spin paddle (3) always away from setting right vertical propeller manipulates right vertical propeller (4) always away from controller (14) Always away from.

Left side first level rotor (1) and the right first level rotor (2) work in it is identical always away from and revolving speed, provide steady The weight of fixed lift equalizer movable type helicopter manipulates left side first level propeller (19) and the right first level spiral shell Revolve paddle (20) always away from differential control roll；The back-and-forth motion of sliding platform (7) is manipulated, realizes bowing for beam movable helicopter Face upward control；Manipulate left side vertical spin paddle (3) and right vertical propeller (4) always away from differential control course.

Left side first level propeller (19) and the right first level propeller (20) always away from differential control roll, so One of damage, remaining one still can control roll, therefore, be arranged left side first level propeller (19) and right The design of side first level propeller (20) is redundancy, improves the safety of roll manipulation；Left side vertical spin paddle (3) and Right vertical propeller (4) always away from differential control course, so one of damage, remaining one still be can control Therefore left side vertical spin paddle (3) and right vertical propeller (4) is arranged in course (but cannot provide the pulling force of flight forward) Design be redundancy, improve the safety of directional control.

In Fig. 7, the 7th kind of two rotor beam movable helicopter, left side first level rotor (1) is mounted on crossbeam (5) the left side, the symmetrical left side first level rotor (1) of the right first level rotor (2) are mounted on the right of crossbeam (5), fuselage (9) close to center of gravity (P) setting Sledge type undercarriage (10) under.

Beam movable helicopter center of gravity (P) is arranged one between fuselage (9) and crossbeam (5) in crossbeam (5) central lower It is a to be fixed on sliding platform (7) along the sliding platform (7) of fuselage (9) longitudinal sliding motion, crossbeam (5), sliding platform (7) installation On the sliding rail of sliding rail and sliding track holder (6), the sliding track holder of sliding rail and sliding track holder (6) is fixed on fuselage (9), The sliding rail of sliding rail and sliding track holder (6) is longitudinal parallel with fuselage (9), and sliding platform servomechanism (8) manipulation sliding is arranged Platform (7) is slided along the sliding rail of sliding rail and sliding track holder (6), vertically moves sliding platform (7) along fuselage (9), crossbeam (5) It is vertically moved along fuselage (9), drives the centre of lift of left side first level rotor (1) and the right first level rotor (2) along machine Body (9) longitudinal movement.

Left side first level propeller (19) are set on the left side crossbeam (5) of left side first level rotor (1), on the left side Left side vertical spin paddle (3) are set on the left side crossbeam (5) of first level propeller (19), setting left side first level rotor is sent out Left side first level rotor (1) is operated alone in motivation (15), and setting left side first level airscrew engine (25) is operated alone Left side vertical spin paddle (3) is operated alone in left side first level propeller (19), setting left side vertical spin paddle motor (21).

Setting the right first level propeller (20) on the right crossbeam (5) of first level rotor (2) on the right, on the right Right vertical propeller (4) are set on the right crossbeam (5) of first level propeller (20), setting the right first level rotor hair The right first level rotor (2) is operated alone in motivation (16), and setting the right first level airscrew engine (26) is operated alone Right vertical propeller (4) are operated alone in the right first level propeller (20), setting right vertical airscrew engine (22).

The propeller that surfaces of revolution level is arranged on the right crossbeam (5) of left side first level rotor (1) is (hereinafter referred to as left The second horizontal propeller of side (33)), the propeller of the left side setting surfaces of revolution level of first level rotor (2) is (following on the right Referred to as the second horizontal propeller of the right (34)).

Left side first level propeller (19) and the right first level propeller (20) be symmetrically installed, left side vertical spin paddle (3) and right vertical propeller (4) be symmetrically installed, the second horizontal propeller of the second horizontal propeller of the left side (33) and the right (34) it is also symmetrically installed.

When using blade flapping device come elimination of level flight, rotor and horizontal propeller lift asymmetry are to journey Degree, left side first level rotor (1) is identical with the size of the right first level rotor (2), and revolving speed is identical, turns on the contrary, setting Left side first level rotor always away from controller (11), manipulate left side first level rotor (1) always away from setting the right first level Rotor always away from controller (12), manipulation the right first level rotor (2) always away from left side first level propeller is arranged always away from control Device (23) processed, manipulation left side first level propeller (19) always away from, setting the right first level propeller always away from controller (24), manipulation the right first level propeller (20) always away from for setting left side vertical spin paddle always away from controller (13), manipulation is left Side vertical spin paddle (3) always away from setting right vertical propeller manipulates right vertical propeller (4) always away from controller (14) Always away from.

Left side first level rotor (1) and the right first level rotor (2) work in it is identical always away from and revolving speed, provide steady Fixed lift is not involved in the posture manipulation of rotor beam movable helicopter；The second horizontal propeller of the left side (33) and the right Second horizontal propeller (34) work in it is identical always away from and revolving speed, stable lift is provided and is not involved in rotor cross beam movement The roll of formula helicopter manipulates, and the second horizontal propeller of the left side (33) and the second horizontal propeller of the right (34) provide lift, increases Add lateral dimension of the load-carrying of beam movable helicopter without increasing beam movable helicopter, left side first level rotor (1) and the slip-stream of the right first level rotor (2) increases the second flat spin of the second horizontal propeller of the left side (33) and the right The inflow velocity of paddle (34) improves the efficiency of the second horizontal propeller of the left side (33) and the second horizontal propeller of the right (34).

Manipulate left side first level propeller (19) and the right first level propeller (20) always away from differential control roll； The back-and-forth motion of sliding platform (7) is manipulated, realizes the pitch control of beam movable helicopter；Manipulate left side vertical spin paddle (3) and right vertical propeller (4) always away from differential control course.

The beam movable helicopter of this layout, the second horizontal propeller of the second horizontal propeller of the left side (33) and the right (34) the roll manipulation that stable lift is not involved in rotor beam movable helicopter is provided, even if both damaging, Left side first level rotor (1) and the right first level rotor (2) still provide stable lift, beam movable helicopter according to It can so fly, the second horizontal propeller of the left side (33) and the second horizontal propeller of the right (34) are the Redundancy Designs of vertical lift, Improve the safety of vertical lift.

In Fig. 8, four rotor beam movable helicopters, left side first level rotor (1) is mounted on a left side for crossbeam (5) Side, the symmetrical left side first level rotor (1) of the right first level rotor (2) are mounted on the right of crossbeam (5), and fuselage leans under (9) Nearly center of gravity (P) setting Sledge type undercarriage (10).

Beam movable helicopter center of gravity (P) is arranged one between fuselage (9) and crossbeam (5) in crossbeam (5) central lower It is a to be fixed on sliding platform (7) along the sliding platform (7) of fuselage (9) longitudinal sliding motion, crossbeam (5), sliding platform (7) installation On the sliding rail of sliding rail and sliding track holder (6), the sliding track holder of sliding rail and sliding track holder (6) is fixed on fuselage (9), The sliding rail of sliding rail and sliding track holder (6) is longitudinal parallel with fuselage (9), and sliding platform servomechanism (8) manipulation sliding is arranged Platform (7) is slided along the sliding rail of sliding rail and sliding track holder (6), vertically moves sliding platform (7) along fuselage (9), crossbeam (5) It is vertically moved along fuselage (9), drives the centre of lift of left side first level rotor (1) and the right first level rotor (2) along machine Body (9) longitudinal movement.

Rotor (the hereinafter referred to as left side of surfaces of revolution level is set on the left side crossbeam (5) of left side first level rotor (1) Second rotor (27)), first level propeller in the left side is set on the left side crossbeam (5) of the second rotor of the left side (27) (19), left side vertical spin paddle (3) are set on the left side crossbeam (5) of left side first level propeller (19)；On the right first The rotor (hereinafter referred to as the second rotor of the right (28)) of surfaces of revolution level is set on the right crossbeam (5) of rotor (2), The right first level propeller (20) is set on the right crossbeam (5) of the second rotor (28) on the right, on the right the first water Right vertical propeller (4) are set on the right crossbeam (5) of flat spin paddle (20).

Setting left side first level rotor engine (15) is operated alone left side first level rotor (1), the setting left side the The second rotor of the left side (27) is operated alone in two rotor engines (31), and left side first level airscrew engine is arranged (25) left side first level propeller (19) is operated alone, setting left side vertical spin paddle motor (21) is operated alone the left side and hangs down Straight propeller (3).

The right first level rotor (2), setting the right the is operated alone in setting the right first level rotor engine (16) The second rotor of the right (28), setting the right first level airscrew engine is operated alone in two rotor engines (32) (26) the right first level propeller (20) is operated alone, setting right vertical airscrew engine (22) is operated alone the right and hangs down Straight propeller (4).

The second rotor of the left side (27) and the second rotor of the right (28) be symmetrically installed, left side first level propeller (19) and the right first level propeller (20) be symmetrically installed, left side vertical spin paddle (3) and right vertical propeller (4) It is symmetrically installed.

When using blade flapping device come elimination of level flight, rotor and horizontal propeller lift asymmetry are to journey Degree, left side first level rotor (1), the size of the right first level rotor (2) are identical, and revolving speed is identical, turn on the contrary, the left side the Two rotors (27) are identical with the size of the second rotor of the right (28), and revolving speed is identical, turn to opposite.

First level rotor in the left side is set always away from controller (11), manipulate left side first level rotor (1) always away from setting The right first level rotor always away from controller (12), manipulation the right first level rotor (2) always away from the setting left side second is horizontal Rotor always away from controller (29) manipulation the second rotor of the left side (27) always away from, setting the right the second rotor always away from control Device (30), manipulation the second rotor of the right (28)) always away from, setting left side first level propeller always away from controller (23), It manipulates left side first level propeller (19), setting the right first level propeller is always away from controller (24), manipulation the right first Horizontal propeller (20), setting left side vertical spin paddle always away from controller (13), manipulate left side vertical spin paddle (3) always away from, Right vertical propeller is set always away from controller (14), manipulate right vertical propeller (4) always away from.

Left side first level rotor (1), the right first level rotor (2), the second rotor of the left side (27) and the right Two rotors (28) work in it is identical always away from and revolving speed, the weight of stable lift equalizer movable type helicopter is provided Amount, manipulate left side first level propeller (19) and the right first level propeller (20) always away from differential control roll；Manipulation The pitch control of beam movable helicopter is realized in the back-and-forth motion of sliding platform (7)；Manipulate left side vertical spin paddle (3) and Right vertical propeller (4) always away from differential control course.

Left side first level rotor (1), the right first level rotor (2), the second rotor of the left side (27) and the right Two rotors (28) provide the roll manipulation that stable lift is not involved in rotor beam movable helicopter, even if wherein One damage, close it is symmetrical another, remaining two rotors still provide stable lift, and beam movable is straight Rise machine can still fly, left side first level rotor (1), the right first level rotor (2), the second rotor of the left side (27) and The second rotor of the right (28) is the Redundancy Design of vertical lift, improves the safety of vertical lift.

In Fig. 9, the first six horizontal propeller beam movable helicopter, left side vertical spin paddle (3) is mounted on crossbeam (5) Far Left, the symmetrical left side vertical spin paddle (3) of right vertical propeller (4) are mounted on the right of crossbeam (5), fuselage (9) It is lower that close to center of gravity (P), Sledge type undercarriage (10) are set.

Beam movable helicopter center of gravity (P) is arranged one between fuselage (9) and crossbeam (5) in crossbeam (5) central lower It is a to be fixed on sliding platform (7) along the sliding platform (7) of fuselage (9) longitudinal sliding motion, crossbeam (5), sliding platform (7) installation On the sliding rail of sliding rail and sliding track holder (6), the sliding track holder of sliding rail and sliding track holder (6) is fixed on fuselage (9), The sliding rail of sliding rail and sliding track holder (6) is longitudinal parallel with fuselage (9), and sliding platform servomechanism (8) manipulation sliding is arranged Platform (7) is slided along the sliding rail of sliding rail and sliding track holder (6), vertically moves sliding platform (7) along fuselage (9), is driven horizontal Beam (5) is vertically moved along fuselage (9).

Left side first level propeller (19) are set on the right crossbeam (5) of left side vertical spin paddle (3), on the left side the The second horizontal propeller of the left side (33) are set on the right crossbeam (5) of one horizontal propeller (19), in the second flat spin of the left side Left side third horizontal propeller (35) are set on the right crossbeam (5) of paddle (33)；The left side crossbeam of vertical spin paddle (4) on the right (5) setting the right first level propeller (20) on is arranged on the left side crossbeam (5) of first level propeller (20) right on the right The second horizontal propeller of side (34), the right third horizontal propeller is arranged in the left side of the second horizontal propeller (34) on the right (36).

Left side vertical spin paddle (3) is operated alone in setting left side vertical spin paddle motor (21), and the first water of the left side is arranged Left side first level propeller (19) is operated alone in flat spin paddle motor (25), and the second flat spin of left side paddle motor is arranged (37) the second horizontal propeller of the left side (33) is operated alone, a left side is operated alone in setting left side third flat spin paddle motor (39) Side third horizontal propeller (35)；Right vertical propeller (4) are operated alone in setting right vertical airscrew engine (22), if It sets the right first level airscrew engine (26) and the right first level propeller (20) is operated alone, setting the right second is horizontal The second horizontal propeller of the left side (34), setting the right third flat spin paddle motor is operated alone in airscrew engine (38) (40) the right third horizontal propeller (36) is operated alone.

Left side first level propeller (19) and the right first level propeller (20) be symmetrically installed, the horizontal spiral shell in the left side second Rotation paddle (33) and the second horizontal propeller of the right (34) are symmetrically installed, left side third horizontal propeller (35) and the right third are horizontal Propeller (36), which is symmetrically installed, to be also symmetrically installed.

When using blade flapping device come elimination of level flight, horizontal propeller lift asymmetry is to degree, the left side first Horizontal propeller (19) is identical with the right first level propeller (20) revolving speed, turns to opposite；The second horizontal propeller of the left side (33) identical with the right the second horizontal propeller (34) revolving speed, it turns to opposite；Left side third horizontal propeller (35) and the right Three horizontal propellers (36) revolving speed is identical, turns to opposite.

Vertical spin paddle in the left side is set always away from controller (13), manipulate left side vertical spin paddle (3) always away from setting the right Vertical spin paddle always away from controller (14), manipulate right vertical propeller (4) always away from；It is total that first level propeller in the left side is set Away from controller (23), manipulate left side first level propeller (19), setting the right first level propeller always away from controller (24), Manipulation the right first level propeller (20).

The second horizontal propeller of the left side (33) and the second horizontal propeller of the right (34), left side third horizontal propeller (35) With the right third horizontal propeller (36) work in it is identical always away from and revolving speed, it is mobile straight to provide stable lift equalizer The weight of the machine of liter, manipulation left side first level propeller (19) and the right first level propeller (20) it is always horizontal away from differential control Rolling；The back-and-forth motion of sliding platform (7) is manipulated, realizes the pitch control of beam movable helicopter；Manipulate left side vertical spin Paddle (3) and right vertical propeller (4) always away from differential control course.

The second horizontal propeller of the left side (33) and the second horizontal propeller of the right (34), left side third horizontal propeller (35) It is the Redundancy Design of vertical lift with the right third horizontal propeller (36), improves the safety of vertical lift.

In Figure 10, second of six horizontal propeller beam movable helicopters are by the first six horizontal propeller crossbeam Mobile helicopter variable-pitch propeller changes constant pitch airscrew into.

Left side vertical spin paddle (3) is mounted on the Far Left of crossbeam (5), and the symmetrical left side of right vertical propeller (4) is vertical Propeller (3) is mounted on the right of crossbeam (5), close center of gravity (P) setting Sledge type undercarriage (10) under fuselage (9).

Beam movable helicopter center of gravity (P) is arranged one between fuselage (9) and crossbeam (5) in crossbeam (5) central lower It is a to be fixed on sliding platform (7) along the sliding platform (7) of fuselage (9) longitudinal sliding motion, crossbeam (5), sliding platform (7) installation On the sliding rail of sliding rail and sliding track holder (6), the sliding track holder of sliding rail and sliding track holder (6) is fixed on fuselage (9), The sliding rail of sliding rail and sliding track holder (6) is longitudinal parallel with fuselage (9), and sliding platform servomechanism (8) manipulation sliding is arranged Platform (7) is slided along the sliding rail of sliding rail and sliding track holder (6), vertically moves sliding platform (7) along fuselage (9), is driven horizontal Beam (5) is vertically moved along fuselage (9).

Left side first level propeller (19) are set on the right crossbeam (5) of left side vertical spin paddle (3), on the left side the The second horizontal propeller of the left side (33) are set on the right crossbeam (5) of one horizontal propeller (19), in the second flat spin of the left side Left side third horizontal propeller (35) are set on the right crossbeam (5) of paddle (33)；The left side crossbeam of vertical spin paddle (4) on the right (5) setting the right first level propeller (20) on is arranged on the left side crossbeam (5) of first level propeller (20) right on the right The second horizontal propeller of side (34), setting the right third is horizontal on the left side crossbeam (5) of the second horizontal propeller (34) on the right Propeller (36).

Left side vertical spin paddle (3) is operated alone in setting left side vertical spin paddle motor (21), and the first water of the left side is arranged Left side first level propeller (19) is operated alone in flat spin paddle motor (25), and the second flat spin of left side paddle motor is arranged (37) the second horizontal propeller of the left side (33) is operated alone, a left side is operated alone in setting left side third flat spin paddle motor (39) Side third horizontal propeller (35)；Right vertical propeller (4) are operated alone in setting right vertical airscrew engine (22), if It sets the right first level airscrew engine (26) and the right first level propeller (20) is operated alone, setting the right second is horizontal The second horizontal propeller of the left side (34), setting the right third flat spin paddle motor is operated alone in airscrew engine (38) (40) the right third horizontal propeller (36) is operated alone.

Left side first level propeller (19) and the right first level propeller (20) be symmetrically installed, the horizontal spiral shell in the left side second Rotation paddle (33) and the second horizontal propeller of the right (34) are symmetrically installed, left side third horizontal propeller (35) and the right third are horizontal Propeller (36) is also symmetrically installed.

When using blade flapping device come elimination of level flight, horizontal propeller lift asymmetry is to degree, the left side first Horizontal propeller (19) and the right first level propeller (20) turn to opposite；The second horizontal propeller of the left side (33) and the right Two horizontal propellers (34) revolving speed is identical, turns to opposite；Left side third horizontal propeller (35) and the right third horizontal propeller (36) revolving speed is identical, turns to opposite.

The second horizontal propeller of the left side (33) and the second horizontal propeller of the right (34), left side third horizontal propeller (35) With the right third horizontal propeller (36) work in it is identical always away from and revolving speed, it is mobile straight to provide stable lift equalizer The weight of the machine of liter, the rotational speed difference for manipulating left side first level propeller (19) and the right first level propeller (20) manipulate cross Rolling；The back-and-forth motion of sliding platform (7) is manipulated, realizes the pitch control of beam movable helicopter；Manipulate left side vertical spin The rotational speed difference of paddle (3) and right vertical propeller (4) manipulates course.

In Figure 11, the first has the beam movable helicopter of fixed-wing, and fixed-wing (49) is arranged in crossbeam (5) Portion becomes the spar of fixed-wing (49) in the middle part of crossbeam (5), and fixed-wing left side wing flap (47) are arranged in the left side of fixed-wing (49), Left side vertical spin paddle is arranged in wing flap (48) on the right of the right setting fixed-wing of fixed-wing (49), the left side leading edge of fixed-wing (49) (3), right vertical propeller (4) are arranged in the right leading edge of fixed-wing (49), and left side first level spiral shell is arranged in the left end of crossbeam (5) It revolves paddle (19), right end setting the right first level propeller (20) of crossbeam (5), the right of left side first level propeller (19) The second horizontal propeller of the left side (33) are set on crossbeam (5), are arranged on the left side crossbeam (5) of the right first level propeller (20) The second horizontal propeller of the right (34).

Close to center of gravity (P) setting wheel undercarriage (10) under fuselage (9), beam movable helicopter center of gravity (P) is in crossbeam (5) central lower, one is arranged between fuselage (9) and crossbeam (5) can be horizontal along the sliding platform (7) of fuselage (9) longitudinal sliding motion Beam (5) is fixed on sliding platform (7), and sliding platform (7) is mounted on the sliding rail of sliding rail and sliding track holder (6), sliding rail and The sliding track holder of sliding track holder (6) is fixed on fuselage (9), and the sliding rail of sliding rail and sliding track holder (6) and fuselage (9) are vertical To parallel, it is sliding along the sliding rail of sliding rail and sliding track holder (6) that sliding platform servomechanism (8) manipulation sliding platform (7) is set It is dynamic, vertically move sliding platform (7) along fuselage (9), crossbeam (5) longitudinal movement, drive fixed-wing (49) on crossbeam (5), Left side first level propeller (19), the second horizontal propeller of the left side (33), the right first level propeller (20), the right second The centre of lift of horizontal propeller (34) vertically moves.

Left side vertical spin paddle (3) left side universal shaft (43) and the second water of left side first level propeller (19) and the left side Flat spin paddle (33) connection, left side vertical spin paddle motor (21) pass through a left side while driving left side vertical spin paddle (3) Side universal shaft (43) drives left side first level propeller (19) and the second horizontal propeller of the left side (33)；Right vertical propeller (4) the right universal shaft (44) and the right first level propeller (20) and the second horizontal propeller of the right (34) connection, the right are used Vertical spin paddle motor (22) passes through the right universal shaft (44) driving the right the while driving right vertical propeller (4) One horizontal propeller (20) and the second horizontal propeller of the right (34).

For whole propellers with fuselage (9) longitudinally asymmetric installation, the propeller on the left side and the propeller turning direction on the right are opposite.

When using blade flapping device come elimination of level flight, horizontal propeller lift asymmetry is to degree.

Vertical spin paddle in the left side is set always away from controller (13), manipulate left side vertical spin paddle (3) always away from the left side is arranged First level propeller always away from controller (23) manipulation left side first level propeller (19) always away from the setting left side second is horizontal Propeller always away from controller (41) manipulation the second horizontal propeller of the left side (33) always away from；Right vertical propeller is set always away from control Device (14) processed, manipulation right vertical propeller (4) always away from setting the right first level propeller is always manipulated away from controller (24) The right first level propeller (20) always away from, setting the right the second horizontal propeller always away from controller (42) manipulation the right second Horizontal propeller (34) always away from.

The second horizontal propeller of the left side (33) and the second horizontal propeller of the right (34) work it is identical always away from and revolving speed Stable lift is provided, the back-and-forth motion of sliding platform (7) is manipulated, realizing has the pitching of the beam movable helicopter of fixed-wing Control；Manipulate left side first level propeller (19) and the right first level propeller (20) always away from differential control roll；Behaviour Vertical left side vertical spin paddle (3) and right vertical propeller (4) always away from differential control course.

When beam movable helicopter mutually hovers, identical increasing left side vertical spin paddle motor (21) and right vertical The throttle of airscrew engine (22) flies before having the beam movable helicopter of fixed-wing, when needing quick horizontal flight, phase With the second horizontal propeller of the reduction left side (33) and the second horizontal propeller of the right (34) it is always vertical away from, the identical increasing left side Straight propeller (3) and right vertical propeller (4) always away from there is the beam movable helicopter level of fixed-wing quickly to fly forward Row, at this moment fixed-wing (49) generates lift, and the left side wing flap (47) and the right wing flap (48) of fixed-wing (49) manipulate roll, continue The identical throttle for increasing left side vertical spin paddle motor (21) and right vertical airscrew engine (22), identical reduction The second horizontal propeller of the left side (33) and the second horizontal propeller of the right (34) always away from identical reduction left side first level spiral shell Revolve paddle (19) and the right first level propeller (20) always away from identical increasing left side vertical spin paddle (3) and right vertical Propeller (4) always away from the big portion of power of left side vertical spin paddle motor (21) and right vertical airscrew engine (22) It point is output to left side vertical spin paddle (3) and right vertical propeller (4) pushes has the beam movable helicopter of fixed-wing fast Speed is flown horizontally forward, and tailplane (46) replaces sliding platform servomechanism (8) to manipulate pitching to vertical tail (45) generation at this time Course is manipulated for left side vertical spin paddle (3) and right vertical propeller (4), has the beam movable helicopter of fixed-wing to enter Fixed wing aircraft state of flight.

The identical throttle for reducing left side vertical spin paddle motor (21) and right vertical airscrew engine (22), phase With the second horizontal propeller of the increasing left side (33) and the second horizontal propeller of the right (34) always away from, the identical increasing left side the One horizontal propeller (19) and the right first level propeller (20) always away from, identical reduction left side vertical spin paddle (3) and Right vertical propeller (4) always away from, left side vertical spin paddle motor (21) and right vertical airscrew engine (22) Power is largely output to left side first level propeller (19) and the right first level propeller (20), the second level of the left side Propeller (33) and the second horizontal propeller of the right (34), the pulling force of left side vertical spin paddle (3) and right vertical propeller (4) Identical reduction, having the beam movable helicopter of fixed-wing, flying speed declines horizontally forward, and the lift of fixed-wing (49) subtracts Few, the back-and-forth motion of manipulation sliding platform (7) controls pitching；Manipulate left side first level propeller (19) and the right first level Propeller (20) always away from differential control roll；Manipulate left side vertical spin paddle (3) and right vertical propeller (4) always away from difference Dynamic manipulation course, returns to helicopter flight state.

The method for improving safety is to use clutch and universal shaft by left side vertical spin paddle (3) and right vertical propeller (4) it links, under normal circumstances, clutch separation, left side vertical spin paddle (3) and right vertical propeller (4) work independently, when One of engine damage, clutch connection universal shaft join left side vertical spin paddle (3) and right vertical propeller (4) It is dynamic, remaining engine driving whole propeller, safe falling.

In Figure 12, there is the beam movable helicopter of fixed-wing for second, fixed-wing (49) is mounted in crossbeam (5) Between, becoming the spar of fixed-wing (49) in the middle part of crossbeam (5), fixed-wing left side wing flap (47) are arranged in the left side of fixed-wing (49), Left side vertical spin paddle is arranged in wing flap (48) on the right of the right setting fixed-wing of fixed-wing (49), the left side leading edge of fixed-wing (49) (3), right vertical propeller (4) are arranged in the right leading edge of fixed-wing (49), and left side first level spiral shell is arranged in the left end of crossbeam (5) It revolves paddle (19), right end setting the right first level propeller (20) of crossbeam (5), the right of left side first level propeller (19) The second horizontal propeller of the left side (33) are set on crossbeam (5), are arranged on the left side crossbeam (5) of the right first level propeller (20) The second horizontal propeller of the right (34).

Close to center of gravity (P) setting wheel undercarriage (10) under fuselage (9), beam movable helicopter center of gravity (P) is in crossbeam (5) central lower, one is arranged between fuselage (9) and crossbeam (5) can be horizontal along the sliding platform (7) of fuselage (9) longitudinal sliding motion Beam (5) is fixed on sliding platform (7), and sliding platform (7) is mounted on the sliding rail of sliding rail and sliding track holder (6), sliding rail and The sliding track holder of sliding track holder (6) is fixed on fuselage (9), and the sliding rail of sliding rail and sliding track holder (6) and fuselage (9) are vertical To parallel, it is sliding along the sliding rail of sliding rail and sliding track holder (6) that sliding platform servomechanism (8) manipulation sliding platform (7) is set It is dynamic, vertically move sliding platform (7) along fuselage (9), crossbeam (5) longitudinal movement, drive fixed-wing (49) on crossbeam (5), Left side first level propeller (19), the second horizontal propeller of the left side (33), the right first level propeller (20), the right second The centre of lift of horizontal propeller (34) vertically moves.

Left side vertical spin paddle motor (21) drives left side vertical spin paddle (3), left side first level engine-propeller Machine (25) drives left side first level propeller (19), and the left side the second flat spin paddle motor (37) drives the left side second horizontal Propeller (33)；Right vertical airscrew engine (22) drives right vertical propeller (4), the right first level propeller hair Motivation (26) driving the right first level propeller (20), the second water of the right the second flat spin paddle motor (38) driving the right Flat spin paddle (34).

Whole propellers use constant pitch airscrew, and whole propellers are with fuselage (9) longitudinally asymmetric installation, the propeller on the left side It is opposite with the propeller turning direction on the right.

When using blade flapping device come elimination of level flight, horizontal propeller lift asymmetry is to degree.

The second horizontal propeller of the left side (33) and the second horizontal propeller of the right (34) work provide steady in identical revolving speed Fixed lift counterpoise manipulates the velocity differential of left side first level propeller (19) and the right first level propeller (20) Manipulate roll；The back-and-forth motion of sliding platform (7) is manipulated, realizing has the pitch control of the beam movable helicopter of fixed-wing； The velocity differential for manipulating left side vertical spin paddle (3) and right vertical propeller (4) manipulates course.

When beam movable helicopter mutually hovers, identical increasing left side vertical spin paddle motor (21) and right vertical The throttle of airscrew engine (22) has winged, at this moment fixed-wing (49) generation before the beam movable helicopter level of fixed-wing Lift, the left side wing flap (47) and the right wing flap (48) of fixed-wing (49) manipulate roll, when needing quick horizontal flight, continue The identical throttle for increasing left side vertical spin paddle motor (21) and right vertical airscrew engine (22), identical reduction The throttle of the second horizontal propeller of the left side (33) and the second horizontal propeller of the right (34), identical reduction left side first level spiral shell The throttle of paddle (19) and the right first level propeller (20) is revolved, left side vertical spin paddle (3) and right vertical propeller (4) push away Dynamic to have the beam movable helicopter of fixed-wing quickly to fly horizontally forward, tailplane (46) replaces sliding platform servo at this time Device (8) manipulates pitching, and vertical tail (45) replaces left side vertical spin paddle (3) and right vertical propeller (4) to manipulate course, has The beam movable helicopter of fixed-wing enters fixed wing aircraft state of flight.

The identical throttle for reducing left side vertical spin paddle motor (21) and right vertical airscrew engine (22), phase The throttle of the engine of same the second horizontal propeller of the increasing left side (33) and the second horizontal propeller of the right (34), it is identical to add The throttle of the engine of big left side first level propeller (19) and the right first level propeller (20), left side first level spiral shell Revolve paddle (19) and the second horizontal propeller of the right first level propeller (20), the second horizontal propeller of the left side (33) and the right (34) lift increases, and the identical reduction of pulling force of left side vertical spin paddle (3) and right vertical propeller (4) has fixed-wing Beam movable helicopter flying speed declines horizontally forward, the lift of fixed-wing (49) is reduced, manipulation sliding platform (7) It is moved forward and backward control pitching；Manipulate the velocity differential of left side first level propeller (19) and the right first level propeller (20) Manipulate roll；The velocity differential for manipulating left side vertical spin paddle (3) and right vertical propeller (4) manipulates course, and return is gone straight up to Machine state of flight.

Claims (7)

1. beam movable helicopter uses cross-arranging type rotor structure, the rotor (or propeller) of surfaces of revolution level is along fuselage transverse direction Arrangement is symmetrical with fuselage vertical line, is mounted on the crossbeam both sides of fuselage, using blade flapping device come elimination of level rotor (or spiral shell Revolve paddle) horizontal flight when lift asymmetry to degree, the size of left and right horizontal rotor (or propeller) is identical, turn on the contrary, Undercarriage is set close to center of gravity under fuselage, center of gravity is in crossbeam central lower, it is characterized in that: crossbeam the right and left in fuselage is each right Claim installation one surfaces of revolution and the normal of horizontal plane and fuselage longitudinally parallel propeller, is arranged between fuselage and crossbeam One can be fixed on platform along the platform of fuselage longitudinal sliding motion, crossbeam, and platform connecting sliding rail, sliding rail is fixed on fuselage, sliding Rail is longitudinally parallel with fuselage, and a servomechanism manoeuvring platform is arranged and slides along sliding rail, vertically moves platform along fuselage, drives horizontal Beam longitudinal movement, vertically moves the centre of lift of left and right horizontal rotor (or propeller) along fuselage, by rotating left and right face water The differential change of flat rotor (or propeller) lift manipulates roll, by rotating left and right face and horizontal plane, normal and machine The differential change of the longitudinal parallel propeller pulling force of body manipulates course, by driving platform, moves crossbeam before and after fuselage longitudinal direction Dynamic manipulation pitching, when the face of left rotation and right rotation and horizontal plane, when the pulling force of the longitudinal parallel propeller of normal and fuselage is equidirectional, The pulling force flown before level can also be provided.

2. beam movable helicopter according to claim 1, it is characterized in that: whole rotors, propeller, fixed-wing installation On same crossbeam, crossbeam can be vertically moved along fuselage.

3. beam movable helicopter according to claim 1, it is characterized in that: the surfaces of revolution level of left side manipulation roll Displacement rotor (or variable-pitch propeller) and the surfaces of revolution in left side manipulation course and the normal of horizontal plane are longitudinally parallel with fuselage Variable-pitch propeller by universal axis connection, by same engine driving, the displacement that the right manipulates the surfaces of revolution level of roll revolves The longitudinal parallel displacement of the surfaces of revolution in the wing (or variable-pitch propeller) and the right manipulation course and the normal of horizontal plane and fuselage Propeller is by universal axis connection, always can be by output power portion away from, engine by changing by same engine driving Divide the horizontal displacement rotor (or variable-pitch propeller) for being output to manipulation roll and output power is largely output to manipulation course The surfaces of revolution and the normal of horizontal plane and fuselage longitudinally parallel variable-pitch propeller changes between the two.

4. beam movable helicopter according to claim 1, it is characterized in that: the large scale of the surfaces of revolution level on crossbeam The propeller of the lesser surfaces of revolution level of size is set below rotor, it is straight without increasing beam movable to improve lifting capacity The overall dimensions of the machine of liter.

5. beam movable helicopter according to claim 1, it is characterized in that: the middle section on crossbeam is fixed-wing Spar, i.e. fixed-wing are mounted on the middle part of crossbeam, and the variable-pitch propeller of surfaces of revolution level is mounted on the cross of fixed-wing left and right ends Liang Shang, longitudinally parallel variable-pitch propeller is mounted on the left and right of fixed-wing for the vertical normal of the surfaces of revolution and fuselage, passes through universal shaft By the vertical variable-pitch propeller connection of the variable-pitch propeller of surfaces of revolution level and the surfaces of revolution, engine drives the surfaces of revolution vertical simultaneously Variable-pitch propeller and surfaces of revolution level variable-pitch propeller.

6. beam movable helicopter according to claim 1, it is characterized in that: the middle section on crossbeam is fixed-wing Spar, i.e. fixed-wing are mounted on the middle part of crossbeam, and the constant pitch airscrew of surfaces of revolution level is mounted on the cross of fixed-wing left and right ends Liang Shang, longitudinally parallel constant pitch airscrew is mounted on the left and right of fixed-wing, whole propellers for the vertical normal of the surfaces of revolution and fuselage It is independently driven by respective engine.

7. beam movable helicopter according to claim 1, it is characterized in that: the change driven using multiple self-contained engines Redundancy Design away from propeller (or constant pitch airscrew) increases safety, using two surfaces of revolution levels variable-pitch propeller (or Constant pitch airscrew) manipulation roll, course is manipulated using the vertical variable-pitch propeller (or constant pitch airscrew) of two surfacess of revolution, is used The symmetrically arranged variable-pitch propeller (or constant pitch airscrew) of four surfaces of revolution levels provides vertical lift, roll manipulation, course It manipulates, the Redundancy Design of vertical lift ensures the reliability and safety of flight.