CN111098651A - Combined flying automobile - Google Patents

Combined flying automobile Download PDF

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Publication number
CN111098651A
CN111098651A CN202010107373.4A CN202010107373A CN111098651A CN 111098651 A CN111098651 A CN 111098651A CN 202010107373 A CN202010107373 A CN 202010107373A CN 111098651 A CN111098651 A CN 111098651A
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CN
China
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motor
wing
hole
unmanned aerial
aerial vehicle
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CN202010107373.4A
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Chinese (zh)
Inventor
朱幕松
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Individual
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Individual
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Priority to CN202010107373.4A priority Critical patent/CN111098651A/en
Publication of CN111098651A publication Critical patent/CN111098651A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
    • B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C19/00—Aircraft control not otherwise provided for
    • B64C19/02—Conjoint controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C3/00—Wings
    • B64C3/38—Adjustment of complete wings or parts thereof
    • B64C3/54—Varying in area
    • B64C3/546—Varying in area by foldable elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/16—Stator cores with slots for windings
    • H02K1/165—Shape, form or location of the slots
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2706—Inner rotors
    • H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
    • H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
    • H02K5/161—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields radially supporting the rotary shaft at both ends of the rotor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles
    • Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
    • Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
    • Y04S30/12—Remote or cooperative charging

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)

Abstract

A combined flying car is an organic combination of an electric unmanned aerial vehicle and a power generating car, can take off and land vertically, does not need an airport runway, can be parked in an urban area and run on a road under a folded state, a high-power direct-current generator of the power generating car directly supplies power to the electric unmanned aerial vehicle through a power supply connector, the continuous flying distance of the combined flying car is increased, the electric unmanned aerial vehicle can independently run by depending on the power supply of the electric unmanned aerial vehicle after the electric unmanned aerial vehicle and the power generating car are separated, a charging pile is arranged at the parking point of the electric unmanned aerial vehicle, the electric unmanned aerial vehicle is remotely controlled by the power generating car and can be automatically connected into the combined flying car, 4 brushless outer rotor motors and 2 dip motors of the combined flying car are flexibly and respectively controlled, the operability and the stability of the combined flying car in vertical take-off and land or horizontal flying are improved, the aspect ratio of a left wing and a, the combined flying automobile flies at a middle-low speed horizontal state, and the safety is improved.

Description

Combined flying automobile
Technical Field
The invention relates to a flying automobile, in particular to a combined flying automobile.
Background
For many years, the heat tide for researching and developing flying automobiles in various countries in the world is high all the time, the technology is continuously improved, the prior technical scheme is basically an integrated flying automobile, and the integrated flying automobile has the defects that: the aircraft and the automobile can not be perfectly unified technically, under the precondition of heavy weight of the automobile, when the wings or the rotor wings of the flying automobile have larger volume, the necessary lift force can be met only by flying, otherwise, the pushing power needs to be increased, or the volume of the flying automobile needs to be reduced by adopting a method of increasing the flying speed, so that the defects of short continuous flying mileage and poor safety can be caused, therefore, the existing flying automobile generally has the defects of large volume, complex structure, short continuous flying mileage and poor safety, and the practical effect is difficult to achieve.
Disclosure of Invention
In order to overcome the defects of the existing integrated hovercar technology, the invention discloses a combined hovercar.
The technical scheme of the combined flying automobile is characterized in that the combined flying automobile is formed by combining an electric unmanned aerial vehicle and a power generation automobile and is characterized in that: the electric unmanned aerial vehicle and the power generation vehicle are organically connected into a whole to run jointly, so that the electric unmanned aerial vehicle can run on land and fly in the air, the ideal effect of the flying vehicle is realized, and the practical effect of independent running of the electric unmanned aerial vehicle and the power generation vehicle can be exerted after the electric unmanned aerial vehicle and the power generation vehicle are separated from each other, the connecting parts between a stainless steel round pipe of the H-shaped frame and the left cabin and the right cabin are provided with communicating holes, the lower end of the front connecting rod is provided with a front screw hole, a front rotor motor is arranged in the front screw hole, the lower end of the rear connecting rod is provided with a rear screw hole, a rear rotor motor is arranged in the rear screw hole, the upper end of the middle connecting rod is welded with a front connecting seat and a rear connecting seat, a left driving shaft is arranged between the front connecting seat and the rear connecting seat and is fixedly connected with a left inclination motor and a right inclination motor, a left bearing is arranged in the left bearing frame, a right bearing frame is welded at the upper end of the right cabin, a right bearing is arranged in the right bearing frame, the left end of the left driving shaft is arranged in an inner circle of the left bearing, the right end of the right driving shaft is arranged in an inner circle of the right bearing, the left driving shaft and the right driving shaft are, the lower end of the left driving shaft is provided with a left screw hole, a left vector motor is arranged in the left screw hole, the lower end of the right driving shaft is provided with a right screw hole, a right vector motor is arranged in the right screw hole, the front rotor wing motor and the rear rotor wing motor are symmetrical to the left driving shaft and the right driving shaft, the left vector motor and the right vector motor are symmetrical to the middle connecting rod, the front rotor wing motor, the rear rotor wing motor, the left vector motor, the right vector motor, the rear rotor wing motor, the front rotor wing motor, the rear rotor wing motor, the left rotor wing motor, the rear rotor wing motor, the right rotor wing motor, the left rotor motor, the right rotor wing motor, the left rotor wing motor, the right rotor wing motor, the, the left propeller and the right propeller can be synchronously controlled to transit from a horizontal state to a vertical state, the inclination angles of the left propeller and the right propeller can be respectively controlled, different vector thrust is provided for a combined flying automobile, the outer rotor brushless motor is provided with an installation shaft, the installation shaft is provided with a center line hole, a motor line is arranged in the center line hole, the installation shaft is provided with an installation platform and a screw head, the screw head of each outer rotor brushless motor is respectively installed in the front screw port, the rear screw port, the left screw port and the right screw port, the motor lines of the left vector motor and the right vector motor pass through the center holes of the left driving shaft and the right driving shaft and are led out from the left end of the left driving shaft, the upper end of the left driving shaft is provided with a wire guide hole, the upper end of the left tilt motor is led out from the left wire guide hole, the upper end of the right tilt motor is provided with a right wire guide hole, the right motor line is led out from the right wire guide, the upper end of the left cabin is provided with a wire hole, the combined motor output wires enter the left cabin through the wire hole, and the motor output wires of the front rotor motor and the rear rotor motor enter the left cabin through the communication hole of the H-shaped frame and the communication hole of the left cabin; a left ring frame is welded at the middle lower part in the left cabin, a left servo motor is installed at the upper end of the left ring frame, the left servo motor is provided with a short driving shaft, the left servo motor is positioned in the middle of the short driving shaft, the short driving shaft is concentric with the inner circle of the left cabin and is parallel to the front end and the rear end of the left cabin, the left end and the right end of the short driving shaft are connected with a left wing, the left wing is provided with a front framework and a rear framework, the big end of the front framework is provided with a front round hole which is connected with the front end of the short driving shaft, the big end of the rear framework is provided with a rear round hole which is connected with the rear end of the short driving shaft, the upper end and the lower end of the front framework and the lower end of the rear framework are provided with a left wing shell, the left end of the left wing shell is small in volume, the cross-section graph is in a small streamline shape, the right end of the left wing shell is large in a large-streamline shape, the left, the radius of an arc ring of a left wing door is slightly smaller than the radius of an inner circle of a left cabin, a left horizontal Hall element is arranged at the left end of a shell of a left servo motor, a left vertical Hall element is arranged at the upper end of the shell of the left servo motor, a sensing hole is formed in the big end of a rear framework, permanent magnet particles are installed in the sensing hole, the left horizontal Hall element is aligned with the permanent magnet particles when a left wing is in a horizontal state, the left vertical Hall element is aligned with the permanent magnet particles when the left wing is in a vertical state, an electrically-controlled folding type left wing with a large aspect ratio is formed by the left cabin, the left wing and the left servo motor, a right ring frame is welded at the middle lower part in a right cabin, a right servo motor is installed at the upper end of the right ring frame, the right servo motor is provided with a short driving shaft, the left end and the right end of the short driving shaft are connected with a right wing, the electrically-controlled folding type right wing with a large aspect ratio is formed, the structural description of the electrically-controlled folding right wing with large aspect ratio is not repeated symmetrically at the left end and the right end of the H-shaped frame; the combined flying car is provided with an electric control load connector, the electric control load connector is provided with a front connecting frame and a rear connecting frame, the front connecting frame and the rear connecting frame are n-shaped, the front connecting frame is provided with a front servo motor, a left front end in a right engine room is welded with a connecting ring, the right end of the connecting ring is provided with a positioning table, the front servo motor is provided with a barrel-shaped shell, the left end of the barrel-shaped shell is arranged behind the positioning table of the connecting ring and is fastened by a plurality of screws, the left front end in a right engine room is provided with a shaft hole, the right front end in the left engine room is provided with a bearing frame, a bearing is arranged in the bearing frame, the front servo motor is provided with a long driving shaft, the left end of the long driving shaft is arranged in the bearing, the right end of the long driving shaft is arranged in the shaft hole, the rear end of the front connecting frame is welded in the middle of the long driving shaft, the rear end of the, the long driving shaft is provided with a nut hole, a screw rod is arranged in the nut hole, permanent magnet particles are arranged at the rear end of the screw rod, the front connecting frame is in a horizontal state, the left horizontal Hall sensor is aligned with the permanent magnet particles, the front connecting frame is in a vertically downward state, the left vertical Hall sensor is aligned with the permanent magnet particles, the front connecting frame, the front servo motor and the horizontal Hall sensor form an electric control front connecting frame, the electric control front connecting frame and the electric control rear connecting frame have the same structural characteristics and are symmetrical to the front end and the rear end of the H-shaped frame, and the structural description of the electric control rear connecting frame is not repeated; the combined aerocar is provided with a power generation car, the power generation car is an energy-saving and environment-friendly fuel car, the power generation car is provided with a vehicle-mounted generator, the vehicle-mounted generator is a high-power direct-current generator, the power generation car is provided with a power supply connector, the power supply connector is provided with a socket, the outer circle of the socket is provided with a mounting table, the lower end of the mounting table is provided with a screwed pipe joint, a ceiling of the power generation car is provided with a mounting hole, the screwed pipe joint is mounted in the mounting hole, the outer circle of the screwed pipe joint is provided with a joint end cover, the inner circle of the joint end cover is provided with an inner screw, the joint end cover is screwed into the screwed pipe joint, the socket is fastened at the upper end of the ceiling, the socket is made of a conductor material, the joint end cover is, the center of the bottom of the joint end cover is provided with an electrode round table, the center of the electrode round table is provided with an electrode screw, the lower end of the electrode screw is provided with an electrode soldering lug which is fastened by a screw cap, a welding lead of the electrode soldering lug is connected with the positive output end of the vehicle-mounted generator, the lower end of the screw pipe joint is provided with a nut hole, the lower end of the joint end cover is provided with an iron-connected screw and an iron-connected soldering lug, the iron-connected screw connects the iron-connected soldering lug to the screw pipe and fastens, the welding lead of the iron-connected soldering lug is connected with the negative output end of the vehicle-mounted generator, the lower end of the screw pipe joint is provided with a drain pipe joint, the drain pipe joint is connected with a drain hose, the drain hose discharges rainwater accumulated in the insert pipe seat out of the vehicle, the power supply connector is provided with an insert, the inserting tube head is positioned in the center of the H-shaped frame, a communicating hole is formed in the connecting position between the inserting tube head and the middle connecting rod, a coarse hole is formed in the center of the upper end of the inserting tube head, a fine hole is formed in the center of the lower end of the inserting tube head, an electrode nail is arranged in the fine hole, a plugging head is arranged at the upper end of the coarse hole, a spring is arranged between the electrode nail and the plugging head, the plugging head is provided with a center hole, an electrode wire is arranged at the upper end of the electrode nail, the electrode wire is led into the left engine room through the center hole of the plugging head and each communicating hole in the H-shaped frame, when the inserting tube head is inserted into the inserting tube seat, the arc-shaped petals of the annular spring copper sheet stretch, the lower end of the electrode nail is in; the lower end of the middle connecting rod is provided with an image sensor, the output line of the image sensor is led into a left cabin through each communication hole, the front end in the left cabin is provided with a lithium battery pack, the negative pole of the output line of the lithium battery pack is connected with iron, the positive pole is connected with an electrode wire, the rear end in the left cabin is provided with an intelligent controller, each control system is centralized in one control box by the intelligent controller, the output line of the lithium battery pack is connected with the power supply end of the intelligent controller, 4 outer rotor brushless motor control modules are respectively arranged in the intelligent controller, the output ends of the 4 outer rotor brushless motor control modules are respectively connected with corresponding front and rear rotor motors and left and right vector motors, 6 harmonic speed reducing motor control modules are respectively arranged in the intelligent controller, the output ends of each control module are respectively connected with corresponding front and rear servo motors, left and right servo motors and left and right inclination motors, the intelligent controller is internally provided with a wireless transmitting and receiving remote control module and a program control module which are in bidirectional communication, a navigator and a gyro sensor are arranged in the intelligent controller, and an output line of the navigator, an output line of the gyro sensor and an output line of the image sensor, as well as output lines of all Hall elements and all Hall sensors are respectively connected with all relevant control input ends of the intelligent controller; when the electric unmanned aerial vehicle flies normally, the left wing, the right wing, the front connecting frame and the rear connecting frame are unfolded into a horizontal state, the inclination angles of the propellers of the left and right wing motors are in a vertical state, when the electric unmanned aerial vehicle is parked in a landing state, the left wing, the right wing, the front connecting frame and the rear connecting frame are contracted into a vertical state, so that the electric unmanned aerial vehicle occupies a small space, when the electric unmanned aerial vehicle vertically takes off and lands, the inclination angles of the propellers of 4 outer rotor brushless motors are in a horizontal state, when the electric unmanned aerial vehicle and a power generation vehicle are connected into a whole, the hanging rod at the lower end of the front connecting frame is supported at the front end of the power generation vehicle chassis, the hanging rod at the lower end of the rear connecting frame is supported at the rear end of the power generation vehicle chassis, a navigator and a remote controller are arranged in the power generation vehicle, a remote control module and a, the connecting frame locker is provided with a front gripper and a rear gripper, a front gripper motor is arranged in the middle of the front end of the power generation automobile chassis, the front gripper motor is provided with a left driving shaft and a right driving shaft, the left driving shaft is provided with a left hook, the right driving shaft is provided with a right hook, when the front gripper motor rotates clockwise, the left hook and the right hook grasp a front suspender, the front suspender is locked after the front gripper motor is stopped, when the front gripper motor rotates anticlockwise, the left hook and the right hook leave the front suspender, the front suspender is loosened after the front gripper motor is stopped, after the electric unmanned aerial vehicle is in butt joint with the power generation automobile, the front gripper grasps the front suspender, the rear gripper grasps a rear suspender, firm joint is ensured, the structural characteristics of the front gripper and the rear gripper are completely the same and are symmetrical to the front end and the rear end of the power generation automobile chassis.
The front rotor motor, the rear rotor motor, the left vector motor and the right vector motor are all provided with the same outer rotor brushless motor, the outer rotor brushless motor is provided with an installation shaft, the installation shaft is provided with an installation platform and a screw head, the lower end of the installation platform is provided with an armature shaft, the excircle of the armature shaft is provided with a stator core, the stator core is formed by overlapping a plurality of silicon steel sheets, the circumference of the stator core is provided with a plurality of tooth grooves, 3-phase coil windings are wound in the tooth grooves, the 3-phase coil windings are connected into a Y-shaped circuit, 3 Hall elements at different positions are respectively arranged in the tooth grooves at the outer end of the 3-phase coil, the output line of the 3-phase coil winding and the output line of the 3 Hall elements are combined into one motor output line, the installation shaft is provided with a center line hole, the lower end in the center line hole is provided with an inclined hole, the central shaft hole is provided with a rotor shaft, the lower end of the rotor shaft is provided with a lower end cover, the excircle of the lower end cover is provided with a magnetic conduction ring, the inner circle of the magnetic conduction ring is provided with a permanent magnetic ring, the permanent magnetic ring is formed by splicing 8 arc permanent magnets, the arc permanent magnets are strong magnets made of neodymium iron boron materials, the magnetic pole directions of each arc permanent magnet are radial, the polarities of the adjacent arc permanent magnets are opposite to each other, the inner circle of the upper end of the magnetic conduction ring is provided with an inner screw, the lower end of the inner screw is provided with a stop table, the inner circle of the upper end of the magnetic conduction ring is provided with an upper end cover, the excircle of the upper end cover is provided with an outer screw which is matched with the inner screw, the upper end cover is screwed on the inner circle of the magnetic conduction ring, the rotor shaft, the upper end cover, the permanent magnetic ring and the magnetic conduction ring form an outer rotor and motor shell, the upper end of the armature shaft is provided with an outer snap spring which blocks the, the left and right propellers push the rotor shaft to press the thrust steel balls when the propellers of the left and right propellers push the hovercar to fly in a vertical state, the rotor shaft pressure and the thrust steel balls are in point contact, the friction force is small, no force is applied between the central shaft hole and the rotor shaft, and the friction force is small, so that the bearing loss of the outer rotor brushless motor is small when the outer rotor brushless motor is loaded.
The front servo motor, the rear servo motor, the left servo motor, the right servo motor, the left tilt motor, the right tilt motor, the front gripper motor and the rear gripper motor are harmonic speed reducing motors with the same structure, the harmonic speed reducing motor is provided with a cylindrical shell, the cylindrical shell is provided with a right end cover, the cylindrical shell and the right end cover are integrally manufactured and molded, the middle part of the right end cover is provided with a right bearing, the cylindrical shell is provided with a left end cover, the middle part of the left end cover is provided with a left bearing, a common driving shaft is arranged in the left bearing and the right bearing, a left inner bearing and a right inner bearing are arranged between the left bearing and the right bearing, the left inner bearing and the right inner bearing are coaxially arranged with the left bearing and the right bearing, the left inner bearing and the right inner bearing are arranged in a cylindrical bearing frame, the right end of the cylindrical bearing frame is provided with a driving disc, the left, the periphery of the conical disc support is provided with a flexible outer gear ring, the flexible outer gear ring is an elliptical outer gear ring supported by an upper plastic pulley and a lower plastic pulley, the right end of a left end cover is provided with a rigid inner gear ring, the flexible outer gear ring and the rigid inner gear ring are engaged to form a harmonic reducer, the outer circle of the driving disc is provided with a permanent magnet outer rotor, the outer circle of the rigid inner gear ring is provided with an annular inner stator, the annular inner stator is provided with a three-phase coil, three Hall sensors at different positions are arranged between the three-phase coils, the three-phase coil is connected into a Y-shaped circuit, a three-phase coil output line is led out, the three-phase coil output line and three Hall sensor output lines are combined to form an output cable, the cylindrical shell is provided with an outlet hole, the output cable is led out from the, the revolution value of the flexible outer gear ring is equal to the linear distance between the number of the inner teeth and the number of the outer teeth, and the speed reduction ratio of the harmonic reducer is very large, so that the rotating speed of a common driving shaft of the harmonic reducer and the outer rotor brushless motor is very low, the common driving shaft is an output shaft of the harmonic reducer motor, and the output shaft has a locking function after the harmonic reducer motor is stopped.
The combined flying automobile has the beneficial effects that: the combined flying automobile is an organic combination of an electric unmanned aerial vehicle and a power generating automobile, the combined flying automobile can take off and land vertically without an airport runway, the left wing and the right wing of the combined flying automobile have small occupied area under a folded state, and are beneficial to parking in urban areas and road running, the combined flying automobile has large wing aspect ratio after being unfolded, large lift force, small air flow resistance and high pneumatic efficiency when in a flying state, compared with the automobile running on the land, the combined flying automobile consumes the same amount of fuel, the continuous driving distance of the combined flying automobile is longer, the running time is shorter, the fuel energy of the power generating automobile is large, the weight is light, a high-power direct-current generator of the power generating automobile directly supplies power to the electric unmanned aerial vehicle through a power supply connector, so that the continuous flying distance of the combined flying automobile is increased, a charging pile is arranged at the parking point of the electric unmanned aerial vehicle, a mounting hole is formed in the top of the charging pile, the electric unmanned aerial vehicle can independently fly to execute a task by depending on a self power supply, when the electric unmanned aerial vehicle returns to a parking point to vertically land, the electric unmanned aerial vehicle is controlled by an intelligent controller, the inserting pipe head aims at a bell mouth at the upper end of the charging pile and slowly enters the inserting pipe seat, the front connecting frame and the rear connecting frame vertically land, the electric unmanned aerial vehicle receives charging of the charging pile during parking, when a combined flying automobile is required to be formed during independent parking or road driving of the generating automobile, an unmanned aerial vehicle remote controller in the generating automobile is operated to order the nearby electric unmanned aerial vehicle to fly in a vertical lifting state and fly to the place of the generating automobile along with an instruction of a navigator, after the electric unmanned aerial vehicle approaches the generating automobile, an image sensor at the lower end of the middle connecting rod sees the bell mouth at the upper end of the generating automobile, and the, the compared signals are poor to an intelligent controller, the intelligent controller respectively controls the rotating speed of the 4 outer rotor brushless motors, the position and the angle of the electric unmanned aerial vehicle are adjusted, the electric unmanned aerial vehicle is aligned with a bell mouth at the upper end of the roof and slowly enters the socket base, the middle connecting rod is parallel to the front end and the rear end of the power generation vehicle, after the power generation vehicle is accurately connected with the electric unmanned aerial vehicle, the intelligent controller controls the front servo motor and the rear servo motor to rotate simultaneously according to a set program, the front connecting frame and the rear connecting frame fall vertically at the same time, the front connecting frame falls at the front end of a chassis of the power generation vehicle, the rear connecting frame falls at the rear end of the chassis of the power generation vehicle, after the front connecting frame and the rear connecting frame are in place, the vertical Hall sensors are aligned with the permanent magnet particles, the vertical Hall sensors send signals to the intelligent controller, the intelligent controller controls the front servo motor and the rear servo motor to stop simultaneously, the front gripper and the rear gripper grab the front suspender and the rear suspender to be locked simultaneously, the loaded combined flying automobile has the problems of low pneumatic efficiency and high power consumption in a vertical takeoff state, therefore, an accelerator of the generating automobile needs to be increased to increase the power of a generator, a more powerful power supply is provided for 4 outer rotor brushless motors, after the combined flying automobile takes off for a certain height, the intelligent controller controls the left servo motor and the right servo motor to rotate according to a set program, the left wing and the right wing are unfolded towards two sides simultaneously, the left wing and the right wing are changed into a horizontal state from a vertical state, the horizontal Hall element is aligned with the permanent magnet particles, a horizontal Hall element signal is sent to the intelligent controller, the intelligent controller controls the left servo motor and the right servo motor to stop simultaneously, the left wing and the right wing are locked in the horizontal state, and the combined flying automobile is converted into a horizontal direction to fly forwards quickly, the intelligent controller controls the left and right inclination motors to rotate clockwise according to a set program, the left and right vector motors lift backwards and upwards synchronously, the inclination angles of the left and right propellers are gradually transited from a horizontal state to a vertical state, during the transition period of the inclination angles of the left and right propellers, horizontal signals of the gyro sensor are transmitted to the intelligent controller, the intelligent controller respectively controls the rotating speeds of the front rotor motor and the rear rotor motor, the lifting forces of the front and rear propellers are respectively adjusted, the front and rear ends of the combined flying automobile are balanced, the thrust forces of the left and right propellers are the power of the flying automobile flying forwards, the speed of the flying automobile flying forwards enables the left wing and the right wing to generate the supporting lifting force of the flying automobile, the supporting force is far larger than the lifting force of the front and rear rotors, the intelligent controller respectively reduces the rotating speeds of the front rotor motor and the rear rotor motor, and the front and rear propellers with low rotating speeds act on the front and rear wings of the flying automobile, The rear end is automatically balanced, the intelligent controller respectively controls the rotating speed of the left vector motor and the rotating speed of the right vector motor, so that the left propeller and the right propeller generate different thrust, the function of turning the flying automobile in the air is realized, the intelligent controller respectively controls the inclination angle of the left inclination angle motor and the inclination angle of the right inclination angle motor, so that the left propeller and the right propeller generate different vector thrust, the left end and the right end of the flying automobile are automatically balanced, the 4 outer rotor brushless motors and the 2 inclination angle motors of the combined flying automobile are flexibly and jointly controlled respectively, and the operability and the stability of the flying automobile are improved.
Drawings
Fig. 1 is a schematic top view of a combination flying vehicle.
FIG. 2 is a schematic view of a rear view structure of a combined flying vehicle in a vertical take-off and landing state.
FIG. 3 is a rear view structural diagram of the combined flying automobile in a horizontal flying state.
FIG. 4 is a schematic diagram of a structure of a combined flying automobile in a right-view in a horizontal flying state.
Fig. 5 is a schematic cross-sectional view of the power supply connector in a coupled state.
Fig. 6 is a schematic cross-sectional view of the power supply connector in a separated state.
Fig. 7 is a schematic structural diagram of the electric unmanned aerial vehicle parked in the charging pile.
Fig. 8 is a schematic rear sectional view of the outer rotor brushless motor.
Fig. 9 is a schematic rear sectional view of the left and right tilt motors.
Fig. 10 is a schematic top sectional view of the front servo motor.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
In fig. 1-10, the electric unmanned plane and the power generating car are organically connected into a whole to operate in combination, which can run on land and fly in air, thus achieving the ideal effect of flying cars, and can exert the practical effect of independent operation after the two are separated, the electric unmanned plane is provided with a left cabin 1 and a right cabin 2, the left and right cabins are all closed stainless steel drums, the front and rear ends of the left and right cabins are streamlined, the upper end between the left cabin and the right cabin is welded with a front connecting rod 3 and a rear connecting rod 4, the middle part between the front and rear connecting rods is welded with a middle connecting rod 5, the front, rear and middle connecting rods are all stainless steel round tubes with the same diameter, the front, rear and middle connecting rods are connected into an H-shaped frame, the H-shaped frame is connected with the left and right cabins to form the body of the electric unmanned plane, the left and right cabins are symmetrical to the H-shaped frame, the connecting parts between a stainless steel round tube of the H-shaped frame and the left cabin and the right cabin are provided with communicating holes, the lower end of the front connecting rod is provided with a front screw hole, a front rotor motor 6 is arranged in the front screw hole, the lower end of the rear connecting rod is provided with a rear screw hole, a rear rotor motor 7 is arranged in the rear screw hole, the upper end of the middle connecting rod is welded with a front connecting seat 8 and a rear connecting seat 9, a left tilt motor 10 and a right tilt motor 11 are arranged and fixed between the front connecting seat and the rear connecting seat and are provided with a left driving shaft 12, a right tilt motor is provided with a right driving shaft 13, the upper end of the left cabin is welded with a left bearing frame, a left bearing 14 is arranged in the left bearing frame, the upper end of the right cabin is welded with a right bearing frame, a right bearing 15 is arranged in the right bearing frame, the left end of the left driving shaft is arranged in the inner circle of the left bearing, the right, the lower end of the left driving shaft is provided with a left screw hole, a left vector motor 16 is arranged in the left screw hole, the lower end of the right driving shaft is provided with a right screw hole, a right vector motor 17 is arranged in the right screw hole, the front rotor wing motor and the rear rotor wing motor are symmetrical to the left driving shaft and the right driving shaft, the left vector motor and the right vector motor are symmetrical to the middle connecting rod, the front rotor wing motor, the rear rotor wing motor, the left vector motor, the right vector motor, the front rotor wing motor and the right vector motor are both composed of an outer rotor brushless motor 18 and a propeller 19, the propeller is arranged at the lower end of the circumference of the outer rotor brushless motor shell, the specifications and the models of the 4 outer rotor brushless motors are the same, the specifications and the models of the 4 propellers are the same, the directions of the left propeller and the right propeller are opposite to each other, the directions of the front propeller and the rear propeller are opposite to each other, the front rotor wing motor, the horizontal-state transition of left and right propellers can be synchronously controlled, the inclination angles of the left and right propellers can be respectively controlled, different vector thrust is provided for a combined flying automobile, an outer rotor brushless motor is provided with an installation shaft 20, the installation shaft is provided with a center line hole 21, a motor line 22 is arranged in the center line hole, the installation shaft is provided with an installation platform 23 and a screw head 24, the screw head of each outer rotor brushless motor is respectively installed in a front screw port, a rear screw port, a left screw port and a right screw port, the motor line 22 of the left and right vector motors passes through center holes of a left driving shaft and a right driving shaft and is led out from the left end of the left driving shaft, the upper end of the left driving shaft is provided with a wire hole 25, the upper end of the left inclination angle motor is provided with a left wire hole 26, the left motor line is led out from the left wire hole, the upper end of the right inclination motor is provided with a right wire hole 27, the, A motor wire 22 of the right vector motor is combined with a motor output wire 29 and led out from the left end of the left driving shaft, the upper end of the left cabin is provided with a wire hole 30, the combined motor output wire enters the left cabin through the wire hole, and the motor wires 22 of the front rotor motor and the rear rotor motor enter the left cabin through a communication hole of the H-shaped frame and a communication hole of the left cabin; a left ring frame 31 is welded at the middle lower part in the left cabin, a left servo motor 32 is arranged at the upper end of the left ring frame, the left servo motor is provided with a short driving shaft 33, the left servo motor is positioned in the middle of the short driving shaft, the short driving shaft is concentric with the inner circle of the left cabin and is parallel to the front end and the rear end of the left cabin, the left end and the right end of the short driving shaft are connected with a left wing 34, the left wing is provided with a front framework 35 and a rear framework 36, the big end of the front framework is provided with a front round hole which is connected with the front end of the short driving shaft, the big end of the rear framework is provided with a rear round hole which is connected with the rear end of the short driving shaft, the upper end and the lower end of the front framework and the rear framework are provided with a left wing shell, the left end of the left wing shell is small in volume, the cross section graph is a small streamline 37, the right end of the left wing shell is large in volume, the cross section, the arc length of the left wing door is larger than the height of a left wing opening, the arc circle radius of the left wing door is slightly smaller than the inner circle radius of a left cabin, the left end of a shell of a left servo motor is provided with a left horizontal Hall element 41, the upper end of the shell of the left servo motor is provided with a left vertical Hall element 42, the large end of a rear framework is provided with a sensing hole, permanent magnet particles 43 are arranged in the sensing hole, the left horizontal Hall element is aligned with the permanent magnet particles when the left wing is in a horizontal state, the left vertical Hall element is aligned with the permanent magnet particles when the left wing is in a vertical state, the left wing and the left servo motor form an electrically controlled folding left wing with large aspect ratio, the middle lower part of the right cabin is welded with a right ring frame 44, the upper end of the right ring frame is provided with a right servo motor 45, the right servo motor is provided with a short driving shaft 46, the left end and the right end of the short driving shaft are connected with a right, the structural characteristics of the electrically-controlled folding type high-aspect-ratio right wing and the electrically-controlled folding type high-aspect-ratio left wing are completely the same and are symmetrical to the left end and the right end of the H-shaped frame, and the structural description of the electrically-controlled folding type high-aspect-ratio right wing is not repeated; the combined flying car is provided with an electric control load connector, the electric control load connector is provided with a front connecting frame 48 and a rear connecting frame 49, the front connecting frame and the rear connecting frame are n-shaped, the front connecting frame is provided with a front servo motor 50, the left front end of a right engine room is welded with a connecting ring 51, the right end of the connecting ring is provided with a positioning table 52, the front servo motor is provided with a barrel-shaped shell 53, the left end of the barrel-shaped shell is arranged behind the positioning table of the connecting ring and is fastened by a plurality of screws 54, the left front end of the right engine room is provided with a shaft hole, the right front end of the left engine room is provided with a bearing frame, a bearing 55 is arranged in the bearing frame, the front servo motor is provided with a long driving shaft 56, the left end of the long driving shaft is fixed in the bearing, the right end of the long driving shaft is positioned in the shaft hole, the rear end of the front connecting frame is welded in the middle part of the, the upper end of the barrel-shaped shell is provided with a sensing hole, a left vertical Hall sensor 59 is arranged in the sensing hole, a nut hole is arranged on the long driving shaft, a screw rod 60 is arranged in the nut hole, permanent magnet particles 61 are arranged at the rear end of the screw rod, the front connecting frame is in a horizontal state, the left horizontal Hall sensor is aligned with the permanent magnet particles, the front connecting frame is in a vertically downward state, the left vertical Hall sensor is aligned with the permanent magnet particles, the front connecting frame, a front servo motor and the Hall sensors form an electric control front connecting frame, the electric control front connecting frame and the electric control rear connecting frame have the same structural characteristics and are symmetrical to the front end and the rear end of the H-shaped frame, and the structural description of the electric control rear connecting frame is not repeated; the combined aerocar is provided with a power generation car 62, the power generation car is an energy-saving and environment-friendly fuel car, the power generation car is provided with a vehicle-mounted generator, the vehicle-mounted generator is a high-power direct-current generator, the power generation car is provided with a power supply connector 63, the power supply connector is provided with a socket 64, the outer circle of the socket is provided with a mounting table 65, the lower end of the mounting table is provided with a screw pipe joint 66, a ceiling 67 of the power generation car is provided with a mounting hole, the screw pipe joint is mounted in the mounting hole, the outer circle of the screw pipe joint is provided with a joint end cover 68, the inner circle of the joint end cover is provided with an inner screw, the joint end cover is screwed into the screw pipe joint, the socket is fastened at the upper end of the ceiling, the socket is made of a conductor material, the joint end cover is made of an insulator material, an electrode round platform 73 is arranged at the center of the bottom of the joint end cover, an electrode screw 74 is arranged at the center of the electrode round platform, an electrode soldering lug 75 is arranged at the lower end of the electrode screw and is fastened by a screw cap, an electrode soldering lug welding lead is connected with the positive electrode output end of the vehicle-mounted generator, a nut hole is arranged at the lower end of the screw pipe joint, an iron-connected screw 76 and an iron-connected soldering lug 77 are arranged at the lower end of the joint end cover, the iron-connected screw connects the iron-connected soldering lug to the screw pipe and is fastened, the iron-connected soldering lug welding lead is connected with the negative electrode output end of the vehicle-mounted generator, a drain pipe joint 78 is arranged at the lower end of the screw pipe joint and is connected with a drain hose, the drain hose discharges rainwater stored in the inserting pipe base out of the vehicle, a power supply connector is provided with an inserting pipe head 79, an inserting pipe core 80, the intubation head is positioned in the center of the H-shaped frame, a communication hole is formed in the joint between the intubation head and the middle connecting rod, a coarse hole is formed in the center of the upper end of the intubation tube core, a fine hole is formed in the center of the lower end of the intubation tube core, an electrode nail 81 is arranged in the fine hole, a plugging head 82 is arranged at the upper end of the coarse hole, a spring 83 is arranged between the electrode nail and the plugging head, a central hole is formed in the plugging head, an electrode wire 84 is arranged at the upper end of the electrode nail, the electrode wire is led into a left engine room through the central hole of the plugging head and the communication holes in the H-shaped frame, when the intubation head is inserted into the intubation tube base, the arc-shaped petals of the annular spring copper sheet stretch, the spring pressure enables the lower end of the electrode nail to contact the upper; the lower end of the middle connecting rod is provided with an image sensor 85, the output line of the image sensor is led into the left cabin through each communication hole, the front end in the left cabin is provided with a lithium battery pack 86, the negative pole of the output line of the lithium battery pack is connected with iron, the positive pole is connected with an electrode wire, the rear end in the left cabin is provided with an intelligent controller 87, each control system is centralized in one control box by the intelligent controller, the output line of the lithium battery pack is connected with the power supply end of the intelligent controller, 4 outer rotor brushless motor control modules are respectively arranged in the intelligent controller, the output ends of the 4 outer rotor brushless motor control modules are respectively connected with corresponding front and rear rotor motors and left and right vector motors, 6 harmonic speed reduction motor control modules are respectively arranged in the intelligent controller, the output ends of each control module are respectively connected with corresponding front and rear servo motors, left and right servo motors and left and right tilt angle, the intelligent controller is internally provided with a wireless transmitting and receiving remote control module and a program control module which are in bidirectional communication, a navigator and a gyro sensor are arranged in the intelligent controller, and an output line of the navigator, an output line of the gyro sensor and an output line of the image sensor, as well as output lines of all Hall elements and all Hall sensors are respectively connected with all relevant control input ends of the intelligent controller; when the electric unmanned aerial vehicle flies normally, the left wing, the right wing, the front connecting frame and the rear connecting frame are unfolded into a horizontal state, the inclination angles of the propellers of the left and right wing motors are in a vertical state, when the electric unmanned aerial vehicle is parked in a landing state, the left wing, the right wing, the front connecting frame and the rear connecting frame are contracted into a vertical state, so that the electric unmanned aerial vehicle occupies a small space, when the electric unmanned aerial vehicle vertically takes off and lands, the inclination angles of the propellers of 4 outer rotor brushless motors are in a horizontal state, when the electric unmanned aerial vehicle and a power generation vehicle are connected into a whole, the hanging rod at the lower end of the front connecting frame is supported at the front end of the power generation vehicle chassis, the hanging rod at the lower end of the rear connecting frame is supported at the rear end of the power generation vehicle chassis, a navigator and a remote controller are arranged in the power generation vehicle, a remote control module and a, the connecting frame locker is provided with a front gripper and a rear gripper, a front gripper motor 88 is arranged in the middle of the front end of the power generation automobile chassis, the front gripper motor is provided with a left driving shaft and a right driving shaft 89, the left driving shaft is provided with a left hook, the right driving shaft is provided with a right hook 90, when the front gripper motor rotates clockwise, the left hook and the right hook grasp the front suspender, after the front gripper motor is stopped, the front suspender is locked, when the front gripper motor rotates anticlockwise, the left hook and the right hook leave the front suspender, after the front gripper motor is stopped, the front suspender is loosened, after the electric unmanned aerial vehicle is in butt joint with the power generation automobile, the front gripper grasps the front suspender to be locked, and after the rear gripper grasps the rear suspender to be locked, so that firm joint is ensured, the structural characteristics of the front gripper and the rear gripper are completely the same and are symmetrical to the front end and.
The front rotor motor, the rear rotor motor, the left vector motor and the right vector motor are all provided with the same outer rotor brushless motor, the outer rotor brushless motor is provided with an installation shaft, the installation shaft is provided with an installation platform 23 and a screw head 24, the lower end of the installation platform is provided with an armature shaft 91, the outer circle of the armature shaft is provided with a stator core 92, the stator core is formed by overlapping a plurality of silicon steel sheets, the circumference of the stator core is provided with a plurality of tooth grooves, 3-phase coil windings 93 are wound in the plurality of tooth grooves, the 3-phase coil windings are connected into a Y-shaped circuit, 3 Hall elements 94 at different positions are respectively arranged in the tooth grooves at the outer end of the 3-phase coil, the output lines of the 3-phase coil windings and the output lines of the 3 Hall elements are combined into one motor line 22, the installation shaft is provided with a center line hole 21, the lower end in the center, the upper end of the central shaft hole is provided with a thrust steel ball 96, the central shaft hole is provided with a rotor shaft 97, the lower end of the rotor shaft is provided with a lower end cover 98, the outer circle of the lower end cover is provided with a magnetic conduction ring 99, the inner circle of the magnetic conduction ring is provided with a permanent magnet ring 100, the permanent magnet ring is formed by splicing 8 arc permanent magnets, the arc permanent magnets are strong magnets made of neodymium iron boron materials, the magnetic pole direction of each arc permanent magnet is radial, the polarities of adjacent arc permanent magnets are opposite, the inner circle of the upper end of the magnetic conduction ring is provided with an inner screw, the lower end of the inner screw is provided with a stop table, the inner circle of the upper end of the magnetic conduction ring is provided with an upper end cover 101, the outer circle of the upper end cover is provided with an outer screw, the outer screw is matched with the inner screw, the upper end cover is screwed on the inner circle of the magnetic conduction ring, the rotor shaft, the propellers are arranged at the lower ends of the circumferences of outer rotor brushless motors of the rear rotor motor, the left vector motor and the right vector motor, 4 propellers are in a horizontal state when the aerocar vertically takes off and lands, the rotor shaft is pressed to the thrust steel balls by the lift force of the 4 propellers, when the aerocar is pushed to fly by the propellers of the left vector motor and the right vector motor in a vertical state, the rotor shaft is pressed to the thrust steel balls by the thrust force of the left propeller and the right propellers, point contact is formed between the rotor shaft pressure and the thrust steel balls, the friction force is small, no force is applied between the central shaft hole and the rotor shaft, and the friction force is small, so the bearing loss when the outer rotor brushless motor is loaded is small.
The front servo motor, the rear servo motor, the left servo motor, the right servo motor, the left tilt motor, the right tilt motor, the front gripper motor and the rear gripper motor are harmonic speed reducing motors with the same structure, the harmonic speed reducing motor is provided with a cylindrical shell 53, the cylindrical shell is provided with a right end cover 103, the cylindrical shell and the right end cover are integrally manufactured and molded, the middle part of the right end cover is provided with a right bearing 104, the cylindrical shell is provided with a left end cover 105, the middle part of the left end cover is provided with a left bearing 106, a common driving shaft 56 is arranged in the left bearing and the right bearing, a left inner bearing 107 and a right inner bearing 108 are arranged between the left bearing and the right bearing, the left inner bearing and the right inner bearing are coaxially arranged with the left bearing and the right bearing, the left inner bearing and the right inner bearing are arranged in a cylindrical bearing frame 109, the right end of the cylindrical bearing frame is provided with a driving disc, a conical disc support 113 is arranged on the common driving shaft, a flexible outer gear ring 114 is arranged on the circumference of the conical disc support, the flexible outer gear ring is an elliptical outer gear ring supported by an upper plastic pulley and a lower plastic pulley, a rigid inner gear ring 115 is arranged at the right end of a left end cover, a harmonic reducer is formed by meshing the flexible outer gear ring and the rigid inner gear ring, a permanent magnet outer rotor 116 is arranged on the outer circle of the driving disc, an annular inner stator 117 is arranged on the outer circle of the rigid inner gear ring, a three-phase coil 118 is arranged on the annular inner stator, three Hall sensors 119 at different positions are arranged between the three-phase coils, the three-phase coil is connected into a Y-shaped circuit, a three-phase coil output line is led out, the three-phase coil output line and three Hall sensor output lines are combined to form an output cable 120, a, the outer rotor brushless motor drives the upper plastic pulley and the lower plastic pulley to revolve for a circle, the revolution value of the flexible outer gear ring is equal to the linear distance between the number of the inner teeth and the difference between the number of the outer teeth, and the speed reduction ratio of the harmonic reducer is very large, so that the rotating speed of a common driving shaft of the harmonic reducer and the outer rotor brushless motor is very low, the common driving shaft is an output shaft of the harmonic reducer motor, and the output shaft has a locking function after the harmonic reducer motor is stopped.
The combined flying automobile is an organic combination of an electric unmanned aerial vehicle and a power generating automobile, the combined flying automobile can take off and land vertically without an airport runway, the left wing and the right wing of the combined flying automobile have small occupied area under a folded state, and are beneficial to parking in urban areas and road running, when the combined flying automobile is in a flying state, the unfolded wing has large aspect ratio, large lift force, small air flow resistance and high pneumatic efficiency, compared with the automobile running on the land, the combined flying automobile consumes the same amount of fuel, the continuous driving distance of the combined flying automobile is longer, the running time is shorter, the fuel energy of the power generating automobile is large, the weight is light, a high-power direct-current generator of the power generating automobile directly supplies power to the electric unmanned aerial vehicle through a power supply connector, so that the continuous flying distance of the combined flying automobile is increased, a parking point of the electric unmanned aerial vehicle is provided with a charging pile 122, the top of the charging pile is provided with a mounting, the electric unmanned aerial vehicle can independently fly to execute a task by depending on a self power supply, when the electric unmanned aerial vehicle returns to a parking point to vertically land, the electric unmanned aerial vehicle is controlled by an intelligent controller, the inserting pipe head aims at a bell mouth at the upper end of the charging pile and slowly enters the inserting pipe seat, the front connecting frame and the rear connecting frame vertically land, the electric unmanned aerial vehicle receives charging of the charging pile during parking, when a combined flying automobile is required to be formed during independent parking or road driving of the generating automobile, an unmanned aerial vehicle remote controller in the generating automobile is operated to order the nearby electric unmanned aerial vehicle to fly in a vertical lifting state and fly to the place of the generating automobile along with an instruction of a navigator, after the electric unmanned aerial vehicle approaches the generating automobile, an image sensor at the lower end of the middle connecting rod sees the bell mouth at the upper end of the generating automobile, and the, the compared signals are poor to an intelligent controller, the intelligent controller respectively controls the rotating speed of the 4 outer rotor brushless motors, the position and the angle of the electric unmanned aerial vehicle are adjusted, the electric unmanned aerial vehicle is aligned with a bell mouth at the upper end of the roof and slowly enters the socket base, the middle connecting rod is parallel to the front end and the rear end of the power generation vehicle, after the power generation vehicle is accurately connected with the electric unmanned aerial vehicle, the intelligent controller controls the front servo motor and the rear servo motor to rotate simultaneously according to a set program, the front connecting frame and the rear connecting frame fall vertically at the same time, the front connecting frame falls at the front end of a chassis of the power generation vehicle, the rear connecting frame falls at the rear end of the chassis of the power generation vehicle, after the front connecting frame and the rear connecting frame are in place, the vertical Hall sensors are aligned with the permanent magnet particles, the vertical Hall sensors send signals to the intelligent controller, the intelligent controller controls the front servo motor and the rear servo motor to stop simultaneously, the front gripper and the rear gripper grab the front suspender and the rear suspender to be locked simultaneously, the loaded combined flying automobile has the problems of low pneumatic efficiency and high power consumption in a vertical takeoff state, therefore, an accelerator of the generating automobile needs to be increased to increase the power of a generator, a more powerful power supply is provided for 4 outer rotor brushless motors, after the combined flying automobile takes off for a certain height, the intelligent controller controls the left servo motor and the right servo motor to rotate according to a set program, the left wing and the right wing are unfolded towards two sides simultaneously, the left wing and the right wing are changed into a horizontal state from a vertical state, the horizontal Hall element is aligned with the permanent magnet particles, a horizontal Hall element signal is sent to the intelligent controller, the intelligent controller controls the left servo motor and the right servo motor to stop simultaneously, the left wing and the right wing are locked in the horizontal state, and the combined flying automobile is converted into a horizontal direction to fly forwards quickly, the intelligent controller controls the left and right inclination motors to rotate clockwise according to a set program, the left and right vector motors lift backwards and upwards synchronously, the inclination angles of the left and right propellers are gradually transited from a horizontal state to a vertical state, during the transition period of the inclination angles of the left and right propellers, horizontal signals of the gyro sensor are transmitted to the intelligent controller, the intelligent controller respectively controls the rotating speeds of the front rotor motor and the rear rotor motor, the lifting forces of the front and rear propellers are respectively adjusted, the front and rear ends of the combined flying automobile are balanced, the thrust forces of the left and right propellers are the power of the flying automobile flying forwards, the speed of the flying automobile flying forwards enables the left wing and the right wing to generate the supporting lifting force of the flying automobile, the supporting force is far larger than the lifting force of the front and rear rotors, the intelligent controller respectively reduces the rotating speeds of the front rotor motor and the rear rotor motor, and the front and rear propellers with low rotating speeds act on the front and rear wings of the flying automobile, The rear end is automatically balanced, the intelligent controller respectively controls the rotating speed of the left vector motor and the rotating speed of the right vector motor, so that the left propeller and the right propeller generate different thrusts, the function of turning the flying automobile in the air is realized, the intelligent controller respectively controls the inclination angle of the left inclination angle motor and the inclination angle of the right inclination angle motor, so that the left propeller and the right propeller generate different vector thrusts, so that the left end and the right end of the flying automobile are automatically balanced, the 4 outer rotor brushless motors and the 2 inclination angle motors of the combined flying automobile are respectively flexibly and jointly controlled, the operability and the stability of the combined flying automobile in vertical take-off and landing or horizontal flying are improved, the aspect ratio of the left wing and the right wing is large, a very large lifting force can be obtained without a very high flying speed, and the flying safety of the combined flying automobile in a medium-low speed state is improved.

Claims (4)

1. The utility model provides a combined flying car, jointly constitutes its characterized in that by electric unmanned aerial vehicle and electricity generation car: the electric unmanned aerial vehicle and the power generation vehicle organically connect into a whole to operate jointly, namely, the electric unmanned aerial vehicle can run on land and fly in the air, the ideal effect of the flying vehicle is realized, and the practical effect of independent operation of the electric unmanned aerial vehicle and the power generation vehicle can be exerted after the electric unmanned aerial vehicle and the power generation vehicle are separated from each other, the electric unmanned aerial vehicle is provided with a left cabin (1) and a right cabin (2), the left cabin and the right cabin are both closed stainless steel drums, the front end and the rear end of the left cabin and the right cabin are both streamlined, the upper end between the left cabin and the right cabin is welded with a front connecting rod (3) and a rear connecting rod (4), the middle part between the front connecting rod and the rear connecting rod is welded with a middle connecting rod (5), the front connecting rod, the rear connecting rod and the middle connecting rod are both stainless steel round tubes with the same diameter, the front connecting rod, the rear connecting rod and, the connecting parts between a stainless steel round tube of the H-shaped frame and the left cabin and the right cabin are provided with communicating holes, the lower end in a front connecting rod is provided with a front screw hole, a front rotor motor (6) is arranged in the front screw hole, the lower end in a rear connecting rod is provided with a rear screw hole, a rear rotor motor (7) is arranged in the rear screw hole, the upper end in the middle connecting rod is welded with a front connecting seat (8) and a rear connecting seat (9), a left-inclination motor (10) and a right-inclination motor (11) are arranged and fixed between the front connecting seat and the rear connecting seat, the left-inclination motor is provided with a left driving shaft (12), the right-inclination motor is provided with a right driving shaft (13), the upper end of the left cabin is welded with a left bearing frame, the left bearing (14) is arranged in the left bearing frame, the upper end of the right cabin is welded with a right bearing frame, the right bearing (15) is arranged, the left driving shaft and the right driving shaft are two concentric hollow shafts on the same straight line, the lower end of the left driving shaft is provided with a left screw hole, a left vector motor (16) is arranged in the left screw hole, the lower end of the right driving shaft is provided with a right screw hole, a right vector motor (17) is arranged in the right screw hole, the front rotor wing motor and the rear rotor wing motor are symmetrical to the left driving shaft and the right driving shaft, the left vector motor and the right vector motor are symmetrical to a middle connecting rod, the front rotor wing motor, the rear rotor wing motor, the left vector motor and the right vector motor are both composed of an outer rotor brushless motor (18) and a propeller (19), the propeller is arranged at the lower end of the circumference of a shell of the outer rotor brushless motor, the specifications and the models of the 4 outer rotor brushless motors are the same, the specifications and the models of the 4 propellers are the same, the turning directions of the, the left and right inclination angle motors respectively rotate the angles of the left vector motor and the right vector motor within the range of 90 degrees, can synchronously control the transition of the left and right propellers from a horizontal state to a vertical state, and can also respectively control the inclination angles of the left propeller and the right propeller to provide different vector thrust for the combined flying automobile, the outer rotor brushless motor is provided with an installation shaft (20) which is provided with a center line hole (21), a motor line (22) is arranged in the center line hole, the installation shaft is provided with an installation platform (23) and a screw head (24), the screw head of each outer rotor brushless motor is respectively arranged in the front screw hole, the rear screw hole, the left screw hole and the right screw hole, the motor line (22) of the left and right vector motors passes through the center holes of the left and right driving shafts and is led out from the left end of the left driving shaft, the upper end of the left driving shaft is provided with a wire hole (25), the upper end of, a left motor line is led out from the left line hole, a right line hole (27) is formed in the upper end of the right dip angle motor, a right motor line is led out from the right line hole, a motor line (28) of the left dip angle motor and a motor line (22) of the left vector motor and the right vector motor are combined into a motor output line (29) and led out from the left end of the left driving shaft, a line hole (30) is formed in the upper end of the left engine room, the combined motor output line enters the left engine room through the line hole, and the motor lines (22) of the front rotor motor and the rear rotor motor enter the left engine room through a communication hole of the H-shaped; a left ring frame (31) is welded at the middle lower part in the left engine room, a left servo motor (32) is installed at the upper end of the left ring frame, the left servo motor is provided with a short driving shaft (33), the left servo motor is positioned in the middle of the short driving shaft, the short driving shaft is concentric with the inner circle of the left engine room and is parallel to the front end and the rear end of the left engine room, the left end and the right end of the short driving shaft are connected with a left wing (34), the left wing is provided with a front framework (35) and a rear framework (36), the big end of the front framework is provided with a front round hole which is connected with the front end of the short driving shaft, the big end of the rear framework is provided with a rear round hole which is connected with the rear end of the short driving shaft, the upper end and the lower end of the front framework and the rear framework are provided with a left wing shell, the left end of the left wing shell is small in volume, the cross section graph is small streamline (, the right end of a left wing is provided with a left wing door (40), the left wing door is an arc door, the arc length of the left wing door is greater than the height of a left wing opening, the radius of an arc ring of the left wing door is slightly smaller than the radius of an inner circle of a left cabin, the left end of a shell of a left servo motor is provided with a left horizontal Hall element (41), the upper end of the shell of the left servo motor is provided with a left vertical Hall element (42), a large head of a rear framework is provided with a sensing hole, permanent magnet particles (43) are arranged in the sensing hole, the left wing is aligned with the permanent magnet particles in a horizontal state, the left vertical Hall element is aligned with the permanent magnet particles in a vertical state, the left vertical Hall element is formed by the left cabin, the left wing and the left servo motor, the left wing form an electric control folding type left wing with a large aspect ratio, a right ring frame (44) is welded at the middle lower part in the, the left end and the right end of the short driving shaft are connected with a right wing (47), the right wing with the electric control folding type large aspect ratio is formed by a right cabin, the right wing and a right servo motor, the structural characteristics of the right wing with the electric control folding type large aspect ratio and the left wing with the electric control folding type large aspect ratio are completely the same and are symmetrical to the left end and the right end of the H-shaped frame, and the structural description of the right wing with the electric control folding type large aspect ratio is not repeated; the combined flying car is provided with an electric control load connector, the electric control load connector is provided with a front connecting frame (48) and a rear connecting frame (49), the front connecting frame and the rear connecting frame are n-shaped, the front connecting frame is provided with a front servo motor (50), a left front end welding connecting ring (51) in a right engine room, the right end of the connecting ring is provided with a positioning table (52), the front servo motor is provided with a barrel-shaped shell (53), the left end of the barrel-shaped shell is arranged behind the positioning table of the connecting ring and is fastened by a plurality of screws (54), the left front end in the right engine room is provided with a shaft hole, the right front end in the left engine room is provided with a bearing frame, a bearing (55) is arranged in the bearing frame, the front servo motor is provided with a long driving shaft (56), the left end of the long driving shaft is fixed in the bearing, the right end is positioned in the shaft hole, the rear end of the front connecting frame is welded in the middle of the, a left horizontal Hall sensor (58) is arranged in the sensing hole, the upper end of the barrel-shaped shell is provided with the sensing hole, a left vertical Hall sensor (59) is arranged in the sensing hole, the long driving shaft is provided with a nut hole, a screw rod (60) is arranged in the nut hole, the rear end of the screw rod is provided with permanent magnet particles (61), the front connecting frame is in a horizontal state, the left horizontal Hall sensor is aligned with the permanent magnet particles, the front connecting frame is in a vertically downward state, the left vertical Hall sensor is aligned with the permanent magnet particles, the front connecting frame, the front servo motor and the Hall sensors form an electric control front connecting frame, the electric control front connecting frame and the electric control rear connecting frame have the same structural characteristics and are symmetrical to the front end and the rear end of the H-shaped frame, and the structural description of the electric; the combined aerocar is provided with a power generation car (62), the power generation car is an energy-saving and environment-friendly fuel car, the power generation car is provided with a vehicle-mounted generator, the vehicle-mounted generator is a high-power direct-current generator, the power generation car is provided with a power supply connector (63), the power supply connector is provided with a socket (64), an installation platform (65) is arranged on the excircle of the socket, the lower end of the installation platform is provided with a screwed pipe joint (66), a ceiling (67) of the power generation car is provided with an installation hole, the screwed pipe joint is arranged in the installation hole, the excircle of the screwed pipe joint is provided with a joint end cover (68), the inner circle of the joint end cover is provided with an inner screw, the joint end cover is screwed into the screwed pipe joint, the socket is fastened at the upper end of the ceiling, the socket is made of a conductor material, the joint, the upper end of an annular spring copper sheet is provided with a plurality of arc petals (72), the center of the bottom of a joint end cover is provided with an electrode round table (73), the center of the electrode round table is provided with an electrode screw (74), the lower end of the electrode screw is provided with an electrode soldering lug (75), the electrode soldering lug is fastened by a screw cap, a welding lead of the electrode soldering lug is connected with the positive output end of a vehicle-mounted generator, the lower end of a screw pipe joint is provided with a nut hole, the lower end of the joint end cover is provided with an iron-connected screw (76) and an iron-connected soldering lug (77), the iron-connected screw connects the iron-connected soldering lug to a screw pipe and fastens the screw pipe, the welding lead of the iron-connected soldering lug is connected with the negative output end of the vehicle-mounted generator, the lower end of the screw pipe joint is provided with a drainage hose, the drainage, the cannula head is made of a conductor material, the cannula core is made of an insulator material, the upper end of the cannula head is welded at the lower end of the middle connecting rod 5, the cannula head is positioned in the center of the H-shaped frame, a communicating hole is formed in the joint between the cannula head and the middle connecting rod, a thick hole is formed in the center of the upper end of the cannula core, a thin hole is formed in the center of the lower end of the cannula core, an electrode nail (81) is arranged in the thin hole, a plugging head (82) is arranged at the upper end of the thick hole, a spring (83) is arranged between the electrode nail and the plugging head, a central hole is formed in the plugging head, an electrode wire (84) is arranged at the upper end of the electrode nail, the electrode wire is led into the left engine room through the central hole of the plugging head and each communicating hole in the H-shaped frame, when the cannula head is inserted into the cannula base, when the cannula head is pulled out of the cannula seat, the annular spring copper sheet recovers the arc-shaped petals; the lower extreme of well connecting rod is equipped with image sensor (85), image sensor's output line is drawn to left cabin in through each intercommunicating pore, left cabin in front end is equipped with lithium cell group (86), the output line negative pole of lithium cell group connects indisputedly, anodal connecting electrode line, left cabin in the end is equipped with intelligent control ware (87), intelligent control ware concentrates on each control system in a control box, the output line connection intelligent control ware's of lithium cell group power end, be equipped with 4 external rotor brushless motor control module in the intelligent control ware respectively, the output of 4 external rotor brushless motor control module is connected corresponding preceding respectively, back rotor motor and left and right vector motor respectively, be equipped with 6 harmonic gear motor control modules in the intelligent control ware respectively, the output of each control module is connected corresponding preceding respectively, back servo motor and left and right vector motor respectively, The intelligent controller is internally provided with a navigator and a gyro sensor, an output line of the navigator, an output line of the gyro sensor and an output line of the image sensor, and output lines of all Hall elements and all Hall sensors are respectively connected with all relevant control input ends of the intelligent controller; when the electric unmanned aerial vehicle flies horizontally, the left wing, the right wing, the front connecting frame and the rear connecting frame are unfolded into a horizontal state, the inclination angles of the propellers of the left and right wing motors are in a vertical state, when the electric unmanned aerial vehicle is parked in a landing state, the left wing, the right wing, the front connecting frame and the rear connecting frame are contracted into a vertical state, so that the electric unmanned aerial vehicle occupies a small space, when the electric unmanned aerial vehicle vertically takes off and lands, the inclination angles of the propellers of 4 outer rotor brushless motors are in a horizontal state, when the electric unmanned aerial vehicle and a power generation vehicle are connected into a whole, the hanging rod at the lower end of the front connecting frame is supported at the front end of the power generation vehicle chassis, the hanging rod at the lower end of the rear connecting frame is supported at the rear end of the power generation vehicle chassis, a navigator and a remote controller are arranged in the power generation vehicle, a remote control module and a, the connecting frame locking device is provided with a front gripper and a rear gripper, a front gripper motor (88) is arranged in the middle of the front end of the power generation automobile chassis, the front gripper motor is provided with a left driving shaft and a right driving shaft (89), the left driving shaft is provided with a left hook, the right driving shaft is provided with a right hook (90), when the front gripper motor rotates clockwise, the left hook and the right hook grasp a front suspender, after the front gripper motor stops, the front suspender is locked, when the front gripper motor rotates anticlockwise, the left hook and the right hook leave the front suspender, after the front gripper motor stops, the front suspender is loosened, after the electric unmanned aerial vehicle is in butt joint with the power generation automobile, the front gripper grasps the front suspender to be locked, and after the rear gripper grasps a rear suspender to be locked to ensure firm joint, the structural characteristics of the front gripper and the rear gripper are completely the same and are symmetrical to the front end and the rear end.
2. The combination flying automobile of claim 1, wherein: the front rotor motor, the rear rotor motor, the left vector motor and the right vector motor are all provided with the same outer rotor brushless motor (18), the outer rotor brushless motor is provided with an installation shaft (20), the installation shaft is provided with an installation platform (23) and a screw head (24), the lower end of the installation platform is provided with an armature shaft (91), a stator core (92) is arranged on the excircle of the armature shaft, the stator core is formed by overlapping a plurality of silicon steel sheets, the circumference of the stator core is provided with a plurality of tooth spaces, 3-phase coil windings (93) are wound in the tooth spaces, the 3-phase coil windings are connected into a Y-shaped circuit, 3 Hall elements (94) at different positions are respectively arranged in the tooth spaces at the outer end of the 3-phase coil, the output line of the 3-phase coil winding and the output lines of the 3 Hall elements are combined into a motor line (22), a center line hole (21) is arranged, the inner lower end, the armature shaft is provided with a central shaft hole, the upper end of the central shaft hole is provided with a thrust steel ball (96), the central shaft hole is provided with a rotor shaft (97), the lower end of the rotor shaft is provided with a lower end cover (98), the excircle of the lower end cover is provided with a magnetic conduction ring (99), the inner circle of the magnetic conduction ring is provided with a permanent magnet ring (100), the permanent magnet ring is formed by splicing 8 arc permanent magnets, the arc permanent magnets are strong magnets made of neodymium iron boron materials, the magnetic pole direction of each arc permanent magnet is radial, the polarities of the adjacent arc permanent magnets are opposite, the inner circle of the upper end of the magnetic conduction ring is provided with an inner screw, the lower end of the inner screw is provided with a stop table, the inner circle of the upper end of the magnetic conduction ring is provided with an upper end cover (101), the excircle of the upper end cover is provided with an outer screw, the outer screw is matched with the inner screw, the upper end, the outer snap spring blocks the upper end cover, propellers (19) are installed at the lower end of the circumference of the outer rotor brushless motor shell of the front rotor motor, the rear rotor motor, the left vector motor and the right vector motor, 4 propellers are in a horizontal state when the aerocar vertically takes off and lands, the lift force of 4 propellers enables the rotor shaft to be pressed to the thrust steel balls, when the propellers of the left vector motor and the right vector motor push the aerocar to fly in a vertical state, the thrust of the left propeller and the right propeller enables the rotor shaft to be pressed to the thrust steel balls, point contact is formed between the rotor shaft pressure and the thrust steel balls, the friction force is small, no force is applied between the central shaft hole and the rotor shaft, and the friction force is small, so the bearing loss when the outer rotor brushless motor is loaded is.
3. The combination flying automobile of claim 1, wherein: the front servo motor, the rear servo motor, the left servo motor, the right servo motor, the left tilt motor, the right tilt motor, the front gripper motor and the rear gripper motor are harmonic speed reducing motors with the same structure, the harmonic speed reducing motor is provided with a cylindrical shell (53), the cylindrical shell is provided with a right end cover (103), the cylindrical shell and the right end cover are integrally manufactured and molded, the middle part of the right end cover is provided with a right bearing (104), the cylindrical shell is provided with a left end cover (105), the middle part of the left end cover is provided with a left bearing (106), a common driving shaft (56) is arranged in the left bearing and the right bearing, a left inner bearing (107) and a right inner bearing (108) are arranged between the left bearing and the right bearing, the left inner bearing and the right inner bearing are coaxially arranged with the left bearing and the right bearing, the left inner bearing and the right inner bearing are arranged in a cylindrical bearing frame (109), the right end of the cylindrical bearing frame is provided with a driving disc (110, a conical disc support (113) is arranged on the common driving shaft, a flexible outer gear ring (114) is arranged on the circumference of the conical disc support, the flexible outer gear ring is an elliptical outer gear ring supported by upper and lower plastic pulleys, a rigid inner gear ring (115) is arranged at the right end of the left end cover, the flexible outer gear ring and the rigid inner gear ring are meshed to form a harmonic reducer, a permanent magnet outer rotor (116) is arranged on the outer circle of the driving disc, an annular inner stator (117) is arranged on the outer circle of the rigid inner gear ring, a three-phase coil (118) is arranged on the annular inner stator, three Hall sensors (119) at different positions are arranged between the three-phase coils, the three-phase coil is connected into a Y-shaped circuit, a three-phase coil output line is led out, a three-phase coil output line and three Hall sensor output lines are combined to form an output cable (120, the outer rotor brushless motor drives the upper plastic pulley and the lower plastic pulley to revolve for a circle, the revolution value of the flexible outer gear ring is equal to the linear distance between the number of the inner teeth and the difference between the number of the outer teeth, and the speed reduction ratio of the harmonic reducer is very large, so that the rotating speed of a common driving shaft of the harmonic reducer and the outer rotor brushless motor is very low, the common driving shaft is an output shaft of the harmonic reducer motor, and the output shaft has a locking function after the harmonic reducer motor is stopped.
4. The combination flying automobile of claim 1, wherein: the combined flying automobile is an organic combination of an electric unmanned aerial vehicle and a power generating automobile, the combined flying automobile can take off and land vertically without an airport runway, the left wing and the right wing of the combined flying automobile have small occupied area under a folded state, and are beneficial to parking in urban areas and road running, the combined flying automobile has large wing aspect ratio after being unfolded, large lift force, small air flow resistance and high pneumatic efficiency when in a flying state, compared with the automobile running on the land, the combined flying automobile consumes the same amount of fuel, has long continuous flight mileage and short running time, the power generating automobile has large fuel energy and light weight, a high-power direct current generator of the power generating automobile directly supplies power to the electric unmanned aerial vehicle through a power supply connector, so that the continuous flight mileage of the combined flying automobile is increased, a charging pile (122) is arranged at a parking point of the electric unmanned aerial vehicle, a mounting hole is formed in the top of the charging pile, and the same power supply connector as the power generating, the electric unmanned aerial vehicle can independently fly to execute a task by depending on a self power supply, when the electric unmanned aerial vehicle returns to a parking point to vertically land, the electric unmanned aerial vehicle is controlled by an intelligent controller, the inserting pipe head aims at a bell mouth at the upper end of the charging pile and slowly enters the inserting pipe seat, the front connecting frame and the rear connecting frame vertically land, the electric unmanned aerial vehicle receives charging of the charging pile during parking, when a combined flying automobile is required to be formed during independent parking or road driving of the generating automobile, an unmanned aerial vehicle remote controller in the generating automobile is operated to order the nearby electric unmanned aerial vehicle to fly in a vertical lifting state and fly to the place of the generating automobile along with an instruction of a navigator, after the electric unmanned aerial vehicle approaches the generating automobile, an image sensor at the lower end of the middle connecting rod sees the bell mouth at the upper end of the generating automobile, and the, the compared signals are poor to an intelligent controller, the intelligent controller respectively controls the rotating speed of the 4 outer rotor brushless motors, the position and the angle of the electric unmanned aerial vehicle are adjusted, the electric unmanned aerial vehicle is aligned with a bell mouth at the upper end of the roof and slowly enters the socket base, the middle connecting rod is parallel to the front end and the rear end of the power generation vehicle, after the power generation vehicle is accurately connected with the electric unmanned aerial vehicle, the intelligent controller controls the front servo motor and the rear servo motor to rotate simultaneously according to a set program, the front connecting frame and the rear connecting frame fall vertically at the same time, the front connecting frame falls at the front end of a chassis of the power generation vehicle, the rear connecting frame falls at the rear end of the chassis of the power generation vehicle, after the front connecting frame and the rear connecting frame are in place, the vertical Hall sensors are aligned with the permanent magnet particles, the vertical Hall sensors send signals to the intelligent controller, the intelligent controller controls the front servo motor and the rear servo motor to stop simultaneously, the front gripper and the rear gripper grab the front suspender and the rear suspender to be locked simultaneously, the loaded combined flying automobile has the problems of low pneumatic efficiency and high power consumption in a vertical takeoff state, therefore, an accelerator of the generating automobile needs to be increased to increase the power of a generator, a more powerful power supply is provided for 4 outer rotor brushless motors, after the combined flying automobile takes off for a certain height, the intelligent controller controls the left servo motor and the right servo motor to rotate according to a set program, the left wing and the right wing are unfolded towards two sides simultaneously, the left wing and the right wing are changed into a horizontal state from a vertical state, the horizontal Hall element is aligned with the permanent magnet particles, a horizontal Hall element signal is sent to the intelligent controller, the intelligent controller controls the left servo motor and the right servo motor to stop simultaneously, the left wing and the right wing are locked in the horizontal state, and the combined flying automobile is converted into a horizontal direction to fly forwards quickly, the intelligent controller controls the left and right inclination motors to rotate clockwise according to a set program, the left and right vector motors lift backwards and upwards synchronously, the inclination angles of the left and right propellers are gradually transited from a horizontal state to a vertical state, during the transition period of the inclination angles of the left and right propellers, horizontal signals of the gyro sensor are transmitted to the intelligent controller, the intelligent controller respectively controls the rotating speeds of the front rotor motor and the rear rotor motor, the lifting forces of the front and rear propellers are respectively adjusted, the front and rear ends of the combined flying automobile are balanced, the thrust forces of the left and right propellers are the power of the flying automobile flying forwards, the speed of the flying automobile flying forwards enables the left wing and the right wing to generate the supporting lifting force of the flying automobile, the supporting force is far larger than the lifting force of the front and rear rotors, the intelligent controller respectively reduces the rotating speeds of the front rotor motor and the rear rotor motor, and the front and rear propellers with low rotating speeds act on the front and rear wings of the flying automobile, The rear end is automatically balanced, the intelligent controller respectively controls the rotating speeds of the left vector motor and the right vector motor, so that the left propeller and the right propeller generate different thrusts, the function of turning the flying automobile in the air is realized, the intelligent controller respectively controls the inclination angle of the left inclination angle motor and the inclination angle of the right inclination angle motor, so that the left propeller and the right propeller generate different vector thrusts, so that the left end and the right end of the flying automobile are automatically balanced, the 4 outer rotor brushless motors and the 2 inclination angle motors of the combined flying automobile are respectively flexibly and jointly controlled, the operability and the stability of the combined flying automobile in vertical take-off and landing or horizontal flying are improved, the aspect ratio of the left wing and the right wing is large, a very large lifting force can be obtained without a very high flying speed, the combined flying automobile flies in a medium-low-speed horizontal state, and the safety is improved.
CN202010107373.4A 2020-02-21 2020-02-21 Combined flying automobile Withdrawn CN111098651A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010107373.4A CN111098651A (en) 2020-02-21 2020-02-21 Combined flying automobile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010107373.4A CN111098651A (en) 2020-02-21 2020-02-21 Combined flying automobile

Publications (1)

Publication Number Publication Date
CN111098651A true CN111098651A (en) 2020-05-05

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ID=70427705

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010107373.4A Withdrawn CN111098651A (en) 2020-02-21 2020-02-21 Combined flying automobile

Country Status (1)

Country Link
CN (1) CN111098651A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114104287A (en) * 2021-11-24 2022-03-01 国网山东省电力公司阳谷县供电公司 Transmission line insulator detection device based on unmanned aerial vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114104287A (en) * 2021-11-24 2022-03-01 国网山东省电力公司阳谷县供电公司 Transmission line insulator detection device based on unmanned aerial vehicle
CN114104287B (en) * 2021-11-24 2023-10-24 国网山东省电力公司阳谷县供电公司 Unmanned aerial vehicle-based power transmission line insulator detection device

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