CN112429218A

CN112429218A - Swing sliding type flapping rotor wing device

Info

Publication number: CN112429218A
Application number: CN202011342140.9A
Authority: CN
Inventors: 王志成
Original assignee: Guangdong Guoshijian Technology Development Co Ltd
Current assignee: Guangdong Guoshijian Technology Development Co Ltd
Priority date: 2020-11-26
Filing date: 2020-11-26
Publication date: 2021-03-02

Abstract

The invention discloses a swinging sliding type flapping rotor wing device.A main shaft is arranged at two sides of a machine body through flapping rotor wing brackets and is rotationally connected with the flapping rotor wing brackets through bearings, and the axial center line of the main shaft is parallel to the axial center line of the machine body; the center of the bottom of the swing arm is rotatably connected to the main shaft through a rotating shaft, and meanwhile, the linear driving device is installed on the swing arm and is electrically connected with the controller; the rotor wing section of rotor is the symmetrical biconvex wing section, and the centre bore has been seted up at the center of carousel, and the center pin passes the centre bore and rotates with the carousel through the bearing to be connected, and the center pin is connected on linear drive device simultaneously, and linear drive device drive center pin is reciprocating sliding on the swing arm, then the swing arm is through the relative main shaft swing of pivot. The invention discloses a swing sliding type flapping rotor wing device which improves the efficiency and the size of lift force generation.

Description

Swing sliding type flapping rotor wing device

Technical Field

The invention relates to the technical field of aircrafts, in particular to a swing sliding type flapping rotor wing device.

Background

The flapping rotor aircraft is a novel aircraft simulating bird flight, and has the advantages of vertical lift-off, hovering and the like of the rotor aircraft and a helicopter, a core device for working of the flapping rotor aircraft is the flapping rotor devices arranged on two sides of a fuselage, but partial lift force can be mutually offset in the process of executing uplink and downlink actions of the flapping rotor devices in the prior art, and the existing flapping rotor is in the process of flapping air, the position of the flapping rotor on the flapping rotor is fixed, so that the disturbance force to the air is strong, and the ascending efficiency of the flapping rotor aircraft is low.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art.

In view of this, the invention provides a swing sliding type flapping rotor wing device, which improves the efficiency and the magnitude of lift force generation.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a swing slidingtype flapping rotor wing device, the symmetry sets up the both sides at the fuselage, includes: the flapping rotor wing comprises a flapping rotor wing bracket, a main shaft motor, a transmission gear set, a swing arm, a rotor wing, a linear driving device and a controller;

the main shaft is arranged on two sides of the machine body through the flapping rotor wing bracket and is rotationally connected with the flapping rotor wing bracket through a bearing, and the axial center line of the main shaft is parallel to the axial center line of the machine body;

the main shaft motor is fixed on the flapping rotor wing bracket, is in transmission connection with the main shaft through the transmission gear set, is electrically connected with the controller, and drives the main shaft to rotate through the transmission gear set;

the center of the bottom of the swing arm is rotatably connected to the main shaft through a rotating shaft, and meanwhile, the linear driving device is installed on the swing arm and is electrically connected with the controller;

the rotor wing comprises a central shaft, a rotary table and a plurality of rotary wing sections, and the rotary wing sections are symmetrical double-convex wing sections; the center of the turntable is provided with a center hole, the center shaft penetrates through the center hole and is rotatably connected with the turntable through a bearing, meanwhile, the center shaft is connected to the linear driving device, the linear driving device drives the center shaft to slide on the swinging arm in a reciprocating mode, and then the swinging arm swings relative to the main shaft through the rotating shaft.

Under the control of the controller, in the process of driving the main shaft to rotate through the main shaft motor, the rotor wing is driven to do reciprocating linear sliding on the swing arm through the linear driving device to drive the swing arm to swing relative to the main shaft through the rotating shaft, so that in the process of rotating the main shaft, the rotor wing can do linear reciprocating motion on the swing arm and swing through the swing arm, the disturbance of the invention to air is increased, and the efficiency of generating lift force is improved.

Preferably, the front edge of the symmetrical biconvex wing is in a convex arc shape, the rear edge of the symmetrical biconvex wing is in a flat wing structure, the upper wing surface and the lower wing surface are both in an arc shape, the roots of the rotating wing are uniformly fixed on the turntable along the circumferential direction and form a 0-degree inclination angle with the turntable, and meanwhile, the front edges of the rotating wing are in the same direction of rotation around the shaft.

Therefore, when the airflow passes through the symmetrical double-convex wing type, the speed towards the front edge direction can be ensured to be always generated, and the continuous upward lift force can be ensured to be generated by combining the flapping speed of the flapping rotary wing and according to hydromechanics, therefore, in the process of rotating the main shaft, the upward maximum lift force can be generated as long as the rotating surface of the rotary wing is in a horizontal state regardless of the front side or the back side of the rotary wing, and part of the upward lift force can be generated when the rotating surface of the rotary wing is inclined, so that the lift force provided by the invention is larger.

Preferably, the swing arm is a swing frame, a first mounting seat is fixed on the main shaft, and the center of the bottom of the swing frame is rotatably connected to the first mounting seat through the rotating shaft.

The first mounting seat is fixed on the main shaft and serves as a swinging fulcrum of the swinging frame, and the center of the bottom of the swinging frame is rotatably connected to the first mounting seat through the rotating shaft, so that the swinging amplitude of the swinging frame to two ends is approximately the same, and the stability of the swinging frame is improved.

Preferably, the swing frame with first mount pad is a plurality of, just the swing frame passes through the pivot one-to-one rotation is connected on the first mount pad, and is a plurality of simultaneously there is the phase difference between the swing frame.

The invention has a plurality of swing frames, thereby enhancing the interference intensity to the air and further improving the efficiency of the lift force generation.

Preferably, the linear driving device comprises a first motor, a first lead screw and two first guide rails;

the first motor is fixed on the outer wall of the swinging frame and is electrically connected with the controller;

the two first guide rails are parallel to each other, and two ends of each first guide rail are correspondingly fixed on the inner wall of the swinging frame;

the screw rod of the first screw rod is parallel to the first guide rails and is positioned between the two first guide rails, two ends of the screw rod of the first screw rod are rotatably connected with the inner wall of the swinging frame through bearings, and meanwhile, one end of the screw rod of the first screw rod penetrates through the inner wall of the swinging frame and is connected with the output shaft of the first motor;

the rotor sets up on the slider of first lead screw, just the center pin with the slider of first lead screw is fixed, and the slider of first lead screw with the screw rod screw drive of first lead screw is connected, simultaneously respectively with two first guide rail reciprocating sliding connection.

Under the control of the controller, the first motor drives the screw rod of the first lead screw to rotate, so that the sliding block on the first lead screw is driven to slide on the first guide rail in a reciprocating manner, the swinging frame can be driven to swing, and the disturbance intensity to air is improved.

Preferably, the swing frame further comprises a first balancing weight fixed on the outer wall of the swing frame and opposite to the first motor.

According to the invention, the first balancing weight is arranged at one end of the swinging frame opposite to the first motor, so that the swinging amplitude of the swinging frame to two ends is similar, and the stability of the invention is improved.

Preferably, the swing arm is a swing rod, a second mounting seat is fixed on the main shaft, and the center of the bottom of the swing frame is rotatably connected to the second mounting seat through the rotating shaft.

The second mounting seat is fixed on the main shaft and serves as a swinging fulcrum of the swinging rod, and the center of the bottom of the swinging rod is rotatably connected to the second mounting seat through the rotating shaft, so that the swinging amplitude of the swinging rod towards two ends is approximately the same, and the stability of the swing rod is improved.

Preferably, the swing rods and the second installation seats are multiple, and the swing rods are connected to the second installation seats in a one-to-one corresponding rotating mode through the rotating shafts.

The invention is provided with a plurality of swing rods, thereby enhancing the interference strength to air and further improving the efficiency of generating the lift force.

Preferably, the linear driving device comprises a second motor, a second lead screw and two vertical plates;

the second motor is fixed at one end of the oscillating bar and is electrically connected with the controller;

the two vertical plates are parallel to each other and are respectively fixed at two ends of the swing rod;

the second screw rod is arranged between the two vertical plates, two ends of a screw rod of the second screw rod are rotatably connected with the vertical plates through bearings, and one end of the second screw rod is connected with an output shaft of the first motor;

the rotor wing sets up on the slider of second lead screw, just the center pin with the slider of second lead screw is fixed to the second motor drive the screw rod of second lead screw rotates, drives the slider of second lead screw is in reciprocal screw drive on the screw rod of second lead screw.

Under the control of the controller, the second motor drives the screw rod in the second screw rod to rotate, so that the sliding block on the second screw rod is driven to reciprocate on the screw rod, the swinging frame can be driven to swing, and the disturbance intensity to air is improved.

Preferably, the device further comprises a second balancing weight, and the second balancing weight is fixed at the other end of the swing rod and opposite to the second motor.

According to the invention, the second balancing weight is arranged at one end of the swing rod opposite to the second motor, so that the swing amplitude of the swing rod towards two ends is similar, and the stability of the invention is improved.

Through the technical scheme, compared with the prior art, the invention discloses a swing sliding type flapping rotor wing device, which can realize the following technical effects:

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a swing sliding type flapping rotor wing device in an embodiment 1;

fig. 2 is a schematic structural diagram of a swing sliding type flapping rotor wing device in an embodiment 3 of the invention;

FIG. 3 is a schematic view of the connection between the mast, swing arm, rotor and linear drive of FIG. 1;

fig. 4 is a structural diagram of a rotor in a swing sliding type flapping rotor device of the invention.

Wherein 11 is a flapping rotor wing bracket; 21 is a main shaft; 22 is a spindle motor; 24 is a transmission gear set; 23 is a swing arm; 3 is a rotor wing; 321 is a central axis; 322 is a rotary table; 323 is a rotating wing profile; 210 is a first mounting seat; 41 is a first motor; 42 is a first lead screw; 43 is a first guide rail; 410 is a first balancing weight; 211 is a second mounting seat; 44 is a second motor; 45 is a second lead screw; 46 is a vertical plate; and 440 is a second weight.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The embodiment of the invention discloses a swing sliding type flapping rotor wing device, which is symmetrically arranged at two sides of a machine body and comprises: the flapping rotor wing bracket 11, a main shaft 21, a main shaft motor 22, a transmission gear set 24, a swing arm 23, the rotor wing 3, a linear driving device and a controller;

the main shaft 21 is arranged on two sides of the machine body through the flapping rotor wing bracket 11 and is rotatably connected with the flapping rotor wing bracket 11 through a bearing, and the axial center line of the main shaft 21 is parallel to the axial center line of the machine body;

the main shaft motor 22 is fixed on the flapping rotor wing bracket 11, is in transmission connection with the main shaft 21 through a transmission gear set 24, is electrically connected with a controller, and drives the main shaft 21 to rotate through the transmission gear set 24;

the center of the bottom of the swing arm 23 is rotatably connected to the main shaft 21 through a rotating shaft, and meanwhile, a linear driving device is installed on the swing arm 23 and is electrically connected with the controller;

the rotor 3 comprises a central shaft 321, a rotating disc 322 and a plurality of rotating wing profiles 323, wherein the rotating wing profiles 323 are symmetrical double-convex wing profiles; the center of the turntable 322 is provided with a center hole, the center shaft 321 penetrates through the center hole and is rotatably connected with the turntable 322 through a bearing, meanwhile, the center shaft 321 is connected to a linear driving device, the linear driving device drives the center shaft 321 to slide on the swing arm 23 in a reciprocating manner, and then the swing arm 23 swings relative to the main shaft 21 through the rotating shaft.

In order to further optimize the technical scheme, the front edge of the symmetrical double-convex wing type is in a convex arc shape, the rear edge of the symmetrical double-convex wing type is in a flat wing type structure, the upper wing surface and the lower wing surface are both in an arc shape, the roots of the plurality of rotating wing types 323 are uniformly fixed on the rotating disc 322 along the circumferential direction and form a 0-degree inclination angle with the rotating disc 322, and meanwhile, the front edges of the plurality of rotating wing types 323 rotate around the shaft in the same direction.

In order to further optimize the above technical solution, the swing arm 23 is a swing frame, the main shaft 21 is fixed with a first mounting seat 210, and the bottom center of the swing frame is rotatably connected to the first mounting seat 210 through a rotating shaft.

In order to further optimize the above technical solution, the swing frames and the first mounting base 210 are multiple, and the swing frames are rotationally connected to the first mounting base 210 through the rotating shafts in a one-to-one correspondence manner, and phase differences exist between the multiple swing frames.

In order to further optimize the above technical solution, the linear driving device includes a first motor 41, a first lead screw 42, two first guide rails 43;

the first motor 41 is fixed on the outer wall of the swing frame and is electrically connected with the controller;

the two first guide rails 43 are parallel to each other, and both ends of the two first guide rails are correspondingly fixed on the inner wall of the swing frame;

the screw of the first lead screw 42 is parallel to the first guide rails 43 and is positioned between the two first guide rails 43, two ends of the screw of the first lead screw 42 are rotatably connected with the inner wall of the swing frame through bearings, and one end of the screw passes through the inner wall of the swing frame and is connected with the output shaft of the first motor 41;

the rotor 3 is arranged on the sliding block of the first lead screw 42, the central shaft 321 is fixed with the sliding block of the first lead screw 42, and the sliding block of the first lead screw 42 is in screw transmission connection with the screw of the first lead screw 42 and is in reciprocating sliding connection with the two first guide rails 43 respectively.

In order to further optimize the above technical solution, the swing frame further includes a first weight 410, and the first weight 410 is fixed on an outer wall of the swing frame and is opposite to the position of the first motor 41.

In order to further optimize the above technical solution, the swing arm 23 is a swing rod, the main shaft 21 is fixed with a second mounting seat 211, and the center of the bottom of the swing frame is rotatably connected to the second mounting seat 211 through a rotating shaft.

In order to further optimize the above technical solution, the swing rods and the second mounting seat 211 are multiple, and the swing rods are rotatably connected to the second mounting seat 211 through the rotating shafts in a one-to-one correspondence manner, and phase differences exist between the multiple swing rods.

In order to further optimize the above technical solution, the linear driving device includes a second motor 44, a second lead screw 45 and two vertical plates 46;

the second motor 44 is fixed at one end of the swing rod and is electrically connected with the controller;

the two vertical plates 46 are parallel to each other and are respectively fixed at two ends of the swing rod;

the second screw rod 45 is arranged between the two vertical plates 46, two ends of a screw rod of the second screw rod are rotatably connected with the vertical plates 46 through bearings, and one end of the second screw rod is connected with an output shaft of the first motor 41;

the rotor 3 is arranged on the slider of the second lead screw 45, the central shaft 321 is fixed with the slider of the second lead screw 45, and the second motor 44 drives the screw of the second lead screw 45 to rotate, so as to drive the slider of the second lead screw 45 to perform reciprocating screw transmission on the screw of the second lead screw 45.

In order to further optimize the above technical solution, the device further includes a second weight 440, and the second weight 440 is fixed at the other end of the swing rod and is opposite to the second motor 44.

Example 1:

the embodiment of the invention discloses a swing sliding type flapping rotor wing device, which is symmetrically arranged at two sides of a machine body and comprises: the device comprises a front bracket 11, a rear bracket 12, a spindle 21, a spindle motor 22, a transmission gear set 24, a swing arm 23, a rotor 3, a linear driving device and a controller;

equal vertical fixation of fore-stock 11 and after-poppet 12 is at the lateral part of fuselage, and be parallel to each other simultaneously and the interval sets up:

the main shaft 21 is arranged between the front support 11 and the rear support 12, the axial center line of the main shaft is parallel to the axial center line of the machine body, and two ends of the main shaft are rotatably connected with the front support 11 and the rear support 12 through bearings;

the spindle motor 22 is fixed on the front support 11 or the rear support 12, is in transmission connection with the spindle 21 through the transmission gear set 24, is electrically connected with the controller, and drives the spindle 21 to rotate through the transmission gear set 24;

the rotor 3 comprises a central shaft 321, a rotating disc 322 and a plurality of rotating wing profiles 323, the rotating wing profiles 323 are symmetrical double-convex wing profiles (the type of the symmetrical double-convex wing profiles conforms to the general standard of airplane design and is NACA0012 or NACA0016), the front edges of the symmetrical double-convex wing profiles are in a convex arc shape, the rear edges of the symmetrical double-convex wing profiles are in a flat wing profile structure, the upper wing surfaces and the lower wing surfaces are both in an arc shape, the roots of the plurality of rotating wing profiles 323 are uniformly fixed on the rotating disc 322 along the circumferential direction and form an inclination angle of 0 degree with the rotating disc 322, and meanwhile, the front edges of the plurality of; a central hole is formed in the center of the turntable 322, the central shaft 321 penetrates through the central hole and is rotatably connected with the turntable 322 through a bearing, meanwhile, the central shaft 321 is connected to a linear driving device, the linear driving device drives the central shaft 321 to slide on the swing arm 23 in a reciprocating manner, and then the swing arm 23 swings relative to the main shaft 21 through a rotating shaft;

the swing arm 23 is a swing frame, the main shaft 21 is fixed with a first mounting seat 210, and the center of the bottom of the swing frame is rotatably connected to the first mounting seat 210 through a rotating shaft;

the linear driving device comprises a first motor 41, a first lead screw 42 and two first guide rails 43;

the rotor 3 is arranged on a sliding block of the first lead screw 42, the central shaft 321 is fixed with the sliding block of the first lead screw 42, and the sliding block of the first lead screw 42 is in screw transmission connection with a screw of the first lead screw 42 and is in reciprocating sliding connection with the two first guide rails 43 respectively;

a first weight 410 is further included, and the first weight 410 is fixed on the outer wall of the swing frame and is opposite to the first motor 41.

Under the control of a controller, in the process of driving the spindle 21 to rotate by the spindle motor 22, the first motor 41 drives the screw rod of the first lead screw 42 to rotate, so that the slide block on the first lead screw 42 is driven to slide on the first guide rail 43 in a reciprocating manner, and the swing frame can be driven to swing, so that in the process of rotating the spindle 21, the rotor 3 can do linear reciprocating motion on the swing frame and swing through the swing frame, the disturbance of the invention to the air is increased, and the efficiency of generating the lift force is improved; meanwhile, because the inclination angle between the rotary wing section 323 in the rotor 3 and the rotary disc 322 is 0 degree and the front edges of the plurality of rotary wing sections 323 rotate in the same direction around the shaft, in the process of rotation of the main shaft 21, no matter the front side of the rotor 3 faces upward or the back side of the rotor 3 faces upward, as long as the rotating surface of the rotor 3 is in a horizontal state, the maximum upward lift force can be generated, and when the rotating surface of the rotor 3 inclines, a part of upward lift force can be generated, so that the lift force provided by the invention is larger;

in addition, the first mounting seat 210 is fixed on the main shaft 21 as a swing fulcrum of the swing frame, and the center of the bottom of the swing frame is rotatably connected to the first mounting seat 210 through the rotating shaft, so that the swing amplitude of the swing frame to two ends is approximately the same, and the stability of the invention is improved; meanwhile, the first balancing weight 410 is arranged at one end of the swing frame opposite to the first motor 41, so that the swing amplitude of the swing frame to the two ends is similar, and the stability of the invention is further improved.

Meanwhile, the swing frame limits the movement of the rotor wing, so that the stability is better.

Example 2

On the basis of embodiment 1, the number of the swing frames and the number of the first installation bases 210 are multiple, the swing frames are rotatably connected to the first installation bases 210 in a one-to-one correspondence manner through rotating shafts, and phase differences exist among the multiple swing frames.

Example 3

The difference from example 1 is: the swing arm 23 is a swing rod, a second mounting seat 211 is fixed on the main shaft 21, and the center of the bottom of the swing frame is rotatably connected to the second mounting seat 211 through a rotating shaft;

the swing rods and the second installation base 211 are multiple, the swing rods are in one-to-one correspondence to be rotatably connected to the second installation base 211 through rotating shafts, and phase differences exist among the swing rods.

The linear driving device comprises a second motor 44, a second lead screw 45 and two vertical plates 46;

And a second weight 440, wherein the second weight 440 is fixed at the other end of the swing rod and is opposite to the second motor 44.

Under the control of the controller, in the process of driving the spindle 21 to rotate by the spindle motor 22, the second motor 44 drives the screw rod of the second lead screw 45 to rotate, so that the slide block on the second lead screw 45 is driven to reciprocate on the screw rod, and the swing rod can be driven to swing, so that the disturbance of the invention to the air is increased and the efficiency of generating the lift force is improved by the linear reciprocating motion of the rotor 3 on the swing rod and the swing of the swing rod in the process of driving the spindle 21 to rotate; meanwhile, because the inclination angle between the rotary wing section 323 in the rotor 3 and the rotary disc 322 is 0 degree and the front edges of the plurality of rotary wing sections 323 rotate in the same direction around the shaft, in the process of rotation of the main shaft 21, no matter the front side of the rotor 3 faces upward or the back side of the rotor 3 faces upward, as long as the rotating surface of the rotor 3 is in a horizontal state, the maximum upward lift force can be generated, and when the rotating surface of the rotor 3 inclines, a part of upward lift force can be generated, so that the lift force provided by the invention is larger;

in addition, the second mounting seat 211 is fixed on the main shaft 21 to serve as a swing fulcrum of the swing rod, and the center of the bottom of the swing rod is rotatably connected to the second mounting seat 211 through the rotating shaft, so that the swing amplitude of the swing rod towards two ends is approximately the same, and the stability of the swing rod is improved; meanwhile, the second balancing weight 440 is arranged at one end of the swing rod opposite to the second motor 44, so that the swing amplitude of the swing rod to the two ends is similar, and the stability of the invention is further improved.

Meanwhile, the swing frame in the embodiment 1 is replaced by the swing rod in the embodiment 3, so that the cost is saved.

Example 4

On the basis of embodiment 3, the swing rods and the second mounting seat 211 are multiple, the swing rods are rotatably connected to the second mounting seat 211 through rotating shafts in a one-to-one correspondence manner, and phase differences exist among the swing rods.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a rotor device is pounced on slidingtype of swaing, the symmetry sets up the both sides at the fuselage, its characterized in that includes: the flapping rotor wing comprises a flapping rotor wing bracket (11), a main shaft (21), a main shaft motor (22), a transmission gear set (24), a swing arm (23), a rotor wing (3), a linear driving device and a controller;

the main shaft (21) is arranged on two sides of the machine body through the flapping rotor wing bracket (11) and is rotatably connected with the flapping rotor wing bracket (11) through a bearing, and the axial center line of the main shaft (21) is parallel to the axial center line of the machine body;

the main shaft motor (22) is fixed on the flapping rotor wing bracket (11), is in transmission connection with the main shaft (21) through the transmission gear set (24), is electrically connected with the controller, and drives the main shaft (21) to rotate through the transmission gear set (24);

the center of the bottom of the swing arm (23) is rotatably connected to the main shaft (21) through a rotating shaft, and meanwhile, the linear driving device is installed on the swing arm (23) and is electrically connected with the controller;

the rotor wing (3) comprises a central shaft (321), a rotating disc (322) and a plurality of rotating wing profiles (323), wherein the rotating wing profiles (323) are symmetrical double-convex wing profiles; the center of the turntable (322) is provided with a center hole, the center shaft (321) penetrates through the center hole and is rotatably connected with the turntable (322) through a bearing, meanwhile, the center shaft (321) is connected to the linear driving device, the linear driving device drives the center shaft (321) to slide on the swing arm (23) in a reciprocating mode, and then the swing arm (23) swings relative to the main shaft (21) through the rotating shaft.

2. The flapping rotor system of claim 1, wherein the leading edge of the symmetrical double convex wing type is convex arc-shaped, the trailing edge is flat wing type structure, the upper wing surface and the lower wing surface are arc-shaped, and the root of the plurality of rotating wing types (323) is uniformly fixed on the rotating disc (322) along the circumferential direction and forms an inclination angle of 0 degree with the rotating disc (322), and the leading edges of the plurality of rotating wing types (323) rotate around the shaft in the same direction.

3. The swing sliding type flapping rotor system according to claim 2, wherein said swing arm (23) is a swing frame, a first mounting seat (210) is fixed on said main shaft (21), and the bottom center of said swing frame is rotatably connected to said first mounting seat (210) through said rotating shaft.

4. The swing sliding type flapping rotor system according to claim 3, wherein said swing frame and said first mounting base (210) are plural, and said swing frame is rotatably connected to said first mounting base (210) by said rotating shaft in one-to-one correspondence, and a phase difference exists between said plural swing frames.

5. A swing-sliding type flapping rotor apparatus according to any one of claims 2-4, wherein said linear driving means comprises a first motor (41), a first lead screw (42), two first guide rails (43);

the first motor (41) is fixed on the outer wall of the swinging frame and is electrically connected with the controller;

the two first guide rails (43) are parallel to each other, and two ends of each first guide rail are correspondingly fixed on the inner wall of the swing frame;

the screw rod of the first lead screw (42) is parallel to the first guide rails (43) and is positioned between the two first guide rails (43), two ends of the screw rod of the first lead screw (42) are rotatably connected with the inner wall of the swinging frame through bearings, and one end of the screw rod penetrates through the inner wall of the swinging frame and is connected with the output shaft of the first motor (41);

the rotor (3) is arranged on a sliding block of the first lead screw (42), the central shaft (321) is fixed to the sliding block of the first lead screw (42), the sliding block of the first lead screw (42) is in screw transmission connection with a screw of the first lead screw (42), and meanwhile, the sliding block is in reciprocating sliding connection with the two first guide rails (43).

6. The swing sliding type flapping rotor apparatus of claim 5, further comprising a first weight (410), wherein said first weight (410) is fixed to an outer wall of said swing frame and is located opposite to said first motor (41).

7. The swing sliding type flapping rotor system according to claim 1, wherein said swing arm (23) is a swing rod, a second mounting seat (211) is fixed on said main shaft (21), and the bottom center of said swing frame is rotatably connected to said second mounting seat (211) through said rotation shaft.

8. The swing sliding type flapping rotor system according to claim 7, wherein said swing link and said second mounting base (211) are multiple, and said swing links are rotatably connected to said second mounting base (211) through said rotating shaft in a one-to-one correspondence, and there is a phase difference between said multiple swing links.

9. A swing-slide type flapping-rotor apparatus according to any one of claims 2, 7 or 8, wherein said linear driving means comprises a second motor (44), a second lead screw (45) and two vertical plates (46);

the second motor (44) is fixed at one end of the swing rod and is electrically connected with the controller;

the two vertical plates (46) are parallel to each other and are respectively fixed at two ends of the swing rod;

the second screw rod (45) is arranged between the two vertical plates (46), two ends of a screw rod of the second screw rod are rotatably connected with the vertical plates (46) through bearings, and one end of the second screw rod is connected with an output shaft of the first motor (41);

the rotor (3) is arranged on a sliding block of the second lead screw (45), the central shaft (321) is fixed with the sliding block of the second lead screw (45), and the second motor (44) drives a screw rod of the second lead screw (45) to rotate so as to drive the sliding block of the second lead screw (45) to perform reciprocating spiral transmission on the screw rod of the second lead screw (45).

10. The device of claim 9, further comprising a second weight (440), wherein the second weight (440) is fixed to the other end of the swing link and is opposite to the second motor (44).