CN112441228A - Energy-saving type half-rotation free flapping rotor aircraft - Google Patents

Energy-saving type half-rotation free flapping rotor aircraft Download PDF

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Publication number
CN112441228A
CN112441228A CN202011346892.2A CN202011346892A CN112441228A CN 112441228 A CN112441228 A CN 112441228A CN 202011346892 A CN202011346892 A CN 202011346892A CN 112441228 A CN112441228 A CN 112441228A
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CN
China
Prior art keywords
shaft
wing
flapping
control system
rotor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN202011346892.2A
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Chinese (zh)
Inventor
王志成
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Guangdong Guoshijian Technology Development Co Ltd
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Guangdong Guoshijian Technology Development Co Ltd
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Publication date
Application filed by Guangdong Guoshijian Technology Development Co Ltd filed Critical Guangdong Guoshijian Technology Development Co Ltd
Priority to CN202011346892.2A priority Critical patent/CN112441228A/en
Publication of CN112441228A publication Critical patent/CN112441228A/en
Withdrawn legal-status Critical Current

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    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D35/00—Vehicle bodies characterised by streamlining
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C33/00—Ornithopters
    • B64C33/02—Wings; Actuating mechanisms therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
    • B64D27/02—Aircraft characterised by the type or position of power plant
    • B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D35/00—Transmitting power from power plant to propellers or rotors; Arrangements of transmissions
    • B64D35/02—Transmitting power from power plant to propellers or rotors; Arrangements of transmissions characterised by the type of power plant
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/88—Optimized components or subsystems, e.g. lighting, actively controlled glasses

Abstract

The energy-saving type aircraft with half-rotation freely flapping rotor wings is characterized in that brackets are symmetrically fixed on two sides of an aircraft body, a clutch control system, a brake and a navigation control system are fixed on the bracket on each side of the aircraft body, the flapping rotor wings and a navigation driving force generating device are symmetrically arranged on two sides of the aircraft body through the brackets, and the flapping rotor wings and the navigation driving force generating device on each side of the aircraft body are connected through clutches; when the aircraft ascends, under the control of the controller, the sailing control system drives the sailing driving force generation device to work, and the clutch control system controls the clutch to combine the flapping rotor wing with the sailing driving force generation device; when sailing, under the control of the controller, the sailing control system drives the sailing driving force generation device to work, and the clutch control system controls the clutch to separate the flapping rotor wing from the sailing driving force generation device.

Description

Energy-saving type half-rotation free flapping rotor aircraft
Technical Field
The invention relates to the technical field of aircrafts, in particular to an energy-saving type half-rotation free flapping rotor aircraft.
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, however, in the process of ascending and navigating in the air of the flapping rotor aircraft in the prior art, the flapping rotor of the flapping rotor aircraft always works, but the aircraft needs larger lift force in the process of ascending, and the lift force needed in the process of navigating is smaller, so that the flapping rotor aircraft in the prior art not only does not need to work but also consumes larger energy in the process of flying in the air.
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 an energy-saving half-rotation free flapping rotor aircraft, which can not only lift off efficiently, but also save energy.
In order to achieve the purpose, the invention adopts the following technical scheme:
an energy efficient half-turn free flapping rotary wing aircraft comprising: the self-propelled flapping-wing aircraft comprises an aircraft body, a flapping rotor wing, a navigation driving force generating device, a navigation control system, a clutch control system and a controller;
the flapping rotor wing and the navigation driving force generating device are symmetrically arranged on two sides of the fuselage through the brackets, and the flapping rotor wing and the navigation driving force generating device on each side of the fuselage are connected through the clutch;
the control system is electrically connected with the controller and acts on the clutch, and meanwhile, the navigation control system is electrically connected with the controller and acts on the navigation driving force generating device;
when the flapping rotor wing rises, the sailing control system drives the sailing driving force generation device to work under the control of the controller, and the clutch control system controls the clutch to combine the flapping rotor wing and the sailing driving force generation device; when the flapping-wing aircraft is in navigation, under the control of the controller, the navigation control system drives the navigation driving force generating device to work, and the clutch control system controls the clutch to separate the flapping rotor wing from the navigation driving force generating device.
The invention connects the sailing driving force generating device and the flapping rotor wing through the clutch, controls the clutch control system through the controller, and leads the clutch to combine the sailing driving force generating device and the flapping rotor wing to work together under the driving of the clutch control system, or separates the sailing driving force generating device and the flapping rotor wing, so that the sailing driving force generating device works alone, thereby leading the sailing driving force generating device and the flapping rotor wing to act together in the ascending process, improving the ascending efficiency of the invention, and leading the flapping rotor wing to be braked through the brake when the invention is sailing, leading the sailing driving force generating device to act alone, thereby leading the invention to save energy sources under the requirement of meeting the flight.
Preferably, the support comprises a first support, a third support and a plurality of second supports, wherein the first support, the third support and the plurality of second supports are all vertical to the fuselage, and the plurality of second supports are all located between the first support and the third support;
the flapping rotor wings on each side of the aircraft body are correspondingly and rotatably connected with the first support, the navigation driving force generating device on each side of the aircraft body is correspondingly and rotatably connected with the third support, and the navigation control system is arranged between the flapping rotor wings and the navigation driving force generating device through a plurality of second supports; the clutch control system is fixed on the third support and acts on the clutch.
According to the invention, the flapping rotor wing, the navigation driving force generating device, the clutch and the like are arranged through the first bracket, the third bracket and the plurality of second brackets, so that each power device, each transmission device and each executing device in the invention are reasonably distributed, and the stability of the whole structure of the invention is improved.
Preferably, the sailing driving force generating device comprises a driving shaft, a tension wing type, a wing type supporting shaft and an attack angle adjusting mechanism;
the driving shaft is in transmission connection with the navigation control system and is in rotary connection with the third support through a bearing, meanwhile, the axis direction of the driving shaft is parallel to the axis direction of the machine body, a flying disc is fixed at one end of the driving shaft, and the clutch is installed on the flying disc;
the wing-shaped support shaft is vertical to the driving shaft and symmetrically fixed on two sides of the driving shaft, the tension wing type is a symmetrical double-convex wing type and is rotationally connected to the support shaft through a bearing, and meanwhile, the front edge of the tension wing type faces the head end of the machine body;
the attack angle adjusting mechanism is installed on the driving shaft and the supporting shaft and is electrically connected with the controller to drive the tension wing profile to tilt around the supporting shaft to generate an attack angle.
The driving shaft is driven to rotate by the navigation control system, so that the tension wing profiles on the two sides of the driving shaft can be driven to rotate along with the driving shaft, and therefore, the lift force can be generated.
Preferably, the sailing control system comprises a main motor, a plurality of speed reducers and a plurality of gear transmission mechanisms;
the main motor and the plurality of speed reducers are correspondingly fixed on the second support, the main motor is sequentially in transmission connection with the plurality of speed reducers through the gear transmission mechanism, and meanwhile, the speed reducers are in transmission connection with the driving shaft through the gear transmission mechanism to drive the driving shaft to rotate; the main motor and the speed reducer are electrically connected with the controller.
Preferably, the attack angle adjusting mechanism comprises a first attack angle adjusting mechanism and a second attack angle adjusting mechanism; the first attack angle adjusting mechanism comprises a first adjusting sleeve, a first attack angle adjusting motor, a bevel gear set, a second transmission shaft, a cylindrical gear and a second sleeve;
the first adjusting sleeve penetrates through the supporting shaft, one end of the first adjusting sleeve is fixed with the side end of the tension wing type, and the other end of the first adjusting sleeve is provided with gear teeth;
the second sleeve is fixed on the supporting shaft through a connecting rod and is rotatably connected with the supporting shaft through a bearing, and the second transmission shaft penetrates through the second sleeve and is rotatably connected with the inner wall of the second sleeve through a bearing;
the first attack angle adjusting motor is fixed on the driving shaft, an output shaft of the first attack angle adjusting motor is connected with one end of the second transmission shaft through the bevel gear set, the other end of the second transmission shaft is connected with the cylindrical gear, and the cylindrical gear is meshed with gear teeth on the first adjusting sleeve;
the first attack angle adjusting motor is electrically connected with the controller and drives the first adjusting sleeve to tilt around the supporting shaft through the bevel gear set, the second transmission shaft and the cylindrical gear in sequence so as to drive the tension wing profile to tilt and generate an attack angle.
Preferably, the second attack angle adjusting mechanism comprises a second attack angle adjusting motor, a swinging follower cam mechanism and a second adjusting sleeve;
the second adjusting sleeve penetrates through the supporting shaft and is rotatably connected with the supporting shaft through a bearing, and one end face of the second adjusting sleeve is fixed at the side end of the tension wing;
the second attack angle adjusting motor is fixed on the driving shaft and connected with the controller, an output shaft of the second attack angle adjusting motor is fixed with a cam in the swing follower cam mechanism, meanwhile, one end of a swing rod in the swing follower cam mechanism is fixed on the outer wall of the second adjusting sleeve, and the other end of the swing rod is connected with the outer edge of the cam in the swing follower cam mechanism in a sliding mode.
Under the control of the controller, the second attack angle adjusting motor is controlled to work, so that the cam in the swinging follower cam mechanism is driven to rotate, and the swinging rod in the swinging follower cam mechanism is driven to swing, so that the tension wing section and the second adjusting sleeve can be controlled to rotate by a certain inclination angle relative to the supporting shaft, the attack angle of the tension wing section is controlled, and the tension of the flapping-rotating machine can be changed.
Preferably, the flapping rotor comprises: revolution main shaft, rotation transmission device and rotor wing mechanism;
the revolution main shaft is rotationally connected with the first support through a bearing, meanwhile, the revolution main shaft and the driving shaft are positioned on the same straight line, and one end of the revolution main shaft is connected to the clutch;
a front rotating arm and a rear rotating arm are respectively and vertically fixed at two ends of the revolution main shaft correspondingly, and the front rotating arm and the rear rotating arm are symmetrically arranged at two sides of the revolution main shaft;
the rotation main shafts are respectively arranged at two sides of the revolution main shaft and are parallel to the revolution main shaft, and meanwhile, two ends of the rotation main shaft at each side of the revolution main shaft are respectively connected with the front rotating arm and the rear rotating arm in a rotating way through bearings;
the rotation transmission device is fixed on the first support and correspondingly fixed on the rotation main shaft, meanwhile, a rotation space is arranged in the rotation transmission device, and the revolution main shaft penetrates through the rotation space and is not in contact with the inner wall of the rotation space;
the driving shaft drives the revolution spindle to revolve for a circle, and the revolution spindle drives the rotation spindle to rotate for a half circle through the rotation transmission device;
the rotor wing mechanisms are fixed on the rotation main shafts on two sides of the revolution main shaft in a one-to-one correspondence mode, each rotor wing mechanism comprises a rotor wing, and the rotating surfaces of the rotor wings on two sides of the revolution main shaft are vertical; the rotor includes center pin, carousel and a plurality of rotation wing section, the centre bore has been seted up at the center of carousel, the center pin passes the centre bore and through the bearing with the carousel rotates to be connected, simultaneously the rotation wing section is the biconvex wing section of symmetry.
The invention connects the revolution main shaft to the clutch, so that the revolution main shaft is combined with the driving shaft through the clutch under the control of the clutch control system, so as to transmit the torsion to the revolution main shaft while the driving shaft rotates, thereby driving the flapping rotor wing to work, therefore, the invention can improve the lifting efficiency through the combined action of the sailing driving force generating device and the flapping rotor wing in the lifting process, moreover, the rotor wing in the flapping rotor wing revolves for a circle along with the revolution main shaft, the rotor wing rotates for a half circle along with the rotation main shaft, meanwhile, the rotating surfaces of the rotor wings at two sides of the revolution main shaft are vertical, and the wing type in the rotor wing is a symmetrical double-convex wing type, thereby the rotor wing of the invention can avoid the mutual resistance and the mutual disturbance between the rotor wings at two sides in the ascending and descending processes, the stability generated by the lifting force is improved, and the rotating surfaces of the rotor wings at two sides of the revolution main, therefore, the lifting force can be provided by the rotor wing at least on one side of the revolution spindle, so that the lifting force can be continuously generated by the invention, and the lifting efficiency of the invention is further improved;
in the sailing process of the invention, larger lift force is not needed any more, so that the revolution spindle and the driving shaft can be separated by the clutch under the control of the clutch control system, the flapping rotor wing does not consume energy any more, and the energy can be saved.
Preferably, the front edge of the symmetrical biconvex airfoil is in a convex arc shape, the rear edge of the symmetrical biconvex airfoil is in a flat airfoil structure, and the upper airfoil and the lower airfoil are both in an arc shape.
Preferably, the roots of the plurality of rotating wing profiles are uniformly fixed on the rotating disc along the circumferential direction, and form a 0-degree inclination angle with the rotating disc, and meanwhile, the leading edges of the plurality of rotating wing profiles rotate around the shaft in the same direction.
A plurality of rotating wing sections in the rotor wing form 0-degree attack angles with a turntable, meanwhile, the front edges of the rotating wing sections are arranged in the same direction, the front edges are in a convex arc shape, the rear edges are in a flat wing section structure, and the upper wing surface and the lower wing surface are both in an arc shape, so that the rotor wing can always generate upward lift force in the process of revolving 360 degrees along with the revolving spindle, and the ascending efficiency of the rotor wing is improved;
in a similar way, the structure of the tension wing profile is the same as that of the rotating wing profile, so that after the tension wing profile is rotatably arranged on the front rotating arm, the angle of attack of the tension wing profile can be adjusted by the angle of attack adjusting mechanism to enable the tension wing profile to generate forward tension
Preferably, the rotor mechanism further comprises a mounting frame, wherein the shaft end of the central shaft is fixed on the inner wall of the mounting frame, and meanwhile, the outer wall of the mounting frame is fixed on the rotation main shaft.
The invention realizes the protection of the rotor mechanism through the mounting frame and prolongs the service life of the rotor mechanism.
Preferably, the mounting frame is of a hexahedral structure, two pairs of opposite faces of the mounting frame are provided with panels, and the other pair of faces are hollow;
and one pair of opposite panels are fixed with the rotation main shaft, and the other pair of opposite panels are fixed at two ends of the central shaft in a one-to-one correspondence manner.
The mounting frame is provided with the panels on two pairs of opposite surfaces, and the other pair of opposite surfaces are of a hollow hexahedral structure, so that the mounting frame can fix the rotation main shaft to arrange the rotor on the rotation main shaft and provide a supporting surface for fixing the central shaft, and meanwhile, the direction of the hollow surface provides air flow to ensure that the rotary disc of the rotor can rotate around the central shaft under the driving of the air flow, thereby realizing the effect of keeping the rotor rotating.
Preferably, the mounting frame is of a U-shaped structure, and includes two first panels disposed opposite to each other and a second panel connecting the two first panels, wherein the two first panels disposed opposite to each other are fixed to the rotation spindle, and one shaft end of the central shaft is fixed to the second panel.
According to the invention, the mounting frame is provided with two oppositely arranged first panels and a second panel connected with the two first panels, so that the rotor wing is arranged on the rotation main shaft by fixedly connecting the oppositely arranged first panels with the rotation main shaft and the central shaft is fixed by the second panel, and the air flow can be provided in the directions of other surfaces to drive the rotary disc of the rotor wing to rotate relative to the central shaft, therefore, the strength of the air flow for driving the rotary disc to rotate can be improved, and the cost is reduced.
Preferably, the rotation transmission device comprises a gear transmission mechanism, a synchronous belt transmission mechanism and a chain transmission mechanism, and the gear transmission mechanism, the synchronous belt transmission mechanism and the chain transmission mechanism have transmission ratios of 2: 1.
the invention ensures that the transmission ratios of the gear transmission mechanism, the synchronous belt transmission mechanism and the chain transmission mechanism are all 2:1, the revolution of the revolution spindle of the invention can be realized for one circle, and the rotation transmission device drives the rotation spindle to rotate for half circle, thereby improving the efficiency of generating the lift force.
Preferably, the gear transmission mechanism comprises two identical central sprockets, a transmission sprocket and a chain, and the diameter ratio of the central sprocket to the transmission sprocket is 1: 2;
the end surfaces of the two central chain wheels are parallel and fixed, the end surface of one central chain wheel is fixed on the first support, and through holes with the diameter larger than that of the revolution spindle are formed in the centers of the two central chain wheels and used as the rotating space;
the two transmission chain wheels are respectively fixed on the two rotation main shafts in a one-to-one correspondence mode, and meanwhile the two center chain wheels are in one-to-one correspondence with the two transmission chain wheels and are in transmission connection through the two chains.
The invention fixes the central chain wheel on the first bracket, makes the revolution main shaft pass through the rotating space arranged on the central chain wheel, and fixes the transmission chain wheel on the rotation main shaft, so that the torque generated by the revolution main shaft in the revolution process can be transmitted to the transmission chain wheel through the transmission chain by the matching among the central chain wheel, the transmission chain wheel and the chain, thereby the rotation main shaft can be driven to rotate, and simultaneously, the diameter ratio of the central chain wheel to the transmission chain wheel is 1: 2, therefore when the revolution main shaft rotates 180 degrees, can drive the rotation main shaft to rotate 90 degrees, thus realize the purpose of the half-turn of the rotor wing, so as to can promote the efficiency that the flapping-rotating machine rises, make the lift stable at the same time, improve the security of the invention, and the invention through setting up the position relation between central sprocket and support and revolution main shaft ingeniously, make through the transmission among central sprocket, drive sprocket and chain can realize the effect of driving the rotation main shaft to rotate the half-shaft while the revolution main shaft rotates a week, make the transmission mode simple, the cost is lower.
Preferably, the synchronous belt transmission mechanism comprises two identical central synchronizing wheels, a transmission synchronizing wheel and a synchronous belt, and the diameter ratio of the central synchronizing wheel to the transmission synchronizing wheel is 1: 2;
the end surfaces of the two central synchronizing wheels are parallel and fixed, the end surface of one central synchronizing wheel is fixed on the first support, and through holes with the diameter larger than that of the revolution spindle are formed in the centers of the two central synchronizing wheels and used as the rotation space;
the two transmission synchronizing wheels are respectively fixed on the two rotation main shafts in a one-to-one correspondence mode, and meanwhile the two center synchronizing wheels and the two transmission synchronizing wheels are connected through the two synchronous belts in a one-to-one correspondence mode.
The invention fixes the central synchronizing wheel on the first bracket, leads the revolution main shaft to pass through the rotating space arranged on the central synchronizing wheel, and fixes the transmission synchronizing wheel on the rotation main shaft, thereby transmitting the torque generated by the revolution main shaft in the revolution process to the transmission synchronizing wheel through the transmission synchronizing belt by the matching among the central synchronizing wheel, the transmission synchronizing wheel and the synchronizing belt, thereby driving the rotation main shaft to rotate, and simultaneously, because the diameter ratio of the central synchronizing wheel to the transmission synchronizing wheel is 1: 2, therefore when the revolution main shaft rotates 180 degrees, can drive the rotation main shaft to rotate 90 degrees, thus realize the purpose of the half-turn of the rotor wing, so as to can raise the efficiency that the lift of the invention produces, make the lift stable at the same time, raise the security of the invention, and the invention through setting up the position relation between central synchronizing wheel and first support and revolution main shaft ingeniously, make through the transmission among central synchronizing wheel, drive synchronizing wheel and hold-in range can realize driving the rotation main shaft to rotate the effect of half-turn while the revolution main shaft rotates a week, make the transmission mode simple, the cost is lower.
Preferably, the chain transmission mechanism comprises two identical first driving bevel gears, second driven bevel gears and a torque transmission mechanism;
the end surfaces of the two first driving bevel gears are parallel and fixed, the end surface of one of the first driving bevel gears is fixed on the first support, and through holes with the diameter larger than that of the revolution spindle are formed in the centers of the two first driving bevel gears to serve as the rotating space;
the two second driven bevel gears are respectively fixed on the two rotation main shafts in a one-to-one correspondence mode, and meanwhile the two first driving bevel gears and the two second driven bevel gears are in transmission connection through the torque transmission mechanisms in a one-to-one correspondence mode.
The invention fixes the first driving bevel gear on the first bracket, and makes the revolution main shaft pass through the rotating space arranged on the first driving bevel gear, and fixes the second driven bevel gear on the rotation main shaft, so that the torque generated by the revolution main shaft in the revolution process can be transmitted to the second driven bevel gear through the torque transmission mechanism by the matching of the first driving bevel gear, the second driven bevel gear and the torque transmission mechanism, and the rotation main shaft can be driven to rotate, meanwhile, because the transmission ratio of the chain transmission mechanism is 2:1, when the revolution main shaft rotates 180 degrees, the rotation main shaft can be driven to rotate 90 degrees, thereby realizing the purpose of half-revolution of the rotor wing, so as to improve the efficiency generated by the lift force, stabilize the lift force and improve the safety of the invention, and the invention skillfully sets the position relationship between the first driving bevel gear and the first bracket as well as the revolution main shaft, the transmission among the first driving bevel gear, the second driven bevel gear and the torque transmission mechanism can realize the effect of driving the rotation main shaft to rotate for a half cycle while the revolution main shaft rotates for a cycle, so that the transmission mode is simple and the cost is lower.
Preferably, the revolving device further comprises a brake, a level sensor is arranged on the rotating disc, the level of the rotating disc is detected through the level sensor, the level sensor and the brake are both electrically connected with the controller, and when the controller receives a signal that the level sensor sends that the rotating disc is in a horizontal state, the controller controls the brake to brake the revolution spindle.
The levelness of the rotary table is detected by the level sensor, and when the controller receives a signal that the rotary table is in a horizontal state and sent by the level sensor, the controller controls the brake to brake the revolution spindle, so that when the flapping rotor does not work any more by the clutch, the revolution spindle is braked by the brake, the disorder of the revolution spindle is avoided, the running stability of the invention is improved, and meanwhile, the rotating surface of the rotor is kept horizontal, so that the invention can provide stable lift force, and the stability of the invention is further improved.
Preferably, the brake comprises a first brake and a second brake, and the first brake comprises a brake motor, a Z-shaped crank arm and a positioning arm;
the positioning arm is T-shaped and comprises a driving rod and an executing rod, one end of the executing rod is fixed at the center of the driving rod, and meanwhile, a linear annular through hole is formed in the driving rod along the axial direction of the driving rod and serves as a linear annular sliding groove;
the brake motor is fixed on the second bracket and is electrically connected with the controller, an output shaft of the brake motor is fixedly connected with one end of the Z-shaped crank arm, and the other end of the Z-shaped crank arm is slidably connected in the linear annular chute;
a support sleeve is fixed on the second support, the execution rod penetrates through the support sleeve, and the brake motor drives the Z-shaped crank arm to be in sliding connection in the linear annular chute to drive the execution rod to linearly reciprocate in the support sleeve;
the revolution spindle is provided with a positioning hole, the positioning hole corresponds to the rotary table in a horizontal state, when the clutch control system controls the clutch to separate the flapping rotor wing from the navigation driving force generating device, and simultaneously when the controller receives a signal that the rotary table is in a horizontal state and sent by the horizontal sensor, the controller controls the actuating rod to be inserted into the positioning hole.
Preferably, the second brake comprises a second electromagnetic push rod, a third hydraulic cylinder, a fourth hydraulic cylinder and a second oil delivery pipe which are fixed on the second support, a positioning disc is fixedly arranged on the revolution main shaft in a penetrating manner, and the positioning disc corresponds to the turntable in a horizontal state;
a push rod of the second electromagnetic push rod is fixedly connected with a piston rod in the third hydraulic cylinder, and the third hydraulic cylinder is communicated with the fourth hydraulic cylinder through the second oil conveying pipe;
the cylinder body of the fourth hydraulic cylinder is U-shaped, two ends of the cylinder body are connected with pistons in a sliding mode, the outer ends of the two pistons are fixed with friction blocks, the disc body of the positioning disc is located in a space formed by the U-shaped fourth hydraulic cylinder, and the two pistons are located on two sides of the disc body of the positioning disc respectively;
the second electromagnetic push rod is electrically connected with the controller, when the clutch control system controls the clutch to separate the flapping rotor wing from the navigation driving force generating device, and when the controller receives a signal that the rotary disc is in a horizontal state and is sent by the horizontal sensor, the controller controls the second electromagnetic push rod to move, the second electromagnetic push rod sequentially transmits pressure through the third hydraulic cylinder and the fourth hydraulic cylinder to drive pistons on two sides to approach each other, and therefore the positioning disc is braked.
Preferably, the torque transmission mechanism comprises a first transmission shaft, a first driven bevel gear, a second driving bevel gear and a first sleeve, the first transmission shaft is rotatably connected with the first sleeve through a bearing, the first driven bevel gear and the second driving bevel gear are respectively fixed at two ends of the first transmission shaft, the first driven bevel gear is meshed with the first driving bevel gear, and the second driving bevel gear is meshed with the second driven bevel gear.
Preferably, the clutch control system comprises a first electromagnetic push rod, a first hydraulic cylinder, a second hydraulic cylinder, a first oil pipeline and a connecting rod;
wherein, first electromagnetism push rod first pneumatic cylinder with the second pneumatic cylinder is all fixed on the third support, first electromagnetism push rod with controller electric connection, and its push rod with push rod in the first pneumatic cylinder is fixed, first pneumatic cylinder with pass through between the cylinder body of second pneumatic cylinder first defeated oil pipe switch-on, the push rod of second pneumatic cylinder is fixed the one end of connecting rod, simultaneously, the other end of connecting rod has the lantern ring, the lantern ring cover is established on the driving shaft, works as first electromagnetism push rod passes through first pneumatic cylinder with second pneumatic cylinder drive the one end that the connecting rod has the lantern ring is close to the direction swing of clutch, the lantern ring is pressed the clutch, then the driving shaft with the revolution main shaft combines, works as first electromagnetism push rod passes through first pneumatic cylinder with the drive of second pneumatic cylinder one end that the connecting rod has the lantern ring is kept away from the direction of clutch And when the lantern ring swings and is far away from the clutch, the driving shaft is separated from the revolution main shaft.
Through the technical scheme, compared with the prior art, the invention discloses an energy-saving type half-rotation free flapping rotor aircraft, which can realize the following technical effects:
1. the invention connects the sailing driving force generating device and the flapping rotor wing through the clutch, controls the clutch control system through the controller, and leads the clutch to combine the sailing driving force generating device and the flapping rotor wing to work together under the driving of the clutch control system, or separates the sailing driving force generating device and the flapping rotor wing, so that the sailing driving force generating device works alone, thereby leading the sailing driving force generating device and the flapping rotor wing to act together in the ascending process, improving the ascending efficiency of the invention, and leading the flapping rotor wing to be braked through the brake when the invention is sailing, leading the sailing driving force generating device to act alone, thereby leading the invention to save energy sources under the requirement of meeting the flight;
2. the flapping rotor aircraft has the brake, when the flapping rotor does not need to work, the revolution spindle can be braked, so that the situation that the revolution spindle rotates disorderly to influence the running stability of the flapping rotor aircraft can be avoided, and on the other hand, because the rotor surface is always horizontal in the process of stopping the revolution spindle, the lift force can be always provided in the process of sailing the flapping rotor aircraft, and the safety performance of the flapping rotor aircraft is improved;
3. the flapping-rotor type helicopter is characterized in that a bearing shaft is arranged on the main body, a front edge of the bearing shaft is connected with a front edge of the main body, and the front edge of the main body is connected with a front end of the main body;
4. the transmission mode between the revolution main shaft and the rotation main shaft can realize the effect that the revolution main shaft rotates for one circle and the rotation main shaft rotates for half circle, and the transmission mode is simple.
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 view of the overall structure of an energy-saving half-turn free flapping rotary wing aircraft according to the present invention;
FIG. 2 is a schematic view showing the connection relationship among a flapping rotor, a sailing driving force generating device, a sailing control system, a clutch and a clutch control system on each side of a fuselage according to the present invention, and the flapping rotors adopt a chain transmission mechanism;
FIG. 3 is a schematic view showing the connection relationship among a flapping rotor, a navigation driving force generating device, a navigation control system, a clutch and a clutch control system on each side of a fuselage according to the present invention, and the flapping rotors adopt a synchronous belt transmission mechanism;
FIG. 4 is a schematic view showing the connection relationship among the flapping rotors, the sailing driving force generating device, the sailing control system, the clutch and the clutch control system on each side of the fuselage according to the present invention, and the flapping rotors adopting a gear transmission mechanism;
figure 5 is a schematic structural view of a rotor mechanism of the present invention;
FIG. 6 is a schematic structural view of a first angle of attack adjustment mechanism according to the present invention;
FIG. 7 is a schematic structural view of a second angle of attack adjustment mechanism according to the present invention;
FIG. 8 is a plan view of the first brake of the present invention;
FIG. 9 is a schematic perspective view of a first brake according to the present invention;
fig. 10 is a plan view schematically showing the construction of a second brake according to the present invention.
Wherein, 1 is a machine body; 3 is a flapping rotary wing; 4 is a sailing driving force generating device; 40 is a navigation control system; 7 is a clutch; 70 is a clutch control system; 5 is a brake; 101 is a first bracket; 104 is a third bracket; 103 is a second bracket; 409 a driving shaft; 41 is a tension wing profile; 48 is a wing type supporting shaft; 42 is an attack angle adjusting mechanism; 408 is a flying disc; 22 is a main motor; 202 is a reducer; 21 is a revolution main shaft; 23 is a rotation main shaft; 30 is a rotor wing mechanism; 211 is a front rotating arm; 212 is a rear rotating arm; 31 is a mounting frame; 32 is a rotor wing; 323 is a rotating wing profile; 321 is a central axis; 322 is a rotary table; 323 is a rotating wing profile; 61 is a central chain wheel; 62 is a driving chain wheel; 63 is a chain; 701 is a first electromagnetic push rod; 702 is a first hydraulic cylinder; 703 is a second hydraulic cylinder; 704 is a first oil delivery pipe; 705 is a connecting rod; 411 is a first adjusting sleeve; 421 is a first attack angle adjusting motor; 422 is a bevel gear set; 424 is a second transmission shaft; 425 is a cylindrical gear; 426 is a second sleeve; 51 is a brake motor; 52 is a Z-shaped crank arm; 53 is a positioning arm; 111 is a supporting sleeve; 64 is a central synchronizing wheel; 65 is a transmission synchronizing wheel; 66 is a synchronous belt; 67 is a first drive bevel gear; 68 is a second driven bevel gear; 691 is a first transmission shaft; 692, a first driven bevel gear; 693 is a second drive bevel gear; 694 is a first sleeve; 401 is a second attack angle adjustment motor; 402 is a swing follower cam mechanism; 403 is a second adjustment sleeve; 501 is a second electromagnetic push rod; 502 is a third hydraulic cylinder; 505 is a second oil delivery pipe; 503 is a fourth hydraulic cylinder, 201 is a positioning plate; 506 is a piston.
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 an energy-saving type half-rotation free flapping rotor aircraft, which comprises: the self-propelled flapping-wing aircraft comprises a fuselage 1, a flapping rotor wing 3, a sailing driving force generating device 4, a sailing control system 40, a clutch 7, a clutch control system 70 and a controller;
wherein, the tail part of the fuselage 1 is provided with a tail wing or a tail rotor, the abdomen part is provided with an undercarriage, two sides are symmetrically fixed with a bracket, the bracket at each side of the fuselage 1 is fixed with a clutch control system 70 and a navigation control system 40, simultaneously, the flapping rotor 3 and the navigation driving force generating device 4 are symmetrically arranged at two sides of the fuselage 1 through the bracket, and the flapping rotor 3 and the navigation driving force generating device 4 at each side of the fuselage 1 are connected through a clutch 7;
the control system 70 is electrically connected with the controller and acts on the clutch 7, and the navigation control system 40 is electrically connected with the controller and acts on the navigation driving force generating device 4;
during the ascending, under the control of the controller, the sailing control system 40 drives the sailing driving force generation device 4 to work, and the clutch control system 70 controls the clutch 7 to combine the flapping rotor 3 and the sailing driving force generation device 4; during navigation, under the control of the controller, the navigation control system 40 drives the navigation driving force generation device 4 to operate, and the clutch control system 70 controls the clutch 7 to separate the flapping rotor 3 from the navigation driving force generation device 4.
In order to further optimize the technical scheme, the bracket comprises a first bracket 101, a third bracket 104 and a plurality of second brackets 103 which are all vertical to the fuselage 1, and the plurality of second brackets 103 are all positioned between the first bracket 101 and the third bracket 104;
the flapping rotary wings 3 on each side of the fuselage 1 are correspondingly and rotatably connected with the first bracket 101, the navigation driving force generating device 4 on each side of the fuselage 1 is correspondingly and rotatably connected with the third bracket 104, and the navigation control system 40 is arranged between the flapping rotary wings 3 and the navigation driving force generating device 4 through a plurality of second brackets 103; the clutch control system 70 is fixed to the third carrier 104 and acts on the clutch 7.
In order to further optimize the technical scheme, the sailing driving force generating device 4 comprises a driving shaft 409, a tension wing type 41, a wing type supporting shaft 48 and an attack angle adjusting mechanism 42;
the driving shaft 409 is in transmission connection with the navigation control system 40, the driving shaft 409 is in rotary connection with the third support 104 through a bearing, meanwhile, the axial direction of the driving shaft 409 is parallel to the axial direction of the machine body 1, a flying disc 408 is fixed at one end of the driving shaft 409, and the clutch 7 is installed on the flying disc 408;
the wing type support shaft 48 is vertical to the driving shaft 409 and symmetrically fixed on two sides of the driving shaft 409, the tension wing type 41 is a symmetrical double-convex wing type and is rotatably connected to the support shaft 48 through a bearing, and meanwhile, the front edge of the tension wing type 41 faces the head end of the machine body 1;
the attack angle adjusting mechanism 42 is installed on the driving shaft 409 and the supporting shaft 48, and is electrically connected with the controller, and drives the tension wing type 41 to tilt around the supporting shaft 48 to generate an attack angle.
In order to further optimize the above technical solution, the navigation control system comprises a main motor 22, a plurality of speed reducers 202 and a plurality of gear transmission mechanisms; the main motor 22 and the plurality of speed reducers 202 are correspondingly fixed on the second support 103, the main motor 22 is sequentially in transmission connection with the plurality of speed reducers 202 through a gear transmission mechanism, meanwhile, the speed reducers 202 are in transmission connection with the driving shaft 409 through the gear transmission mechanism to drive the driving shaft 409 to rotate, and the main motor 22 and the speed reducers 202 are electrically connected with the controller.
In order to further optimize the above technical solution, the attack angle adjusting mechanism 42 includes a first attack angle adjusting mechanism 42 and a second attack angle adjusting mechanism; the first attack angle adjusting mechanism 42 comprises a first adjusting sleeve 411, a first attack angle adjusting motor 421, a bevel gear group 422, a second transmission shaft 424, a cylindrical gear 425 and a second sleeve 426;
the first adjusting sleeve 411 is arranged on the support shaft 48 in a penetrating manner, and one end of the first adjusting sleeve is fixed with the side end of the tension wing type 41, and the other end of the first adjusting sleeve is provided with gear teeth;
the second sleeve 426 is fixed on the support shaft 48 through a connecting rod and is rotatably connected with the support shaft 48 through a bearing, and the second transmission shaft 424 penetrates through the second sleeve 426 and is rotatably connected with the inner wall of the second sleeve 426 through a bearing;
the first angle of attack adjusting motor 421 is fixed on the driving shaft 409, the output shaft thereof is connected with one end of the second transmission shaft 424 through a bevel gear set 422, meanwhile, the other end of the second transmission shaft 424 is connected with a cylindrical gear 425, and the cylindrical gear 425 is engaged with the gear teeth on the first adjusting sleeve 411;
the first angle-of-attack adjusting motor 421 is electrically connected to the controller, and drives the first adjusting sleeve 411 to tilt around the supporting shaft 48 sequentially through the bevel gear set 422, the second transmission shaft 424 and the cylindrical gear 425, so as to drive the tension wing profile 41 to tilt and generate an angle of attack.
In order to further optimize the above technical solution, the second attack angle adjusting mechanism 42 includes a second attack angle adjustment motor 401, a swing follower cam mechanism 402, and a second adjusting sleeve 403;
the second adjusting sleeve 403 is arranged on the support shaft 48 in a penetrating manner, and is rotatably connected with the support shaft 48 through a bearing, and one end face of the second adjusting sleeve 403 is fixed at the side end of the tension wing type 41;
the second attack angle adjustment motor 401 is fixed on the driving shaft 409 and connected with the controller, and the output shaft thereof is fixed with the cam in the swing follower cam mechanism 402, meanwhile, one end of the swing rod in the swing follower cam mechanism 402 is fixed on the outer wall of the second adjustment sleeve 403, and the other end is connected with the outer edge of the cam in the swing follower cam mechanism 402 in a sliding manner.
In order to further optimize the above solution, the flapping rotor 3 comprises: revolution spindle 21, rotation spindle 23, rotation transmission device and rotor mechanism 30;
the revolution main shaft 21 is rotatably connected with the first bracket 101 through a bearing, meanwhile, the revolution main shaft 21 and the driving shaft 409 are positioned on the same straight line, and one end of the revolution main shaft 21 is connected to the clutch 7;
a front rotating arm 211 and a rear rotating arm 212 are respectively and vertically fixed at two ends of the revolution main shaft 21, and the front rotating arm 211 and the rear rotating arm 212 are symmetrically arranged at two sides of the revolution main shaft 21;
the rotation main shafts 23 are respectively arranged at two sides of the revolution main shaft 21 and are parallel to the revolution main shaft 21, and simultaneously, two ends of the rotation main shaft 23 at each side of the revolution main shaft 21 are respectively connected with the front rotating arm 211 and the rear rotating arm 212 in a rotating way through bearings;
the rotation transmission device is fixed on the first bracket 101 and correspondingly fixed on the rotation main shaft 23, meanwhile, the rotation transmission device is provided with a rotation space, and the revolution main shaft 21 passes through the rotation space and is not in contact with the inner wall of the rotation space;
the driving shaft 409 drives the revolution spindle 21 to revolve for a circle, and the revolution spindle 21 drives the rotation spindle 23 to rotate for a half circle through a rotation transmission device;
the rotor mechanisms 30 are fixed on the rotation main shafts 23 on two sides of the revolution main shaft 21 in a one-to-one correspondence manner, the rotor mechanisms 30 comprise rotors 32, and the rotating surfaces of the rotors 32 on two sides of the revolution main shaft 21 are vertical; the rotor 32 comprises a central shaft 321, a rotating disc 322 and a plurality of rotating wing profiles 323, wherein a central hole is formed in the center of the rotating disc 322, the central shaft 321 penetrates through the central hole and is rotatably connected with the rotating disc 322 through a bearing, and meanwhile, the rotating wing profiles 323 are symmetrical double-convex wing profiles, wherein the symmetrical double-convex wing profiles meet the general standard of aircraft design and are NACA0012 or NACA 0016.
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, and the upper wing surface and the lower wing surface are both in an arc shape.
In order to further optimize the above technical solution, the roots of the plurality of rotating wing profiles 323 are uniformly fixed on the rotating disk 322 along the circumferential direction, and form an inclination angle of 0 degree with the rotating disk 322, and simultaneously the leading edges of the plurality of rotating wing profiles 323 have the same direction of rotation around the shaft.
In order to further optimize the above technical solution, the rotor mechanism 30 further includes a mounting frame 31, the shaft end of the central shaft 321 is fixed on the inner wall of the mounting frame 31, and the outer wall of the mounting frame 31 is fixed on the rotation main shaft 23.
In order to further optimize the above technical solution, the mounting frame 31 is a hexahedral structure, and two pairs of opposite faces have panels, and the other pair of faces are hollow;
one pair of the two opposite panels is fixed to the rotation spindle 23, and the other pair of the two opposite panels is fixed to both ends of the central shaft 321 in a one-to-one correspondence manner.
In order to further optimize the above technical solution, the mounting frame 31 is a "U" shaped structure, and includes two first panels disposed oppositely and a second panel connecting the two first panels, wherein the two first panels disposed oppositely are fixed on the rotation main shaft 32, and one shaft end of the central shaft 321 is fixed on the second panel.
In order to further optimize the technical scheme, the autorotation transmission device comprises a gear transmission mechanism, a synchronous belt transmission mechanism and a chain transmission mechanism, and the transmission ratios of the gear transmission mechanism, the synchronous belt transmission mechanism and the chain transmission mechanism are all 2: 1.
in order to further optimize the above technical solution, the gear transmission mechanism includes two identical central sprockets 61, a transmission sprocket 62 and a chain 63, and the diameter ratio of the central sprocket 61 to the transmission sprocket 62 is 1: 2;
the end surfaces of the two central chain wheels 61 are parallel and fixed, the end surface of one central chain wheel 61 is fixed on the first bracket 101, and through holes with the diameter larger than that of the revolution spindle 21 are formed in the centers of the two central chain wheels 61 to serve as rotating spaces;
the two driving sprockets 62 are respectively fixed on the two rotation main shafts 23 in a one-to-one correspondence manner, and the two central sprockets 61 and the two driving sprockets 62 are in a one-to-one correspondence manner and are in transmission connection through two chains 63.
In order to further optimize the above technical solution, the synchronous belt transmission mechanism includes two identical central synchronizing wheels 64, a transmission synchronizing wheel 65 and a synchronous belt 66, and the diameter ratio of the central synchronizing wheel 64 to the transmission synchronizing wheel 65 is 1: 2;
the end surfaces of the two central synchronizing wheels 64 are parallel and fixed, the end surface of one central synchronizing wheel 64 is fixed on the first bracket 101, and through holes with the diameter larger than that of the revolution spindle 21 are formed in the centers of the two central synchronizing wheels 64 to serve as rotating spaces;
the two transmission synchronizing wheels 65 are respectively fixed on the two rotation main shafts 23 in a one-to-one correspondence manner, and meanwhile, the two central synchronizing wheels 64 are in transmission connection with the two transmission synchronizing wheels 65 through two synchronous belts 66 in a one-to-one correspondence manner.
In order to further optimize the above technical solution, the chain transmission comprises two identical first drive bevel gears 67, second driven bevel gears 68 and a torque transmission mechanism;
the end surfaces of the two first drive bevel gears 67 are parallel and fixed, the end surface of one of the first drive bevel gears 67 is fixed on the first support 101, and through holes with the diameter larger than that of the revolution spindle 21 are formed in the centers of the two first drive bevel gears 67 to serve as rotation spaces;
the two second driven bevel gears 68 are respectively fixed on the two rotation main shafts 23 in a one-to-one correspondence manner, and the two first driving bevel gears 67 and the two second driven bevel gears 68 are in a one-to-one correspondence manner and are in transmission connection through a torque transmission mechanism.
In order to further optimize the technical scheme, the torque transmission mechanism comprises a first transmission shaft 691, a first driven bevel gear 692, a second driving bevel gear 693 and a first sleeve 694, wherein the first transmission shaft 691 is rotatably connected with the first sleeve 694 through a bearing, the first driven bevel gear 692 and the second driving bevel gear 693 are respectively fixed at two ends of the first transmission shaft 691, the first driven bevel gear 692 is meshed with the first driving bevel gear 67, and the second driving bevel gear 693 is meshed with the second driven bevel gear 68.
In order to further optimize the technical scheme, the revolving spindle further comprises a brake 5, a horizontal sensor is arranged on the rotating disc 322, the levelness of the rotating disc 322 is detected through the horizontal sensor, the horizontal sensor and the brake 5 are both electrically connected with the controller, and when the controller receives a signal that the rotating disc 322 is in a horizontal state and is sent by the horizontal sensor, the controller controls the brake 5 to brake the revolving spindle 21.
In order to further optimize the technical scheme, the brake comprises a first brake and a second brake, and the first brake comprises a brake motor 51, a Z-shaped crank arm 52 and a positioning arm 53;
the positioning arm 53 is in a shape of a T and comprises a driving rod and an executing rod, one end of the executing rod is fixed at the center of the driving rod, and meanwhile, a linear annular through hole is formed in the driving rod along the axial direction of the driving rod to serve as a linear annular sliding groove;
the brake motor 51 is fixed on the second bracket 103 and is electrically connected with the controller, an output shaft of the brake motor is fixedly connected with one end of the Z-shaped crank arm 52, and the other end of the Z-shaped crank arm 52 is slidably connected in the linear annular sliding groove;
a support sleeve 111 is fixed on the second bracket 103, the actuating rod passes through the support sleeve 111, the brake motor 51 is connected in a linear annular sliding groove in a sliding manner by driving the Z-shaped crank arm 52, and the actuating rod is driven to linearly reciprocate in the support sleeve 111;
the revolution spindle 21 has a positioning hole corresponding to the rotation disk 322 in a horizontal state, and when the clutch control system 70 controls the clutch 7 to separate the flapping rotor 3 from the navigation driving force generating device 4, and when the controller receives a signal that the rotation disk 322 is in a horizontal state from the horizontal sensor, the controller controls the actuating rod to be inserted into the positioning hole.
In order to further optimize the above technical solution, the second brake includes a second electromagnetic push rod 501, a third hydraulic cylinder 502, a fourth hydraulic cylinder 503 and a second oil pipe 505 fixed on the second bracket 103, a positioning disc 201 is fixedly arranged on the revolution spindle 21 in a penetrating manner, and the positioning disc 201 corresponds to the turntable 322 when in a horizontal state;
a push rod of the second electromagnetic push rod 501 is fixedly connected with a piston 506 rod in a third hydraulic cylinder 502, and the third hydraulic cylinder 502 is communicated with a fourth hydraulic cylinder 503 through a second oil conveying pipe 505;
the cylinder body of the fourth hydraulic cylinder 503 is U-shaped, and both ends of the cylinder body are slidably connected with pistons 506, meanwhile, the outer ends of the two pistons 506 are fixed with friction blocks, the disc body of the positioning disc 201 is positioned in the space formed by the U-shaped fourth hydraulic cylinder 503, and the two pistons 506 are respectively positioned at both sides of the disc body of the positioning disc 201;
the second electromagnetic push rod 501 is electrically connected to the controller, when the clutch control system 70 controls the clutch 7 to separate the flapping rotor 3 from the navigation driving force generating device 4, and when the controller receives a signal that the level sensor sends the turntable 322 to be in a horizontal state, the controller controls the second electromagnetic push rod 501 to move, and then the second electromagnetic push rod 501 sequentially transmits pressure through the third hydraulic cylinder 502 and the fourth hydraulic cylinder 503 to drive the pistons 506 on both sides to approach each other, so as to brake the positioning disc 201.
In order to further optimize the above technical solution, the clutch control system 70 includes a first electromagnetic push rod 701, a first hydraulic cylinder 702, a second hydraulic cylinder 703, a first oil delivery pipe 704 and a connecting rod 705;
wherein, the first electromagnetic push rod 701, the first hydraulic cylinder 702 and the second hydraulic cylinder 703 are all fixed on the third bracket 104, the first electromagnetic push rod 701 is electrically connected with the controller, and the push rod thereof is fixed with the push rod in the first hydraulic cylinder 702, the first hydraulic cylinder 702 is communicated with the cylinder body of the second hydraulic cylinder 703 through the first oil pipe 704, the push rod of the second hydraulic cylinder 703 fixes one end of the connecting rod 705, meanwhile, the other end of the connecting rod 705 is provided with a lantern ring which is sleeved on the driving shaft 409, when the first electromagnetic push rod 701 drives one end of the connecting rod 705 provided with the lantern ring to swing towards the direction close to the clutch 7 through the first hydraulic cylinder 702 and the second hydraulic cylinder 703, the lantern ring presses the clutch 7, the driving shaft 409 is combined with the revolution main shaft 21, when the first electromagnetic push rod 701 drives one end of the connecting rod 705 provided with the lantern ring to swing towards the direction far away from the clutch 7 through the first hydraulic, when the collar is away from the clutch 7, the driving shaft 409 is separated from the revolving spindle 21.
Example 1
And (3) ascending process:
the main motor 22 is sequentially connected with the plurality of speed reducers 202 to drive the driving shaft 409 to rotate, so that the tension wing sections 41 on two sides of the driving shaft 409 can be driven to rotate along with the driving shaft 409, lift force can be generated, and meanwhile, as the tension wing sections 41 adjust the attack angle during navigation through the attack angle adjusting mechanism 42, the tension force required by navigation can be generated;
the controller controls the telescopic motion of the first electromagnetic push rod 701, so that the pressure of hydraulic oil is transmitted to the connecting rod 705 through the first hydraulic cylinder 702 and the second hydraulic cylinder 703 in sequence, and the ring sleeve of the driving connecting rod 705 presses the clutch 7, so that the driving shaft 409 can be combined with the revolution spindle 21 through the clutch 7, the torque is transmitted to the revolution spindle 21 while the driving shaft 409 rotates, and the flapping rotor 3 can be driven to work, and the ascending efficiency can be improved by the combined action of the sailing driving force generating device 4 and the flapping rotor 3 in the ascending process;
furthermore, the present invention fixes the central sprocket 61 on the first bracket 101, and makes the revolving main shaft 21 pass through the rotation space opened on the central sprocket 61, and fixes the transmission sprocket 62 on the rotation main shaft 23, so that the torque generated by the revolving main shaft 21 in the revolving process can be transmitted to the transmission sprocket 62 through the transmission chain 63 by the cooperation among the central sprocket 61, the transmission sprocket 62 and the chain 63, and the rotation main shaft 23 can be driven to rotate, and at the same time, because the diameter ratio of the central sprocket 61 and the transmission sprocket 62 is 1: 2, when the revolution spindle 21 rotates 180 degrees, the rotation spindle 23 can be driven to rotate 90 degrees, so that the purpose of half-rotation of the rotor 32 is achieved, the ascending efficiency of the invention can be improved, the lifting force is stable, and the safety of the invention is improved; moreover, the rotating surfaces of the rotary wings 32 on both sides of the revolution main shaft 21 of the present invention are vertical, and the wing profiles in the rotary wings 32 are symmetrical double convex wing profiles, so that the rotary wings 32 of the present invention can avoid generating resistance and mutual disturbance between the rotary wings 32 on both sides in the up and down processes, improve the stability of the lift force generation, and can avoid the vertical rotating surfaces of the rotary wings 32 on both sides of the revolution main shaft 21, so that the present invention can provide the lift force through the rotary wings 32 on at least one side of the revolution main shaft 21, thereby the present invention can continuously generate the lift force, and further improve the lifting efficiency of the present invention.
Example 2
The navigation process comprises the following steps:
the main motor 22 is sequentially connected with the plurality of speed reducers 202 to drive the driving shaft 409 to rotate, so that the tension wing sections 41 on two sides of the driving shaft 409 can be driven to rotate along with the driving shaft 409, lift force can be generated, and meanwhile, as the tension wing sections 41 adjust the attack angle during navigation through the attack angle adjusting mechanism 42, the tension force required by navigation can be generated;
meanwhile, the controller controls the telescopic motion of the first electromagnetic push rod 701, so that the pressure of hydraulic oil is transmitted to the connecting rod 705 sequentially through the first hydraulic cylinder 702 and the second hydraulic cylinder 703, and the ring sleeve of the driving connecting rod 705 is separated from the contact with the clutch 7, so that the torque transmission between the driving shaft 409 and the revolution main shaft 21 can be disconnected through the clutch 7, and the driving shaft 409 can rotate independently at the moment, so that the sailing driving force generating device 4 works to generate pulling force and lifting force;
meanwhile, the levelness of the turntable 322 is detected by the level sensor, the level sensor and the brake 5 are both electrically connected with the controller, and when the controller receives a signal that the turntable 322 is in a horizontal state sent by the level sensor, the controller controls the brake 5 to brake the revolution spindle 21, so that the surface of the rotor 32 is always horizontal, and the lift force during navigation can be maintained in the navigation process of the invention.
Obviously, when the invention is sailing, the pulling force and the lifting force are generated only by the operation of the sailing driving force generating device 4, and the flapping rotor wing 3 stops operating through the clutch 7 and the brake 5, so that the invention reduces the energy loss on the premise of meeting the lifting force and the pulling force required by sailing.
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 (10)

1. An energy-saving type half-turn free flapping rotary wing aircraft, comprising: the self-propelled flapping-wing aircraft comprises an aircraft body (1), a flapping rotor wing (3), a sailing driving force generating device (4), a sailing control system (40), a clutch (7), a clutch control system (70) and a controller;
the tail part of the fuselage (1) is provided with an empennage or a tail rotor, the belly part of the fuselage is provided with an undercarriage, supports are symmetrically fixed on two sides of the fuselage (1), the clutch control system (70) and the navigation control system (40) are fixed on the support on each side of the fuselage (1), the flapping rotors (3) and the navigation driving force generating devices (4) are symmetrically arranged on two sides of the fuselage (1) through the supports, and the flapping rotors (3) and the navigation driving force generating devices (4) on each side of the fuselage (1) are connected through the clutches (7);
the control system (70) is electrically connected with the controller and acts on the clutch (7), and meanwhile, the sailing control system (40) is electrically connected with the controller and acts on the sailing driving force generating device (4);
when the flapping rotor wing rises, under the control of the controller, the sailing control system (40) drives the sailing driving force generation device (4) to work, and the clutch control system (70) controls the clutch (7) to combine the flapping rotor wing (3) and the sailing driving force generation device (4); when the flapping-wing aircraft is in voyage, under the control of the controller, the sailing control system (40) drives the sailing driving force generation device (4) to work, and the clutch control system (70) controls the clutch (7) to separate the flapping rotor (3) from the sailing driving force generation device (4).
2. An energy efficient half-turn free-flapping rotorcraft according to claim 1, wherein said pylon comprises a first pylon (101), a third pylon (104), and a plurality of second pylons (103) all perpendicular to said fuselage (1), with a plurality of said second pylons (103) all located between said first pylon (101) and said third pylon (104);
the flapping rotary wing (3) on each side of the fuselage (1) is correspondingly and rotatably connected with the first bracket (101), the navigation driving force generating device (4) on each side of the fuselage (1) is correspondingly and rotatably connected with the third bracket (104), and the navigation control system (40) is arranged between the flapping rotary wing (3) and the navigation driving force generating device (4) through a plurality of second brackets (103); the clutch control system (70) is fixed on the third bracket (104) and acts on the clutch (7).
3. An energy-saving half-turn freely-flapping rotorcraft according to claim 2, wherein said sailing driving force generating device (4) comprises a driving shaft (409), a tension wing profile (41), a wing profile supporting shaft (48), and an angle-of-attack adjusting mechanism (42); the driving shaft (409) is in transmission connection with the navigation control system (40), the driving shaft (409) is in rotary connection with the third support (104) through a bearing, meanwhile, the axial direction of the driving shaft (409) is parallel to that of the machine body (1), a flying disc (408) is fixed at one end of the driving shaft (409), and the clutch (7) is installed on the flying disc (408);
the wing type support shaft (48) is vertical to the driving shaft (409) and symmetrically fixed on two sides of the driving shaft (409), the tension wing type (41) is a symmetrical double-convex wing type and is rotatably connected to the support shaft (48) through a bearing, and meanwhile, the front edge of the tension wing type (41) faces the head end of the machine body (1);
the attack angle adjusting mechanism (42) is installed on the driving shaft (409) and the supporting shaft (48), is electrically connected with the controller, and drives the tension wing type (41) to tilt around the supporting shaft (48) to generate an attack angle.
4. An energy-saving half-turn free-flapping-rotor aircraft according to claim 3, wherein said flapping rotor (3) comprises: a revolution main shaft (21), a rotation main shaft (23), a rotation transmission device and a rotor mechanism (30);
the revolution main shaft (21) is rotatably connected with the first support (101) through a bearing, meanwhile, the revolution main shaft (21) and the driving shaft (409) are positioned on the same straight line, and one end of the revolution main shaft (21) is connected to the clutch (7);
a front rotating arm (211) and a rear rotating arm (212) are respectively and vertically fixed at two ends of the revolution main shaft (21) correspondingly, and the front rotating arm (211) and the rear rotating arm (212) are symmetrically arranged at two sides of the revolution main shaft (21);
the rotation main shafts (23) are respectively arranged at two sides of the revolution main shaft (21) and are parallel to the revolution main shaft (21), and two ends of the rotation main shaft (23) at each side of the revolution main shaft (21) are respectively connected with the front rotating arm (211) and the rear rotating arm (212) in a rotating way through bearings;
the rotation transmission device is fixed on the first support (101) and correspondingly fixed on the rotation spindle (23), meanwhile, a rotation space is arranged in the rotation transmission device, and the revolution spindle (21) penetrates through the rotation space and is not in contact with the inner wall of the rotation space;
the driving shaft (409) drives the revolution spindle (21) to revolve for a circle, and the revolution spindle (21) drives the rotation spindle (23) to rotate for a half circle through the rotation transmission device;
the rotor wing mechanisms (30) are fixed on the rotation main shafts (23) at two sides of the revolution main shaft (21) in a one-to-one correspondence manner, the rotor wing mechanisms (30) comprise rotor wings (32), and the rotating surfaces of the rotor wings (32) at two sides of the revolution main shaft (21) are vertical; the rotor wing (32) comprises a central shaft (321), a rotating disc (322) and a plurality of rotating wing profiles (323), a central hole is formed in the center of the rotating disc (322), the central shaft (321) penetrates through the central hole and is rotatably connected with the rotating disc (322) through a bearing, and meanwhile, the rotating wing profiles (323) are symmetrical double-convex wing profiles.
5. The aircraft of claim 4 wherein the symmetrical biconvex airfoil has a convex curved leading edge and a flat trailing edge, and wherein the upper and lower airfoil surfaces are curved.
6. An energy efficient semi-rotary free-flapping rotorcraft according to claim 5, wherein the roots of said plurality of said rotating airfoils (323) are uniformly circumferentially affixed to said rotor disk (322) and form a0 degree pitch angle with said rotor disk (322), and wherein the leading edges of said plurality of said rotating airfoils (323) rotate in the same direction about the axis.
7. An energy efficient semi-rotary free-flapping rotorcraft according to claim 6, wherein said rotor mechanism (30) further comprises a mounting frame (31), wherein the axial ends of said central shaft (321) are fixed to the inner wall of said mounting frame (31), and wherein the outer wall of said mounting frame (31) is fixed to said spinning mast (23).
8. The aircraft as claimed in any one of claims 4 to 7, wherein the rotation transmission comprises a gear transmission, a synchronous belt transmission and a chain transmission, and the gear transmission, the synchronous belt transmission and the chain transmission have a transmission ratio of 2: 1.
9. the aircraft of claim 8, further comprising a brake (5), wherein a level sensor is disposed on the rotary plate (322), the level sensor detects the levelness of the rotary plate (322), and the level sensor and the brake (5) are both electrically connected to the controller, and when the controller receives a signal that the level sensor sends the rotary plate (322) to be in a horizontal state, the controller controls the brake (5) to brake the revolution spindle (21).
10. An energy efficient half-turn free-flapping rotorcraft according to claim 8, wherein said gear drive comprises two identical center sprockets (61), drive sprockets (62) and chains (63), and the ratio of the diameter of said center sprocket (61) to said drive sprocket (62) is 1: 2;
the end surfaces of the two central chain wheels (61) are parallel and fixed, the end surface of one central chain wheel (61) is fixed on the first support (101), and through holes with the diameter larger than that of the revolution spindle (21) are formed in the centers of the two central chain wheels (61) and serve as the rotating space;
the two transmission chain wheels (62) are respectively fixed on the two rotation main shafts (23) in a one-to-one correspondence mode, and meanwhile the two central chain wheels (61) are in one-to-one correspondence with the two transmission chain wheels (62) and are in transmission connection through the two chains (63).
CN202011346892.2A 2020-11-26 2020-11-26 Energy-saving type half-rotation free flapping rotor aircraft Withdrawn CN112441228A (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1693700A (en) * 2004-11-16 2005-11-09 俞嘉华 Wind-mill generator combined with self rotation and revolution of wind vane for flapping-wing aircraft and its method
CN102582832A (en) * 2012-03-07 2012-07-18 安徽工业大学 Flapping-wing aircraft
CN104494828A (en) * 2014-12-15 2015-04-08 佛山市神风航空科技有限公司 Panel type flapping wing lifting device with electromagnetic brake
CN107963210A (en) * 2017-12-06 2018-04-27 佛山市神风航空科技有限公司 A kind of fixed wing aircraft of VTOL
CN108995804A (en) * 2018-08-01 2018-12-14 北京理工大学 The bionic Aircraft for flutterring rotor and the conversion of flapping flight mode is realized based on the deformation wing
CN109733620A (en) * 2018-11-22 2019-05-10 南京航空航天大学 A kind of hybrid power unmanned plane and its control method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1693700A (en) * 2004-11-16 2005-11-09 俞嘉华 Wind-mill generator combined with self rotation and revolution of wind vane for flapping-wing aircraft and its method
CN102582832A (en) * 2012-03-07 2012-07-18 安徽工业大学 Flapping-wing aircraft
CN104494828A (en) * 2014-12-15 2015-04-08 佛山市神风航空科技有限公司 Panel type flapping wing lifting device with electromagnetic brake
CN107963210A (en) * 2017-12-06 2018-04-27 佛山市神风航空科技有限公司 A kind of fixed wing aircraft of VTOL
CN108995804A (en) * 2018-08-01 2018-12-14 北京理工大学 The bionic Aircraft for flutterring rotor and the conversion of flapping flight mode is realized based on the deformation wing
CN109733620A (en) * 2018-11-22 2019-05-10 南京航空航天大学 A kind of hybrid power unmanned plane and its control method

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