CN112874777A

CN112874777A - Flexible connection rotor cabin helicopter

Info

Publication number: CN112874777A
Application number: CN202110401318.0A
Authority: CN
Inventors: 江富余
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-04-14
Filing date: 2021-04-14
Publication date: 2021-06-01

Abstract

A flexible connection rotor cabin helicopter is composed of a rigid beam, a flexible member for connecting the cabin of main body with the cabin of rotor, a flexible member with the cabin of tail rotor, a flexible connection rotor cabin helicopter with two rotors in same size and opposite direction, a vertical tail wing at tail or two rotors in same size and opposite direction, and a vertical tail wing at tail, or a flexible member with rigid beam, which is used for connecting the cabin of main body with multiple rotor cabins, and a flexible connection rotor cabin helicopter with two rotors in same size and opposite direction, and four rotors in same size and opposite direction, and features no linkage of drive shaft between rotors, reduced weight of drive unit, and flexible member for preventing the mutual transmission of harmonic vibration generated by the flapping of blades of rotors, the device has the advantages of large carrying capacity, simple structure and flexible operation, and is suitable for the fields of transportation, agricultural operation, aerial photography and the like.

Description

Flexible connection rotor cabin helicopter

Technical Field

The invention relates to a helicopter with flexibly connected rotor wing cabins, which does not depend on the vertical lifting and hovering of an airport and flies front and back and left and right.

Background

The single-rotor helicopter has the advantages of simple structure and flexible operation, but the reaction torque of the rotor of the single-rotor helicopter is completely balanced by a tail propeller with a vertical rotating surface, the propeller does not generate lift force in the vertical direction and consume power, and the tandem double-rotor helicopter adopts a pair of forward and reverse rotating rotors with the same speed and the same size, so that the reaction torques of the rotors are mutually offset, the consumed power of the tail propeller is saved, but two rotors with the same size and opposite rotation directions all participate in the operation of pitching, rolling and heading, the operation is complex, the pair of forward and reverse rotating rotors need synchronous reverse rotation, the transmission power is high, the transmission component is complex and heavy, and the shock absorption difficulty is high.

Disclosure of Invention

In order to save the power of balancing the counter torque and improve the operating characteristic of the helicopter, and the helicopter has the advantages of better operating characteristic of a single-rotor helicopter and mutual offset of the counter torques of the rotors of a tandem double-rotor helicopter, the invention provides a helicopter with a flexibly connected rotor cabin, and the aim is achieved.

The technical scheme adopted by the invention for solving the technical problems is as follows: the rotor cabin is internally provided with an engine or a motor, the engine or the motor drives a rotor shaft through a speed changer, blades of the rotor are connected with the rotor shaft through a blade shell, the blade shell is provided with a blade waving device consisting of a waving hinge, a shimmy hinge and a variable pitch hinge, and a total pitch and periodic variable pitch controller is arranged to operate the dump angle of a rotating surface of a blade tip of the rotor, so that the magnitude and the direction of the lift force of the rotor are changed, and the rotating surface of the rotor is horizontally arranged.

The flexible member is arranged at the bottom, or the left side, or the right side, or the front part and the rear part of the rotor cabin.

The tail rotor cabin is composed of a rotor cabin and a tail propeller arranged at the tail part of the rotor cabin and having a rotating surface perpendicular to the rotating surface of the rotor, the tail part of the rotor cabin is provided with a vertical tail wing and a horizontal tail wing, and the tail propeller is connected with a transmission through a transmission shaft and is driven by an engine or a motor for driving the rotor.

The flexible member is arranged at the bottom, or the left side, or the right side, or the front part of the tail rotor cabin.

The fuselage storehouse is provided with a flight control system, a cockpit, a warehouse and the like.

The landing gear is arranged at the lower part of the fuselage bin, or the rotor bin, or the tail rotor bin.

The rigid beam is used for connecting the fuselage cabin or the rotor cabin or the flexible component with the tail rotor cabin to form two types of flexible connection rotor cabin helicopters, one type is that the rigid beam is connected with the fuselage cabin or the flexible component with the rotor cabin or the tail rotor cabin to form flexible connection rotor cabin helicopters, the other type is that the rigid beam is connected with the fuselage cabin or the flexible component with the rotor cabin to form flexible connection rotor cabin helicopters, and the other type is that the rigid beam is connected with the fuselage cabin or the flexible components with a plurality of rotor cabins to form flexible connection rotor cabin helicopters.

Near focus fuselage storehouse lower part sets up the undercarriage, the rigid beam is connected on the left side in fuselage storehouse, the right flexible component in rotor storehouse is connected to the left end of rigid beam, the rigid beam is connected on the right in fuselage storehouse, the right-hand member of rigid beam is connected with the left flexible component in tail rotor storehouse, the left rotor that sets up the rotor storehouse on the left side is opposite with the right rotor direction of rotation that sets up on the right has the tail rotor storehouse, constitute about totally two the same, turn to opposite rotor, the afterbody has the flexible connection rotor storehouse helicopter of a vertical fin.

The lower part of the fuselage bin near the center of gravity is provided with an undercarriage, the front edge of the fuselage bin is connected with a rigid beam, the front end of the rigid beam is connected with a bottom flexible member of the rotor bin, the rear part of the fuselage bin is connected with a rigid beam, the rear end of the rigid beam is connected with a bottom flexible member of the tail rotor bin, the rotating directions of the front rotor of the rotor bin arranged in the front and the rear rotor of the tail rotor bin arranged in the rear are opposite, and the front and the rear are formed into a flexible connection rotor bin helicopter which is provided with two rotors with the same size and opposite rotating directions and a vertical tail wing at the tail.

The lower part of a fuselage bin near the gravity center is provided with an undercarriage, the left side of the fuselage bin is connected with a rigid beam, the left end of the rigid beam is connected with a bottom flexible member of a rotor bin, the right side of the fuselage bin is connected with a rigid beam, the right end of the rigid beam is connected with a bottom flexible member of another rotor bin, the front side of the fuselage bin is connected with a rigid beam, the front end of the rigid beam is connected with a bottom flexible member of another rotor bin, the left rotor of the rotor bin arranged on the left side is opposite to the right rotor of the rotor bin with the tail rotor on the right side, the front rotor of the rotor bin arranged on the front side is opposite to the rear rotor of the rotor bin with the tail rotor on the rear side, and two rotors with the same size and opposite steering transversely are formed, a helicopter with flexible connection rotor cabin is composed of two rotors with same size and opposite rotation directions and four same rotors.

The working principle of the flexible connection rotor cabin helicopter is approximately the same as that of a conventional single-rotor helicopter.

The working principle of the helicopter with the left and the right flexible connection rotor wing bins is that two rotor wings with the same size and opposite rotation directions and a vertical tail wing are arranged at the tail part of the helicopter:

the left rotary wing rotates clockwise, the right rotary wing rotates anticlockwise, and the pitch of the vertical tail wing is right in timing and thrust.

When the left rotor wing and the right rotor wing of the flexibly connected rotor cabin helicopter rotate, when the same rotating speed of the propeller pitch is the same, the reactive torques of the left rotor wing and the right rotor wing of the flexibly connected rotor cabin helicopter are mutually offset, the propeller pitch of the tail propeller is zero, the thrust is zero, and the course of the flexibly connected rotor cabin helicopter is kept stable.

The same throttle that increases the engine or the motor of drive left rotor, right rotor simultaneously, and the collective pitch of manipulation left rotor and right rotor is the same increase, and the lift of left rotor and dextrorotation wing increases, and when the total lift of left rotor and dextrorotation wing was greater than the weight of flexonics rotor storehouse helicopter, the vertical lift in flexonics rotor storehouse helicopter.

The same reduction drives the throttle of the engine or motor of left rotor, right rotor, and flexible connection rotor storehouse helicopter hovers when the total lift of left rotor and right rotor equals the weight of flexible connection rotor storehouse helicopter.

And the throttle of an engine or a motor for driving the left rotor and the right rotor is continuously reduced, and when the total lift force of the left rotor and the right rotor is less than the weight of the flexibly connected rotor cabin helicopter, the flexibly connected rotor cabin helicopter vertically descends.

When the flexibly connected rotor cabin helicopter is in the air, the reactive torques of the left rotor and the right rotor are mutually offset, the total distance of the tail propellers is increased to be a positive total distance, rightward thrust is generated, and the rightward thrust moment of the tail propellers causes the flexibly connected rotor cabin helicopter to rotate leftward; the total pitch of the tail propellers is reduced to be negative total pitch, leftward thrust is generated, and the leftward thrust moment of the tail propellers enables the helicopter flexibly connected with the rotor cabin to rotate rightwards, so that course control is realized.

Simultaneously, the total pitch of a left rotor wing and a right rotor wing of the flexibly connected rotor wing cabin helicopter and the tilting disk of the periodic pitch controller are operated to tilt forwards, so that the rotating surfaces of the tips of the left rotor wing and the right rotor wing of the flexibly connected rotor wing cabin helicopter tilt forwards, the resultant force of the left rotor wing and the right rotor wing of the flexibly connected rotor wing cabin helicopter tilts forwards, and the flexibly connected rotor wing cabin helicopter tilts forwards; and simultaneously, the total pitch of the left rotor and the right rotor of the flexibly connected rotor cabin helicopter and the tilting disk of the periodic pitch controller are controlled to tilt backwards, so that the rotating surfaces of the tips of the left rotor and the right rotor of the flexibly connected rotor cabin helicopter tilt backwards, the left rotor and the right rotor of the flexibly connected rotor cabin helicopter jointly tilt backwards, and the flexibly connected rotor cabin helicopter tilts backwards to realize pitching control.

Simultaneously, the total pitch of a left rotor wing and a right rotor wing of the flexibly connected rotor wing cabin helicopter and a tilting tray of a periodic pitch controller are controlled to tilt left, so that the rotating surfaces of the tips of the left rotor wing and the right rotor wing of the flexibly connected rotor wing cabin helicopter tilt left, the resultant force of the left rotor wing and the right rotor wing of the flexibly connected rotor wing cabin helicopter tilts left, and the flexibly connected rotor wing cabin helicopter rolls left; and simultaneously, the total pitch of the left rotor and the right rotor of the flexibly connected rotor cabin helicopter and the tilting disk of the periodic pitch controller are controlled to tilt rightwards, so that the rotating surfaces of the tips of the left rotor and the right rotor of the flexibly connected rotor cabin helicopter tilt rightwards, the resultant force of the left rotor and the right rotor of the flexibly connected rotor cabin helicopter tilts rightwards, and the flexibly connected rotor cabin helicopter rolls rightwards to realize the roll control.

The left rotor wing and the right rotor wing control pitching and rolling, and the tail propeller controls the course, which is similar to the control mode of the conventional single-rotor helicopter.

In the whole flying process, the rotating speeds of the left rotor wing and the right rotor wing are kept the same or close to the same, the reactive torques of the left rotor wing and the right rotor wing are mutually offset or close to offset, the rest reactive torque can interfere the course, the course is controlled through the tail propeller to overcome the interference, the lift forces of the left rotor wing and the right rotor wing are equal or close to be equal, the unequal lift forces of the left rotor wing and the right rotor wing interfere the lateral stability, and the interference is overcome through the rolling control of the left rotor wing and the right rotor wing.

Because left rotor and dextrorotation wing have set up the paddle and have waved the device, the paddle wave and produce the harmonic vibrations, because the rotational speed of left rotor, dextrorotation wing keeps the same or is close the same, the paddle of left rotor, dextrorotation wing wave and produce the harmonic vibration frequency the same or be close the same, will arouse resonance like this, organism structure can be destroyed in resonance, the vibrations of left rotor, dextrorotation wing are effectively blocked in setting up of flexible component are passed each other, have prevented that resonance from taking place.

The front and the back are two rotors with the same size and opposite rotation directions, and the tail part of the flexible connection rotor cabin helicopter is provided with a vertical tail wing:

the front rotor rotates clockwise, the rear rotor rotates anticlockwise, and the pitch of the vertical tail wing is right thrust at the right time.

When the front rotor and the rear rotor of the flexible connection rotor cabin helicopter rotate, when the same rotating speed of the propeller pitch is the same, the reaction torques of the front rotor and the rear rotor of the flexible connection rotor cabin helicopter are mutually offset, the propeller pitch of the tail rotor is zero, the thrust is zero, and the course of the flexible connection rotor cabin helicopter is kept stable.

The same throttle that increases the engine or the motor of rotor, back rotor before the drive, simultaneously, the same increase of total distance of rotor and back rotor before the manipulation, the lift of preceding rotor and back rotor increases, and when the total lift of current rotor and back rotor is greater than the weight of flexonics rotor storehouse helicopter, flexonics rotor storehouse helicopter vertical lift.

The same reduction drives the throttle of the engine or motor of front rotor, back rotor, and when the total lift of front rotor and back rotor equals the weight of flexonics rotor storehouse helicopter, the flexonics rotor storehouse helicopter hovers.

And the throttle of an engine or a motor for driving the front rotor and the rear rotor is continuously reduced, and when the total lift force of the front rotor and the rear rotor is less than the weight of the flexibly connected rotor cabin helicopter, the flexibly connected rotor cabin helicopter vertically descends.

When the flexibly connected rotor cabin helicopter is in the air, the reactive torques of the front rotor and the rear rotor are mutually offset, the total distance of the tail propellers is increased to be a positive total distance, rightward thrust is generated, and the rightward thrust moment of the tail propellers causes the flexibly connected rotor cabin helicopter to rotate leftward; the total pitch of the tail propellers is reduced to be negative total pitch, leftward thrust is generated, and the leftward thrust moment of the tail propellers enables the helicopter flexibly connected with the rotor cabin to rotate rightwards, so that course control is realized.

Simultaneously, the total pitch of a front rotor and a rear rotor of the flexibly connected rotor cabin helicopter and the tilting disk of the periodic pitch controller are controlled to tilt forwards, so that the rotating surfaces of the tips of the front rotor and the rear rotor of the flexibly connected rotor cabin helicopter tilt forwards, the resultant force of the front rotor and the rear rotor of the flexibly connected rotor cabin helicopter tilts forwards, and the flexibly connected rotor cabin helicopter tilts forwards; and simultaneously, the total pitch of the front rotor and the rear rotor of the flexibly connected rotor cabin helicopter and the tilting disk of the periodic pitch controller are controlled to tilt backwards, so that the rotating surfaces of the tips of the front rotor and the rear rotor of the flexibly connected rotor cabin helicopter tilt backwards, the front rotor and the rear rotor of the flexibly connected rotor cabin helicopter jointly tilt backwards, and the flexibly connected rotor cabin helicopter tilts backwards to realize pitching control.

Simultaneously, the total pitch of a front rotor and a rear rotor of the flexibly connected rotor cabin helicopter and a tilting tray of a periodic pitch controller are controlled to tilt left, so that the rotating surfaces of the tips of the front rotor and the rear rotor of the flexibly connected rotor cabin helicopter tilt left, the resultant force of the front rotor and the rear rotor of the flexibly connected rotor cabin helicopter tilts left, and the flexibly connected rotor cabin helicopter rolls left; and simultaneously, the total pitch of the front rotor and the rear rotor of the flexibly connected rotor cabin helicopter and the tilting disk of the periodic pitch controller are controlled to tilt rightwards, so that the tip rotating surfaces of the front rotor and the rear rotor of the flexibly connected rotor cabin helicopter tilt rightwards, the resultant force of the front rotor and the rear rotor of the flexibly connected rotor cabin helicopter tilts rightwards, and the flexibly connected rotor cabin helicopter rolls rightwards to realize the roll control.

The front rotor and the rear rotor operate pitching and rolling, and the tail propeller operates course, which is similar to the operation mode of the conventional single-rotor helicopter.

In the whole flying process, the rotating speeds of the front rotor and the rear rotor are kept the same or close to the same, the reactive torques of the front rotor and the rear rotor are mutually offset or close to offset, the rest reactive torque can interfere course, the course is controlled through the tail propeller to overcome interference, the lift forces of the front rotor and the rear rotor are equal or close to equal, the unequal lift forces of the front rotor and the rear rotor interfere longitudinal stability, and the interference is overcome through the pitching control of the front rotor and the rear rotor.

Because preceding rotor, back rotor have set up the paddle and have waved the device, the paddle wave and produce the harmonic vibrations, because the rotational speed of preceding rotor, back rotor keeps the same or is close the same, the paddle of preceding rotor, back rotor wave and produce the harmonic vibration frequency the same or be close the same, will arouse resonance like this, the organism structure can be destroyed in resonance, the vibrations of preceding rotor, back rotor are effectively blocked in setting up of flexible component are passed each other, have prevented that resonance from taking place.

The working principle of the flexible connection rotor cabin helicopter is that two rotors with the same size and opposite rotation directions are transversely arranged, and two rotors with the same size and opposite rotation directions are longitudinally arranged, and the four rotors are totally four rotors:

the front rotary wing rotates clockwise, the rear rotary wing rotates clockwise, the left rotary wing rotates anticlockwise, the right rotary wing rotates anticlockwise,

when the front rotor, the rear rotor, the left rotor and the right rotor of the flexible connection rotor cabin helicopter rotate, when the same rotating speed of the propeller pitch is the same, the reactive torques of the front rotor, the rear rotor, the left rotor and the right rotor of the flexible connection rotor cabin helicopter are mutually offset, and the course of the flexible connection rotor cabin helicopter is kept stable.

The same throttle that increases the engine or the motor of drive front rotor, back rotor, left rotor and right rotor, simultaneously, the same increase of total distance of manipulation front rotor, back rotor, left rotor and right rotor, the lift of front rotor, back rotor, left rotor and right rotor increases, and when the total lift of front rotor, back rotor, left rotor and right rotor was greater than the weight of flexonics rotor storehouse helicopter, flexonics rotor storehouse helicopter rises perpendicularly.

The same reduction drives the throttle of the engines or motors of the front, rear, left and right rotors, and when the total lift of the front and rear rotors equals the weight of the flexible connection rotor cabin helicopter, the flexible connection rotor cabin helicopter hovers.

And when the total lift force of the front rotor and the rear rotor is less than the weight of the flexible connection rotor cabin helicopter, the flexible connection rotor cabin helicopter vertically descends.

When the flexibly connected rotor cabin helicopter is in the air, the reactive torques of the front rotor, the rear rotor, the left rotor and the right rotor are mutually offset, the tilting disk of the total pitch and the periodic pitch controller of the front rotor of the flexibly connected rotor cabin helicopter is operated to tilt left, the tip rotating surface of the front rotor of the flexibly connected rotor cabin helicopter is tilted left, meanwhile, the tilting disk of the total pitch and the periodic pitch controller of the rear rotor of the flexibly connected rotor cabin helicopter is operated to tilt right, the tip rotating surface of the rear rotor of the flexibly connected rotor cabin helicopter is tilted right, the resultant force of the front rotor and the rear rotor of the flexibly connected rotor cabin helicopter generates a left steering moment, and the flexibly connected rotor cabin helicopter steers left; the tilt disk of the total pitch and periodic pitch controller of the front rotor of the flexible connection rotor cabin helicopter is controlled to tilt rightwards, so that the tip rotating surface of the front rotor of the flexible connection rotor cabin helicopter tilts rightwards, and simultaneously, the total pitch and the tilt disk of the periodic pitch controller of the rear rotor of the flexible connection rotor cabin helicopter are controlled to tilt leftwards, so that the tip rotating surface of the rear rotor of the flexible connection rotor cabin helicopter tilts leftwards, the front rotor and the rear rotor of the flexible connection rotor cabin helicopter combine to generate a right steering moment, and the flexible connection rotor cabin helicopter rotates rightwards, so that course control is realized.

The left rotor and the right rotor operate pitching and rolling, and the front rotor and the rear rotor operate course, which is similar to the operation mode of the conventional single-rotor helicopter.

Another method of pitch, roll and heading is:

when the flexibly connected rotor cabin helicopter is in the air, the reactive torques of the front rotor, the rear rotor, the left rotor and the right rotor are mutually offset, the tilting disk of the total pitch and the periodic pitch controller of the left rotor of the flexibly connected rotor cabin helicopter is operated to tilt forwards, so that the tip rotating surface of the left rotor of the flexibly connected rotor cabin helicopter tilts forwards, meanwhile, the tilting disk of the total pitch and the periodic pitch controller of the right rotor of the flexibly connected rotor cabin helicopter is operated to tilt backwards, so that the tip rotating surface of the right rotor of the flexibly connected rotor cabin helicopter tilts backwards, the left rotor and the right rotor of the flexibly connected rotor cabin helicopter are combined to generate a right steering torque, and the flexibly connected rotor cabin helicopter turns to the right; the tilt disc of the total pitch and cyclic pitch controller of the left rotor of the flexible connection rotor cabin helicopter is controlled to tilt backwards, so that the tip rotating surface of the left rotor of the flexible connection rotor cabin helicopter tilts backwards, meanwhile, the tilt disc of the total pitch and cyclic pitch controller of the right rotor of the flexible connection rotor cabin helicopter is controlled to tilt forwards, so that the tip rotating surface of the right rotor of the flexible connection rotor cabin helicopter tilts forwards, the left rotor and the right rotor of the flexible connection rotor cabin helicopter jointly generate a left steering moment, and the flexible connection rotor cabin helicopter steers left, so that course control is realized.

The left rotor and the right rotor operate course, and the front rotor and the rear rotor operate pitching and rolling in a manner similar to the conventional single-rotor helicopter.

In the whole flight process, preceding rotor, the back rotor, the rotational speed of left rotor and dextrorotation wing keeps the same or is close the same, preceding rotor, the back rotor, the reaction torque of left rotor and dextrorotation wing offsets or is close to offsetting each other, remaining reaction torque can disturb the course, through preceding rotor, the interference is overcome in the course manipulation of back rotor, preceding rotor, the back rotor, the lift of left rotor and right rotor equals or is close to equaling, preceding rotor, the back rotor, the lift inequality interference of left rotor and right rotor is vertical and the lateral stability, through the left rotor, the interference is overcome in the every single move and the roll manipulation of right rotor.

Because preceding rotor, the back rotor, left rotor and dextrorotation wing have set up the paddle and have waved the device, the paddle wave produces the harmonic vibrations, because preceding rotor, the back rotor, the rotational speed of left rotor and dextrorotation wing keeps the same or is close the same, preceding rotor, the back rotor, the paddle of left rotor and right rotor wave produces the harmonic vibration frequency the same or is close the same, will arouse resonance like this, body structure can be destroyed in resonance, the setting of flexible component effectively blocks preceding rotor, the back rotor, the vibrations of left rotor and right rotor pass each other, resonance emergence has been prevented.

The invention has the advantages that the flexible connection rotor cabin helicopter has larger load capacity than a single rotor helicopter, the operation method is similar to the single rotor helicopter, the operation flexibility of the single rotor helicopter is kept, no transmission shaft linkage exists among the rotors, the weight of a transmission device is reduced, the reactive torques are mutually offset or mostly offset, the operation load of a tail propeller is smaller than that of a tail propeller of the single rotor helicopter, the flexible component blocks the mutual transmission of harmonic vibration generated by the flapping of the blades of the front rotor, the rear rotor, the left rotor and the right rotor, the resonance is prevented, and the flexible connection rotor cabin helicopter has the advantages of large load capacity, simple structure and flexible operation and is suitable for the fields of transportation, agricultural operation, fire fighting operation, aerial photography and the like.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is an isometric view of a first embodiment of the invention.

Fig. 2 is an isometric view of a second embodiment of the invention.

Fig. 3 is an isometric view of a third embodiment of the invention.

Fig. 4 is an isometric view of a fourth embodiment of the invention.

Fig. 5 is an isometric view of a fifth embodiment of the invention.

Fig. 6 is an isometric view of a sixth embodiment of the invention.

Fig. 7 is an isometric view of a seventh embodiment of the invention.

Fig. 8 is an isometric view of an eighth embodiment of the invention.

Fig. 9 is an isometric view of a ninth embodiment of the invention.

Fig. 10 is an isometric view of a tenth embodiment of the invention.

In the figure, 1, a left rotor, 2, a total pitch and cyclic pitch controller of the left rotor, 3, a rotor cabin, 4, a flexible member, 5, a right rotor, 6, a total pitch and cyclic pitch controller of the right rotor, 7, a tail rotor cabin, 8, a fuselage cabin, 9, a rigid beam, 10, an undercarriage, 11, a horizontal tail wing, 12, a vertical tail wing, 13, a tail propeller, 31, a front rotor, 32, a total pitch and cyclic pitch controller of the front rotor, 35, a rear rotor, 36, a total pitch and cyclic pitch controller of the rear rotor, 41, a left front rotor, 51, a total pitch and cyclic pitch controller of the left front rotor, 42, a right rear rotor, 52, a total pitch and cyclic pitch controller of the right rear rotor, 43, a right front rotor, 53, a total pitch and cyclic pitch controller of the right front rotor, 44, a left rear rotor, 54. the total pitch and the periodic pitch controller of the left rear rotor wing, P. gravity center, N. anticlockwise rotation direction and S. clockwise rotation direction.

Detailed Description

In the embodiment shown in fig. 1, an undercarriage 10 is disposed near the center of gravity P of the lower portion of a fuselage bin 8, a rigid beam 9 is connected to the left side of the fuselage bin 8, the right flexible member 4 of a rotor bin 3 is connected to the left end of the rigid beam 9, the rigid beam 9 is connected to the right side of the fuselage bin 8, the left flexible member 4 of a tail rotor bin 7 is connected to the right end of the rigid beam 9, a left rotor 1 of the rotor bin 3 disposed on the left side rotates clockwise S, a right rotor 5 of the tail rotor bin 7 disposed on the right side rotates counterclockwise N, a tail propeller 13 whose rotation plane is perpendicular to the rotation plane of the right rotor 5, a horizontal tail wing 11 and a vertical tail wing 12 are disposed at the tail portion of the tail rotor bin 7, the tail propeller 13 is connected to a transmission shaft, and is driven by an.

The left rotor cabin 3 is provided with an engine and a transmission driving rotor shaft, blades of a left rotor 1 on the left rotor cabin 3 are connected with the rotor shaft through a blade shell, the blade shell is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, a total pitch and periodic variable pitch controller 2 is arranged to operate the dump angle of the blade tip rotating surface of the left rotor 1, so that the size and the direction of the lift force of the left rotor 1 are changed, and the rotating surface of the left rotor 1 is horizontally arranged.

The right propeller cabin 7 is provided with an engine and a transmission driving rotor shaft, the right propeller 5 on the right propeller cabin 7 is connected with the rotor shaft through a propeller shell, the propeller shell is provided with a propeller flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, and a total pitch and periodic variable pitch controller 6 is arranged to control the dump angle of the tip rotating surface of the right rotor 5 propeller blade, so that the size and direction of the lift force of the right rotor 5 are changed, and the rotating surface of the right rotor 5 is horizontally arranged.

The left rotor wing 1 rotates clockwise S, the right rotor wing 5 rotates anticlockwise N, the propeller pitch of the vertical tail wing 13 is set to be right in timing, and the propeller tip at the bottom rotates forwards.

The projection of the center of the connecting line of the rotation centers of the left rotor wing 1 and the right rotor wing 5 on the horizontal plane is on the gravity center P or slightly behind the gravity center P, and the connecting line of the rotation centers of the left rotor wing 1 and the right rotor wing 5 is vertical to the longitudinal axis of the flexible connection rotor wing cabin helicopter.

When the left rotor wing 1 and the right rotor wing 5 of the flexibly connected rotor wing cabin helicopter rotate, when the propeller pitches are the same and the rotating speeds are the same, the counter torques of the left rotor wing 1 and the right rotor wing 5 of the flexibly connected rotor wing cabin helicopter are mutually offset, the propeller pitch of the tail propeller 13 is zero, the thrust is zero, and the course of the flexibly connected rotor wing cabin helicopter is kept stable.

The same throttle that increases the engine of drive left rotor 1, dextrorotation wing 5, simultaneously, the collective pitch of manipulation left rotor 1 and dextrorotation wing 5 is the same to be increased, and the lift of left rotor 1 and dextrorotation wing 5 increases, and when the total lift of left rotor 1 and dextrorotation wing 5 was greater than the weight of flexonics rotor storehouse helicopter, the vertical rise in flexonics rotor storehouse helicopter.

The same reduction drives the throttle of the engine of left rotor 1, right rotor 5, and when the total lift of left rotor 1 and right rotor 5 is equal to the weight of the flexible connection rotor storehouse helicopter, the flexible connection rotor storehouse helicopter hovers.

And the throttle of the engine driving the left rotor wing 1 and the right rotor wing 5 is continuously reduced, and when the total lift force of the left rotor wing 1 and the right rotor wing 5 is less than the weight of the flexible connection rotor wing cabin helicopter, the flexible connection rotor wing cabin helicopter vertically descends.

When the flexible connection rotor cabin helicopter is in the air, the reactive torques of the left rotary wing 1 and the right rotary wing 5 are mutually counteracted, the total distance of the tail propellers 13 is increased to be a positive total distance, rightward thrust is generated, and the rightward thrust moment of the tail propellers 13 enables the flexible connection rotor cabin helicopter to rotate leftward; the total pitch of the tail propellers 13 is reduced to be negative total pitch, leftward thrust is generated, and the leftward thrust moment of the tail propellers 13 enables the helicopter with the flexibly connected rotor cabin to rotate rightwards, so that course control is achieved.

When the flexibly connected rotor cabin helicopter is in the air, the total pitch and cyclic pitch controller 2 of the left rotor of the flexibly connected rotor cabin helicopter and the tilting tray of the total pitch and cyclic pitch controller 6 of the right rotor are simultaneously operated to tilt forwards, so that the tip rotating surfaces of the left rotor 1 and the right rotor 5 of the flexibly connected rotor cabin helicopter tilt forwards, the left rotor 1 and the right rotor 5 of the flexibly connected rotor cabin helicopter are combined to tilt forwards, and the flexibly connected rotor cabin helicopter tilts forwards; and simultaneously, the total pitch and periodic pitch controller 2 of the left rotor and the total pitch and periodic pitch controller 6 of the right rotor of the flexibly connected rotor cabin helicopter are controlled to tilt backwards, so that the tip rotating surfaces of the left rotor 1 and the right rotor 5 of the flexibly connected rotor cabin helicopter tilt backwards, the left rotor 1 and the right rotor 2 of the flexibly connected rotor cabin helicopter are combined to tilt backwards, the flexibly connected rotor cabin helicopter tilts backwards, and pitching control is realized.

When the flexibly connected rotor cabin helicopter is in the air, the total pitch and periodic pitch controller 2 of the left rotor of the flexibly connected rotor cabin helicopter and the tilting tray of the total pitch and periodic pitch controller 6 of the right rotor are simultaneously operated to tilt left, so that the tip rotating surfaces of the left rotor 1 and the right rotor 5 of the flexibly connected rotor cabin helicopter tilt left, the resultant force of the left rotor 1 and the right rotor 5 of the flexibly connected rotor cabin helicopter tilts left, and the flexibly connected rotor cabin helicopter rolls left; and simultaneously, the total pitch and periodic pitch controller 2 of the left rotor and the total pitch and periodic pitch controller 6 of the right rotor of the flexibly connected rotor cabin helicopter are controlled to tilt rightwards, the rotating surfaces of the tips of the left rotor 1 and the right rotor 5 of the flexibly connected rotor cabin helicopter tilt rightwards, the resultant force of the left rotor 1 and the right rotor 5 of the flexibly connected rotor cabin helicopter tilts rightwards, the flexibly connected rotor cabin helicopter rolls rightwards, and the rolling control is realized.

The left rotor wing 1 and the right rotor wing 5 operate pitching and rolling, and the tail propeller 13 operates the course, which is similar to the operation mode of a conventional single-rotor helicopter.

In the whole flying process, the rotating speeds of the left rotor wing 1 and the right rotor wing 5 are kept the same or close to the same, the reactive torques of the left rotor wing 1 and the right rotor wing 5 are mutually offset or close to offset, the rest reactive torques can interfere the course, the course is controlled through the tail propeller 13 to overcome the interference, the lifting forces of the left rotor wing 1 and the right rotor wing 5 are equal or close to equal, the lifting forces of the left rotor wing 1 and the right rotor wing 5 are unequal to interfere with the transverse stability, and the interference is overcome through the rolling operation of the left rotor wing 1 and the right rotor wing 5.

Because left rotor 1 and dextrorotation wing 5 have set up the paddle and have waved the device, the paddle wave produces the harmonic vibrations, because left rotor 1, the rotational speed of dextrorotation wing 5 keeps the same or is close the same, left rotor 1, the paddle of dextrorotation wing 5 wave and produce the harmonic vibration frequency the same or be close the same, will arouse resonance like this, the organism structure can be destroyed in resonance, the setting is effectively blocked left rotor 1 on the 3 right in rotor storehouse and has flexible member 4 on the 7 left sides in tail rotor storehouse, the vibrations of dextrorotation wing 5 are mutually passed, resonance emergence has been prevented.

In the embodiment shown in fig. 2, the left side of the fuselage bin 8 is connected with the rigid beam 9, the left end of the rigid beam 9 is connected with the bottom flexible member 4 of the rotor bin 3, the right side of the fuselage bin 8 is connected with the rigid beam 9, the right end of the rigid beam 9 is connected with the bottom flexible member 4 of the tail rotor bin 7, the left rotor 1 of the rotor bin 3 arranged on the left side rotates clockwise S, the right rotor 5 of the tail rotor bin 7 arranged on the right side rotates anticlockwise N, the tail part of the tail rotor bin 7 is provided with a tail propeller 13, a horizontal tail wing 11 and a vertical tail wing 12, the tail propeller 13 is perpendicular to the rotating surface of the right rotor 5, the tail propeller 13 is connected with a transmission through a transmission shaft, and is driven by an engine or a motor for.

The lower part of the rotor cabin 3 is provided with an undercarriage 10, and the lower part of the tail rotor cabin 7 is provided with an undercarriage 10.

Because left rotor 1 and dextrorotation wing 5 have set up the paddle and have waved the device, the paddle wave produces the harmonic vibrations, because left rotor 1, the rotational speed of dextrorotation wing 5 keeps the same or is close the same, left rotor 1, the paddle of dextrorotation wing 5 wave and produce the harmonic vibration frequency the same or be close the same, will arouse resonance like this, the organism structure can be destroyed in resonance, the flexible member 4 that sets up in 3 bottoms in rotor storehouse and have 7 bottoms in tail rotor storehouse effectively blocks left rotor 1, the vibrations of dextrorotation wing 5 are passed on each other, resonance has been prevented from taking place.

In the embodiment shown in fig. 3, the left side of the fuselage bin 8 is connected with the rigid beam 9, the left end of the rigid beam 9 is connected with the top flexible member 4 of the rotor bin 3, the right side of the fuselage bin 8 is connected with the rigid beam 9, the right end of the rigid beam 9 is connected with the top flexible member 4 of the tail rotor bin 7, the left rotor 1 of the rotor bin 3 arranged on the left side rotates clockwise S, the right rotor 5 of the tail rotor bin 7 arranged on the right side rotates anticlockwise N, the tail part of the tail rotor bin 7 is provided with a tail propeller 13, a horizontal tail wing 11 and a vertical tail wing 12, the tail propeller 13 is perpendicular to the rotating surface of the right rotor 5, the tail propeller 13 is connected with a transmission through a transmission shaft, and is driven by an engine or a motor for.

The left rotor cabin 3 is provided with a motor and a transmission to drive a rotor shaft, the left rotor 1 on the left rotor cabin 3 is connected with the rotor shaft through a propeller housing, the propeller housing is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, and a total pitch and periodic variable pitch controller 2 is arranged to operate the dump angle of the blade tip rotating surface of the left rotor 1, so that the lift force and direction of the left rotor 1 are changed, and the rotating surface of the left rotor 1 is horizontally arranged.

The right propeller shell is provided with a propeller swinging device consisting of a swinging hinge, a shimmy hinge and a variable pitch hinge, and a total pitch and periodic variable pitch controller 6 is arranged to control the dump angle of the tip rotating surface of the right propeller 5, so that the size and direction of the lift force of the right rotor 5 are changed, and the rotating surface of the right rotor 5 is horizontally arranged.

The same throttle that increases the motor of drive left rotor 1, dextrorotation wing 5, simultaneously, the collective pitch of manipulation left rotor 1 and dextrorotation wing 5 is the same to be increased, and the lift of left rotor 1 and dextrorotation wing 5 increases, and when the total lift of left rotor 1 and dextrorotation wing 5 was greater than the weight of flexonics rotor storehouse helicopter, the vertical rise in flexonics rotor storehouse helicopter.

The same throttle that reduces the motor that drives left rotor 1, right rotor 5, when the total lift of left rotor 1 and right rotor 5 is equal to the weight in flexible connection rotor storehouse helicopter, flexible connection rotor storehouse helicopter hovers.

And the throttle of the motor for driving the left rotor wing 1 and the right rotor wing 5 is continuously reduced, and when the total lift force of the left rotor wing 1 and the right rotor wing 5 is less than the weight of the flexibly connected rotor wing cabin helicopter, the flexibly connected rotor wing cabin helicopter vertically descends.

Because left rotor 1 and dextrorotation wing 5 have set up the paddle and have waved the device, the paddle wave produces the harmonic vibrations, because left rotor 1, the rotational speed of dextrorotation wing 5 keeps the same or is close the same, left rotor 1, the paddle of dextrorotation wing 5 wave and produce the harmonic vibration frequency the same or be close the same, will arouse resonance like this, the organism structure can be destroyed in resonance, the flexible member 4 that sets up at 3 tops in rotor storehouse and have 7 tops in tail rotor storehouse effectively blocks left rotor 1, the vibrations of dextrorotation wing 5 are passed on each other, resonance has been prevented from taking place.

In the embodiment shown in fig. 4, an undercarriage 10 is arranged near the center of gravity P of the lower part of a fuselage cell 8, the front edge of the fuselage cell 8 is connected with a rigid beam 9, the front end of the rigid beam 9 is connected with a bottom flexible member 4 of a rotor cell 3, the rear edge of the fuselage cell 8 is connected with the rigid beam 9, the rear end of the rigid beam 9 is connected with the bottom flexible member 4 of a tail rotor cell 7, a front rotor 31 of the front rotor cell 3 rotates clockwise S, a rear rotor 35 with the tail rotor cell 7 rotates counterclockwise N, the tail of the tail rotor cell 7 is provided with a tail propeller 13, a horizontal tail wing 11 and a vertical tail wing 12, the rotation plane of the tail propeller 13 is perpendicular to the rotation plane of the rear rotor 35, the tail propeller 13 is connected with a transmission through a transmission shaft, and is driven by an engine or a motor for.

The front rotor chamber 3 is provided with an engine and a transmission driving rotor shaft, blades of a front rotor 31 on the front rotor chamber 3 are connected with the rotor shaft through a paddle housing, the paddle housing is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, a total pitch and periodic variable pitch controller 32 is arranged to operate the dump angle of the rotating surface of the blade tip of the front rotor 31, so that the size and the direction of the lift force of the front rotor 31 are changed, and the rotating surface of the front rotor 31 is horizontally arranged.

An engine and a transmission driving rotor shaft are arranged on the rear tailed rotor cabin 7, blades of a rear rotor 35 on the rear tailed rotor cabin 7 are connected with the rotor shaft through a propeller shell, the propeller shell is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, a total pitch and periodic variable pitch controller 36 is arranged to operate the dump angle of the blade tip rotating surface of the rear rotor 35, so that the size and the direction of the lift force of the rear rotor 35 are changed, and the rotating surface of the rear rotor 35 is horizontally arranged.

The front rotor 31 rotates clockwise S, the rear rotor 35 rotates counterclockwise N, the thrust is right when the pitch of the vertical rear wing 13 is set as the right timing, and the bottom tip of the propeller rotates forward.

The center of the line connecting the centers of rotation of the front rotor 31 and the rear rotor 35 is projected on the center of gravity P or slightly behind the horizontal plane, and the line connecting the centers of rotation of the front rotor 31 and the rear rotor 35 is parallel to the longitudinal axis of the flexible connection rotor-pod helicopter.

When the front rotor wing 31 and the rear rotor wing 35 of the flexibly connected rotor wing cabin helicopter rotate, when the same rotating speed of the propeller pitch is the same, the reaction torques of the front rotor wing 31 and the rear rotor wing 35 of the flexibly connected rotor wing cabin helicopter are mutually offset, the propeller pitch of the tail propeller 13 is zero, the thrust is zero, and the course of the flexibly connected rotor wing cabin helicopter is kept stable.

The throttle of the engine driving the front rotor 31 and the rear rotor 35 is enlarged the same, meanwhile, the total distance between the front rotor 31 and the rear rotor 35 is enlarged the same, the lift force of the front rotor 31 and the rear rotor 35 is increased, and when the total lift force of the front rotor 31 and the rear rotor 35 is larger than the weight of the flexible connection rotor cabin helicopter, the flexible connection rotor cabin helicopter vertically ascends.

The same reduction in throttle of the engines driving the front and

rear rotors

31, 35, when the total lift of the front and

rear rotors

31, 35 equals the weight of the flexible link rotor-pod helicopter, the flexible link rotor-pod helicopter hovers.

And the throttle of the engine driving the front rotor 31 and the rear rotor 35 is continuously reduced, and when the total lift force of the front rotor 31 and the rear rotor 35 is less than the weight of the flexible connection rotor cabin helicopter, the flexible connection rotor cabin helicopter vertically descends.

When the flexible connection rotor cabin helicopter is in the air, the reactive torques of the front rotor 31 and the rear rotor 35 are mutually offset, the total distance of the tail propellers 13 is increased to be a positive total distance, rightward thrust is generated, and the rightward thrust moment of the tail propellers 13 enables the flexible connection rotor cabin helicopter to rotate leftward; the total pitch of the tail propellers 13 is reduced to be negative total pitch, leftward thrust is generated, and the leftward thrust moment of the tail propellers 13 enables the helicopter with the flexibly connected rotor cabin to rotate rightwards, so that course control is achieved.

When the flexible connection rotor cabin helicopter is in the air, the tilting disks of the total pitch and cyclic pitch controller 32 and the total pitch and cyclic pitch controller 36 of the front rotor and the rear rotor of the flexible connection rotor cabin helicopter are simultaneously operated to tilt forwards, so that the tip rotating surfaces of the front rotor 31 and the rear rotor 35 of the flexible connection rotor cabin helicopter tilt forwards, the combined force of the front rotor 31 and the rear rotor 35 of the flexible connection rotor cabin helicopter tilts forwards, and the flexible connection rotor cabin helicopter tilts forwards; and simultaneously, the total pitch and periodic pitch controller 32 of the front rotor and the total pitch and periodic pitch controller 36 of the flexibly connected rotor cabin helicopter are operated to tilt backwards, so that the tip rotating surfaces of the front rotor 31 and the rear rotor 35 of the flexibly connected rotor cabin helicopter tilt backwards, the front rotor 31 and the right rotor 2 of the flexibly connected rotor cabin helicopter are combined to tilt backwards, and the flexibly connected rotor cabin helicopter tilts backwards to realize pitching operation.

When the flexibly connected rotor cabin helicopter is in the air, the total pitch and cyclic pitch controller 32 of the front rotor of the flexibly connected rotor cabin helicopter and the tilting tray of the total pitch and cyclic pitch controller 36 of the rear rotor are simultaneously operated to tilt left, so that the tip rotating surfaces of the front rotor 31 and the rear rotor 35 of the flexibly connected rotor cabin helicopter tilt left, the resultant force of the front rotor 31 and the rear rotor 35 of the flexibly connected rotor cabin helicopter tilts left, and the flexibly connected rotor cabin helicopter rolls left; and simultaneously, the total pitch and periodic pitch controller 32 of the front rotor and the inclined disc of the periodic pitch controller 36 of the flexible connection rotor cabin helicopter are operated to incline rightwards, so that the tip rotating surfaces of the front rotor 31 and the rear rotor 35 of the flexible connection rotor cabin helicopter incline rightwards, the resultant force of the front rotor 31 and the rear rotor 35 of the flexible connection rotor cabin helicopter inclines rightwards, the flexible connection rotor cabin helicopter rolls rightwards, and the rolling operation is realized.

The front rotor 31 and the rear rotor 35 operate pitching and rolling, and the tail rotor 13 operates the heading, similar to the operation of a conventional single-rotor helicopter.

In the whole flying process, the rotating speeds of the front rotor wing 31 and the rear rotor wing 35 are kept the same or close to the same, the reactive torques of the front rotor wing 31 and the rear rotor wing 35 are mutually offset or close to offset, the rest reactive torque can interfere course, the course is controlled through the tail propeller 13 to overcome the interference, the lifting forces of the front rotor wing 31 and the rear rotor wing 35 are equal or close to equal, the lifting forces of the front rotor wing 31 and the rear rotor wing 35 are unequal to interfere longitudinal stability, and the interference is overcome through the pitching control of the front rotor wing 31 and the rear rotor wing 35.

Because preceding rotor 31 and back rotor 35 have set up the paddle and have waved the device, the paddle wave produces the harmonic vibrations, because preceding rotor 31, the rotational speed of back rotor 35 keeps the same or is close the same, preceding rotor 31, the paddle of back rotor 35 wave produces the harmonic vibration frequency the same or is close the same, will arouse resonance like this, the organism structure can be destroyed in resonance, the flexible member 4 that sets up in rotor storehouse 3 bottom and have tail rotor storehouse 7 bottom effectively blocks preceding rotor 31, the vibrations of back rotor 35 are passed each other, resonance has been prevented from taking place.

In the embodiment shown in fig. 5, the front edge of the fuselage bin 8 is connected with a rigid beam 9, the front end of the rigid beam 9 is connected with the top flexible member 4 of the rotor bin 3, the rear edge of the fuselage bin 8 is connected with the rigid beam 9, the rear end of the rigid beam 9 is connected with the top flexible member 4 of the tail rotor bin 7, the front rotor 31 of the rotor bin 3 arranged at the front edge rotates clockwise S, the rear rotor 35 with the tail rotor bin 7 arranged at the rear edge rotates anticlockwise N, the tail part of the tail rotor bin 7 is provided with a tail propeller 13, a horizontal tail wing 11 and a vertical tail wing 12, the rotating surface of which is vertical to the rotating surface of the rear rotor 35, and the tail propeller 13 is connected with a transmission through a transmission shaft and is driven by an engine or a motor for driving the rotors.

The same reduction in throttle of the engines driving the front and

rear rotors

31, 35, when the total lift of the front and

rear rotors

Because preceding rotor 31 and back rotor 35 have set up the paddle and have waved the device, the paddle wave produces the harmonic vibrations, because preceding rotor 31, the rotational speed of back rotor 35 keeps the same or is close the same, preceding rotor 31, the paddle of back rotor 35 wave produces the harmonic vibration frequency the same or is close the same, will arouse resonance like this, the organism structure can be destroyed in resonance, the flexible member 4 that sets up at 3 tops in rotor storehouse and have 7 tops in tail rotor storehouse effectively blocks preceding rotor 31, the vibrations of back rotor 35 are passed each other, resonance has been prevented from taking place.

In the embodiment shown in fig. 6, the front end of the rigid beam 9 is connected with the tail flexible member 4 of the rotor cabin 3, the rear end of the rigid beam 9 is connected with the front flexible member 4 of the tail rotor cabin 7, the front rotor 31 of the rotor cabin 3 arranged in front rotates clockwise S, the rear rotor 35 with the tail rotor cabin 7 arranged behind rotates anticlockwise N, the tail of the tail rotor cabin 7 is provided with the tail propeller 13, the horizontal tail wing 11 and the vertical tail wing 12, the rotating surface of which is perpendicular to the rotating surface of the rear rotor 35, and the tail propeller 13 is connected with the transmission through the transmission shaft and is driven by the engine or the motor for driving the rotors at the same time.

The rotation surface of the rear rotor 35 and the rotation surface of the front rotor 31 are partially overlapped, and the rotation surface of the rear rotor 35 is higher than the height of the tip rotation surface at the maximum flap angle of the blade of the front rotor 31, thereby preventing the blades of the rear rotor 35 and the front rotor 31 from colliding with each other.

The same reduction in throttle of the engines driving the front and

rear rotors

31, 35, when the total lift of the front and

rear rotors

Because preceding rotor 31 and back rotor 35 have set up the paddle and have waved the device, the paddle wave produces the harmonic vibrations, because preceding rotor 31, the rotational speed of back rotor 35 keeps the same or is close the same, preceding rotor 31, the paddle of back rotor 35 wave produces the harmonic vibration frequency the same or is close the same, will arouse resonance like this, the organism structure can be destroyed in resonance, the setting is effectively blocked preceding rotor 31 at 3 afterbody in rotor storehouse and have the anterior flexible component 4 in tail rotor storehouse 7, the vibrations of back rotor 35 are passed each other, resonance has been prevented from taking place.

In the embodiment shown in fig. 7, an undercarriage 10 is disposed near the center of gravity P of the lower portion of a fuselage cell 8, a rigid beam 9 is connected to the left side of the fuselage cell 8, the left end of the rigid beam 9 is connected to a bottom flexible member 4 of a rotor cell 3, the right side of the fuselage cell 8 is connected to the rigid beam 9, the right end of the rigid beam 9 is connected to a bottom flexible member 4 of another rotor cell 3, a left rotor 1 of the rotor cell 3 disposed on the left side rotates counterclockwise N, a right rotor 5 of the rotor cell 3 disposed on the right side rotates counterclockwise N, the front side of the fuselage cell 8 is connected to another rigid beam 9, the front end of the rigid beam 9 is connected to a bottom flexible member 4 of another rotor cell 3, the rear end of the fuselage cell 8 is connected to the rigid beam 9, the rear end of the rigid beam 9 is connected to a bottom flexible member 4 of another rotor cell 3, the front rotor 31 of the rotor cell 3 disposed on the front side rotates clockwise S, and the rear rotor 35 of.

The propeller cabin 3 arranged on the right is provided with an engine and a transmission driving rotor shaft, the paddle of the right rotor 5 on the rotor cabin 3 on the right is connected with the rotor shaft through a paddle housing, the paddle housing is provided with a paddle waving device consisting of a waving hinge, a shimmy hinge and a variable pitch hinge, and a total pitch and periodic variable pitch controller 6 is arranged to operate the dump angle of the tip rotating surface of the paddle of the right rotor 5, so that the size and the direction of the lift force of the right rotor 5 are changed, and the rotating surface of the right rotor 5 is horizontally arranged.

An engine and a transmission driving rotor shaft are arranged on the rear rotor cabin 3, blades of a rear rotor 35 on the rear rotor cabin 3 are connected with the rotor shaft through a propeller shell, the propeller shell is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, a total pitch and periodic variable pitch controller 36 is arranged to operate the dump angle of the blade tip rotating surface of the rear rotor 35, so that the lift force and direction of the rear rotor 35 are changed, and the rotating surface of the rear rotor 35 is horizontally arranged.

The left rotor 1 anticlockwise rotates N, the right rotor 5 anticlockwise rotates N, the front rotor 31 clockwise rotates S, and the rear rotor 35 clockwise rotates S.

The line connecting the rotation centers of the left rotor 1 and the right rotor 5 is perpendicular to the line connecting the rotation centers of the front rotor 31 and the rear rotor 35, and the midpoint of the line connecting the rotation centers of the left rotor 1 and the right rotor 5 is overlapped with the midpoint of the line connecting the rotation centers of the front rotor 31 and the rear rotor 35, and the projection on the horizontal plane is on the center of gravity P or slightly behind.

The line connecting the centers of rotation of the front rotor 31 and the rear rotor 35 is parallel to the longitudinal axis of the flexible link rotor-pod helicopter.

When the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35 of the flexibly connected rotor wing cabin helicopter rotate, when the pitches are the same and the rotating speeds are the same, the reactive torques of the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35 of the flexibly connected rotor wing cabin helicopter are mutually offset, and the flexibly connected rotor wing cabin helicopter keeps the course stable.

The throttle of the engine driving the left rotor 1, the right rotor 5, the front rotor 31 and the rear rotor 35 is enlarged the same, meanwhile, the total distance of the left rotor 1, the right rotor 5, the front rotor 31 and the rear rotor 35 is enlarged the same, the lift force of the left rotor 1, the right rotor 5, the front rotor 31 and the rear rotor 35 is increased, when the total lift force of the left rotor 1, the right rotor 5, the front rotor 31 and the rear rotor 35 is larger than the weight of the flexible connection rotor cabin helicopter, the flexible connection rotor cabin helicopter vertically ascends.

The same throttle of the engine driving the left rotor 1, the right rotor 5, the front rotor 31 and the rear rotor 35 is reduced, and the flexible connection rotor cabin helicopter hovers when the total lift of the left rotor 1, the right rotor 5, the front rotor 31 and the rear rotor 35 is equal to the weight of the flexible connection rotor cabin helicopter.

And the throttle of the engine driving the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35 is continuously reduced, and when the total lift force of the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35 is smaller than the weight of the flexible connection rotor wing cabin helicopter, the flexible connection rotor wing cabin helicopter vertically descends.

When the flexible connection rotor cabin helicopter is in the air, the total pitch of the front rotor of the flexible connection rotor cabin helicopter and the tilting tray of the periodic pitch controller 32 are operated to tilt left, so that the rotating surface of the tip of the front rotor 31 of the flexible connection rotor cabin helicopter tilts left, meanwhile, the total pitch of the rear rotor of the flexible connection rotor cabin helicopter and the tilting tray of the periodic pitch controller 36 tilt right, so that the rotating surface of the tip of the rear rotor 35 of the flexible connection rotor cabin helicopter tilts right, the front rotor 31 and the rear rotor 35 of the flexible connection rotor cabin helicopter jointly generate a left rotating moment, and the flexible connection rotor cabin helicopter turns left; the tilt disk of the total pitch of the front rotor of the flexibly connected rotor cabin helicopter and the periodic pitch controller 32 is controlled to tilt rightwards, so that the rotating surface of the tip of the front rotor 31 of the flexibly connected rotor cabin helicopter tilts rightwards, meanwhile, the tilt disk of the total pitch of the rear rotor of the flexibly connected rotor cabin helicopter and the periodic pitch controller 36 is controlled to tilt leftwards, so that the rotating surface of the tip of the rear rotor 35 of the flexibly connected rotor cabin helicopter tilts leftwards, the combined force of the front rotor 31 and the rear rotor 35 of the flexibly connected rotor cabin helicopter generates a right-hand rotating moment, and the flexibly connected rotor cabin helicopter rotates rightwards, so that course control is realized.

The left rotor 1 and the right rotor 5 operate pitching and rolling, and the front rotor 31 and the rear rotor 35 operate course directions, which is similar to the operation mode of a conventional single-rotor helicopter.

In the whole flying process, the rotating speeds of the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35 are kept the same or close to the same, the reactive torques of the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35 are mutually offset or close to offset, the rest reactive torque can interfere the course, the interference is overcome by manipulating the course through the front rotor wing 31 and the rear rotor wing 35, the lifting forces of the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35 are equal or close to equal, the lifting forces of the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35 are unequal to interfere with the transverse stability and the longitudinal stability, and the interference is overcome by manipulating the pitching and the.

Because left rotor 1, dextrorotation wing 5, preceding rotor 31 and back rotor 35 have set up the paddle and have waved the device, the flapping of paddle produces harmonic vibrations, because left rotor 1, dextrorotation wing 5, the rotational speed of preceding rotor 31 and back rotor 35 keeps the same or is close the same, levorotation wing 1, dextrorotation wing 5, the flapping of the paddle of preceding rotor 31 and back rotor 35 produces harmonic vibration frequency the same or is close the same, will arouse resonance like this, resonance can destroy the organism structure, flexible member 4 that sets up in rotor storehouse 3 bottom effectively blocks left rotor 1, dextrorotation wing 5, preceding rotor 31 and back rotor 35's vibrations are passed on each other, resonance emergence has been prevented.

In the embodiment shown in fig. 8, an undercarriage 10 is disposed near the center of gravity P of the lower portion of a fuselage cell 8, a rigid beam 9 is connected to the left side of the fuselage cell 8, a flexible member 4 on the right side of a rotor cell 3 is connected to the left end of the rigid beam 9, a flexible member 4 on the left side of another rotor cell 3 is connected to the right end of the fuselage cell 8, a left rotor 1 of the left rotor cell 3 rotates counterclockwise N, a right rotor 5 of the right rotor cell 3 rotates counterclockwise N, the front side of the fuselage cell 8 is connected to another rigid beam 9, the front end of the rigid beam 9 is connected to a flexible member 4 on the rear portion of another rotor cell 3, a rigid beam 9 is connected to the rear portion of the fuselage cell 8, the rear end of the rigid beam 9 is connected to a flexible member 4 on the front portion of another rotor cell 3, a front rotor 31 of the rotor cell 3 disposed on the front side rotates clockwise S, and a rear rotor cell 35 of the rotor cell 3 disposed on the rear.

The propeller cabin 3 on the right is provided with a motor and a transmission to drive a rotor shaft, the paddle of the right rotor 5 on the rotor cabin 3 on the right is connected with the rotor shaft through a paddle housing, the paddle housing is provided with a paddle waving device consisting of a waving hinge, a shimmy hinge and a variable pitch hinge, and a total pitch and periodic variable pitch controller 6 is arranged to control the dump angle of the tip rotating surface of the paddle of the right rotor 5, so that the size and the direction of the lift force of the right rotor 5 are changed, and the rotating surface of the right rotor 5 is horizontally arranged.

The front rotor chamber 3 is provided with a motor and a transmission driving rotor shaft, blades of a front rotor 31 on the front rotor chamber 3 are connected with the rotor shaft through a paddle housing, the paddle housing is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, a total pitch and periodic variable pitch controller 32 is arranged to operate the dump angle of the tip rotating surface of the blades of the front rotor 31, so that the size and the direction of the lift force of the front rotor 31 are changed, and the rotating surface of the front rotor 31 is horizontally arranged.

The back rotor cabin 3 is provided with a motor and a transmission to drive a rotor shaft, blades of a back rotor 35 on the back rotor cabin 3 are connected with the rotor shaft through a propeller shell pattern, the propeller shell pattern is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, a total pitch and periodic variable pitch controller 36 is arranged to operate the dump angle of the blade tip rotating surface of the back rotor 35, so that the lift force and direction of the back rotor 35 are changed, and the rotating surface of the back rotor 35 is horizontally arranged.

The throttle of the motor driving the left rotor 1, the right rotor 5, the front rotor 31 and the rear rotor 35 is enlarged the same, meanwhile, the total distance of the left rotor 1, the right rotor 5, the front rotor 31 and the rear rotor 35 is enlarged the same, the lift force of the left rotor 1, the right rotor 5, the front rotor 31 and the rear rotor 35 is increased, when the total lift force of the left rotor 1, the right rotor 5, the front rotor 31 and the rear rotor 35 is larger than the weight of the flexible connection rotor cabin helicopter, the flexible connection rotor cabin helicopter vertically ascends.

The same throttle of the motors driving the left rotor 1, the right rotor 5, the front rotor 31 and the rear rotor 35 is reduced, and when the total lift of the left rotor 1, the right rotor 5, the front rotor 31 and the rear rotor 35 is equal to the weight of the flexible connection rotor cabin helicopter, the flexible connection rotor cabin helicopter hovers.

And continuously reducing the throttle of the motors driving the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35, and when the total lift force of the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35 is less than the weight of the flexible connection rotor wing cabin helicopter, the flexible connection rotor wing cabin helicopter vertically descends.

When the flexible connection rotor cabin helicopter is in the air, the tilting disk of the total pitch of the front rotor of the flexible connection rotor cabin helicopter and the tilting disk of the periodic pitch controller 32 are operated to tilt left, so that the rotating surface of the tip of the front rotor 31 of the flexible connection rotor cabin helicopter tilts left, meanwhile, the tilting disk of the total pitch of the rear rotor of the flexible connection rotor cabin helicopter and the tilting disk of the periodic pitch controller 36 tilt left, so that the rotating surface of the tip of the rear rotor 35 of the flexible connection rotor cabin helicopter tilts left, the front rotor 31 and the rear rotor 35 of the flexible connection rotor cabin helicopter are combined to generate a left roll moment, and the flexible connection rotor cabin helicopter rolls left; the tilt disk of the total pitch of the front rotor of the flexibly connected rotor cabin helicopter and the periodic pitch controller 32 tilts rightwards, so that the tip rotating surface of the front rotor 31 of the flexibly connected rotor cabin helicopter tilts rightwards, and simultaneously, the tilt disk of the total pitch of the rear rotor of the flexibly connected rotor cabin helicopter and the periodic pitch controller 36 tilts leftwards, so that the tip rotating surface of the rear rotor 35 of the flexibly connected rotor cabin helicopter tilts rightwards, the front rotor 31 and the rear rotor 35 of the flexibly connected rotor cabin helicopter combine to generate a right roll moment, the flexibly connected rotor cabin helicopter rolls rightwards, and roll operation is realized.

When the flexible connection rotor cabin helicopter is in the air, the total pitch of a left rotor of the flexible connection rotor cabin helicopter and the tilting tray of the periodic pitch controller 2 are operated to tilt forwards, so that the tip rotating surface of a left rotor 1 of the flexible connection rotor cabin helicopter tilts forwards, meanwhile, the total pitch of a right rotor of the flexible connection rotor cabin helicopter and the tilting tray of the periodic pitch controller 6 tilt backwards, so that the tip rotating surface of a right rotor 5 of the flexible connection rotor cabin helicopter tilts backwards, the resultant force of the left rotor 1 and the right rotor 5 of the flexible connection rotor cabin helicopter produces a right-hand steering torque, and the flexible connection rotor cabin helicopter turns right; the tilt disc of the total pitch and cyclic pitch controller 2 of the left rotor of the flexible connection rotor cabin helicopter is controlled to tilt backwards, so that the tip rotating surface of the left rotor 1 of the flexible connection rotor cabin helicopter tilts backwards, meanwhile, the tilt disc of the total pitch and cyclic pitch controller 6 of the right rotor of the flexible connection rotor cabin helicopter is controlled to tilt forwards, so that the tip rotating surface of the right rotor 5 of the flexible connection rotor cabin helicopter tilts forwards, the resultant force of the left rotor 1 and the right rotor 5 of the flexible connection rotor cabin helicopter produces a left steering torque, and the flexible connection rotor cabin helicopter steers left to realize course control.

The left rotor 1 and the right rotor 5 operate pitching and heading, and the front rotor 31 and the rear rotor 35 operate rolling.

In the whole flying process, the rotating speeds of the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35 are kept the same or close to the same, the reactive torques of the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35 are mutually offset or close to offset, the residual reactive torque can interfere the course, the interference is overcome by manipulating the course through the left rotor wing 1 and the right rotor wing 5, the lifting forces of the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35 are equal or close to equal, the lifting forces of the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35 are unequal to interfere with the transverse stability and the longitudinal stability, and the interference is overcome by pitching of the left rotor wing 1 and the right rotor wing 5 and.

Because left rotor 1, dextrorotation wing 5, preceding rotor 31 and back rotor 35 have set up the paddle and have waved the device, the waving of paddle produces harmonic vibrations, because left rotor 1, dextrorotation wing 5, the rotational speed of preceding rotor 31 and back rotor 35 keeps the same or is close the same, levorotation wing 1, dextrorotation wing 5, the waving of the paddle of preceding rotor 31 and back rotor 35 produces harmonic vibration frequency the same or is close the same, will arouse resonance like this, resonance can destroy the organism structure, the setting is on the left of rotor storehouse 3, the right, left rotor 1 is effectively blocked to flexible member 4 at anterior and rear portion, dextrorotation wing 5, the vibrations of preceding rotor 31 and back rotor 35 are passed on each other, resonance has been prevented to take place.

In the embodiment shown in fig. 9, an undercarriage 10 is disposed near the center of gravity P of the lower portion of a fuselage cell 8, the left side of the fuselage cell 8 is connected to a rigid beam 9, the left end of the rigid beam 9 is connected to a flexible member 4 on the top of a rotor cell 3, the right side of the fuselage cell 8 is connected to the rigid beam 9, the right end of the rigid beam 9 is connected to a flexible member 4 on the top of another rotor cell 3, the left rotor 1 of the left rotor cell 3 rotates counterclockwise N, the right rotor 5 of the right rotor cell 3 rotates clockwise S, the front side of the fuselage cell 8 is connected to another rigid beam 9, the front end of the rigid beam 9 is connected to a flexible member 4 on the top of another rotor cell 3, the rear end of the fuselage cell 8 is connected to a rigid beam 9, the rear end of the rigid beam 9 is connected to a flexible member 4 on the top of another rotor cell 3, the front rotor 31 of the front rotor cell 3 rotates clockwise S, and the rear rotor 35 of the rear rotor cell.

The left rotor 1 anticlockwise rotates N, the right rotor 5 clockwise rotates S, the front rotor 31 clockwise rotates S, and the rear rotor 35 anticlockwise rotates N.

The front rotor 31 and the rear rotor 35 operate pitching and rolling, and the left rotor 1 and the right rotor 5 operate course directions, which is similar to the operation mode of a conventional single-rotor helicopter.

In the whole flying process, the rotating speeds of the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35 are kept the same or close to the same, the reactive torques of the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35 are mutually offset or close to offset, the rest reactive torque can interfere the course, the interference is overcome by manipulating the course through the left rotor wing 1 and the right rotor wing 5, the lifting forces of the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35 are equal or close to equal, the lifting forces of the left rotor wing 1, the right rotor wing 5, the front rotor wing 31 and the rear rotor wing 35 are unequal to interfere with the transverse stability and the longitudinal stability, and the interference is overcome by manipulating the pitching and the.

Because left rotor 1, dextrorotation wing 5, preceding rotor 31 and back rotor 35 have set up the paddle and have waved the device, the flapping of paddle produces harmonic vibrations, because left rotor 1, dextrorotation wing 5, the rotational speed of preceding rotor 31 and back rotor 35 keeps the same or is close the same, levorotation wing 1, dextrorotation wing 5, the flapping of the paddle of preceding rotor 31 and back rotor 35 produces harmonic vibration frequency the same or is close the same, will arouse resonance like this, resonance can destroy the organism structure, flexible member 4 that sets up at rotor storehouse 3 top effectively blocks left rotor 1, dextrorotation wing 5, preceding rotor 31 and back rotor 35's vibrations are passed on each other, resonance emergence has been prevented.

In the embodiment shown in fig. 10, an undercarriage 10 is arranged near the center of gravity P of the lower part of a fuselage cell 8, the left side of the fuselage cell 8 is connected with a forward swept rigid beam 9, the left front end of the rigid beam 9 is connected with a bottom flexible member 4 of a rotor cell 3, the right side of the fuselage cell 8 is connected with another forward swept rigid beam 9, the right front end of the forward swept rigid beam 9 is connected with a bottom flexible member 4 of another rotor cell 3, a left front rotor 41 of the left front rotor cell 3 is rotated clockwise S, a right front rotor 43 of the right front rotor cell 3 is rotated counterclockwise N, the left side of the fuselage cell 8 is connected with another backward swept rigid beam 9, the left rear end of the backward swept rigid beam 9 is connected with a bottom flexible member 4 of another rotor cell 3, the right side of the fuselage cell 8 is connected with another backward swept rigid beam 9, the right rear end of the backward swept rigid beam 9 is connected with a bottom flexible member 4 of another rotor cell 3, the left rear rotor 44 of the rotor house 3 disposed on the left rear side rotates counterclockwise N, and the right rear rotor 42 of the rotor house 3 disposed on the right rear side rotates clockwise S.

An engine and a transmission driving rotor shaft are arranged on the rotor cabin 3 at the left front edge, a blade of the left front rotor 41 on the rotor cabin 3 at the left front edge is connected with the rotor shaft through a blade shell, the blade shell is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, a total pitch and periodic variable pitch controller 51 is arranged to operate the dump angle of the blade tip rotating surface of the left front rotor 41, so that the lift force and direction of the left front rotor 41 are changed, and the rotating surface of the left front rotor 41 is horizontally arranged.

An engine and a transmission are arranged on the rotor cabin 3 at the right front edge to drive a rotor shaft, the blade shell of the right front rotor 43 on the rotor cabin 3 at the right front edge is connected with the rotor shaft through a blade shell, the blade shell is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, a total pitch and periodic variable pitch controller 53 is arranged to operate the dump angle of the blade tip rotating surface of the right front rotor 43, so that the lift force and direction of the right front rotor 43 are changed, and the rotating surface of the right front rotor 43 is horizontally arranged.

An engine and a transmission are arranged on the left rear rotor cabin 3 to drive a rotor shaft, blades of a left rear rotor 44 on the left rear rotor cabin 3 are connected with the rotor shaft through a propeller housing, the propeller housing is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, a total pitch and periodic variable pitch controller 54 is arranged to operate the dump angle of a blade tip rotating surface of the left rear rotor 44, so that the lift force and direction of the left rear rotor 44 are changed, and the rotating surface of the left rear rotor 44 is horizontally arranged.

An engine and a transmission are arranged on the rotor cabin 3 at the right rear side to drive a rotor shaft, blades of the right rear rotor 42 on the rotor cabin 3 at the right rear side are connected with the rotor shaft through a propeller housing, the propeller housing is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, a total pitch and period variable pitch controller 52 is arranged to operate the dump angle of the blade tip rotating surface of the right rear rotor 42, so that the lift force and direction of the right rear rotor 42 are changed, and the rotating surface of the right rear rotor 42 is horizontally arranged.

Left front rotor 41 rotates clockwise S, right front rotor 43 rotates counterclockwise N, left rear rotor 44 rotates counterclockwise N, and right rear rotor 42 rotates clockwise S.

The midpoint of the line connecting the rotation centers of the front left rotor 41 and the rear right rotor 42 overlaps the midpoint of the line connecting the rotation centers of the front right rotor 43 and the rear left rotor 44, and

projected on the horizontal plane at or slightly behind the center of gravity P, the centers of rotation of the front left rotor 41 and the front right rotor 43 are symmetrical to the longitudinal axis of the flexible-link rotor-cabin helicopter, and the centers of rotation of the rear left rotor 44 and the rear right rotor 42 are symmetrical to the longitudinal axis of the flexible-link rotor-cabin helicopter.

When the front left rotor 41, the front right rotor 43, the rear left rotor 44 and the rear right rotor 42 of the flexible connection rotor cabin helicopter rotate, when the pitches are the same and the rotating speeds are the same, the back torques of the front left rotor 41, the front right rotor 43, the rear left rotor 44 and the rear right rotor 42 of the flexible connection rotor cabin helicopter are mutually offset, and the course of the flexible connection rotor cabin helicopter is kept stable.

The throttle of the engine driving the front left rotor 41, the front right rotor 43, the rear left rotor 44 and the rear right rotor 42 is increased in the same manner, and at the same time, the total distance of the front left rotor 41, the front right rotor 43, the rear left rotor 44 and the rear right rotor 42 is increased in the same manner, the lift force of the front left rotor 41, the front right rotor 43, the rear left rotor 44 and the rear right rotor 42 is increased, and when the total lift force of the front left rotor 41, the front right rotor 43, the rear left rotor 44 and the rear right rotor 42 is greater than the weight of the flexible connection rotor cabin helicopter, the flexible connection rotor cabin helicopter vertically ascends.

The same throttle reduction of the engines driving the front left rotor 41, front right rotor 43, rear left rotor 44 and rear right rotor 42 results in the flexible-link rotor-pod helicopter hovering when the total lift of the front left rotor 41, front right rotor 43, rear left rotor 44 and rear right rotor 42 is equal to the weight of the flexible-link rotor-pod helicopter.

The flexible connection rotor-pod helicopter descends vertically when the total lift of the front left rotor 41, the front right rotor 43, the rear left rotor 44, and the rear right rotor 42 is less than the weight of the flexible connection rotor-pod helicopter, continuing to reduce the throttle of the engines driving the front left rotor 41, the front right rotor 43, the rear left rotor 44, and the rear right rotor 42.

When the flexible connection rotor cabin helicopter is in the air, the total pitch of the left front rotor of the flexible connection rotor cabin helicopter and the tilting tray of the cyclic pitch controller 51 are operated to tilt forwards, so that the rotating surface of the tip of the left front rotor 41 of the flexible connection rotor cabin helicopter tilts forwards, meanwhile, the total pitch of the right front rotor of the flexible connection rotor cabin helicopter and the tilting tray of the cyclic pitch controller 53 are operated to tilt backwards, so that the rotating surface of the tip of the right front rotor 43 of the flexible connection rotor cabin helicopter tilts backwards, the left front rotor 41 and the right front rotor 43 of the flexible connection rotor cabin helicopter jointly generate a right-hand rotating moment, and the flexible connection rotor cabin helicopter turns right; the tilt disk of the controller 51 for controlling the total pitch and the periodic pitch of the left front rotor of the flexible connection rotor cabin helicopter is tilted backwards, so that the rotating surface of the tip of the left front rotor 41 of the flexible connection rotor cabin helicopter tilts backwards, meanwhile, the tilt disk of the controller 53 for controlling the total pitch and the periodic pitch of the right front rotor and the right rear rotor of the flexible connection rotor cabin helicopter tilts forwards, so that the rotating surface of the tip of the right front rotor 43 of the flexible connection rotor cabin helicopter tilts forwards, the left front rotor 41 and the right front rotor 43 of the flexible connection rotor cabin helicopter jointly generate a left rotating moment, and the flexible connection rotor cabin helicopter turns left, so that course control is realized.

When the flexible connection rotor cabin helicopter is in the air, the total pitch and cyclic pitch controller 54 of the left rear rotor and the tilting tray of the right rear rotor of the flexible connection rotor cabin helicopter are simultaneously operated to tilt forwards, so that the tip rotating surfaces of the left rear rotor 44 and the right rear rotor 42 of the flexible connection rotor cabin helicopter tilt forwards, the left rear rotor 44 and the right rear rotor 42 of the flexible connection rotor cabin helicopter are combined to tilt forwards, and the flexible connection rotor cabin helicopter tilts forwards; and simultaneously, the total pitch and cyclic pitch controller 54 of the left rear rotor and the inclined disc of the total pitch and cyclic pitch controller 52 of the right rear rotor of the flexible connection rotor cabin helicopter are operated to tilt backwards, so that the tip rotating surfaces of the left rear rotor 44 and the right rear rotor 42 of the flexible connection rotor cabin helicopter tilt backwards, the left rear rotor 44 and the right rear rotor 42 of the flexible connection rotor cabin helicopter are combined to tilt backwards, and the flexible connection rotor cabin helicopter tilts forwards to realize pitching operation.

When the flexible connection rotor cabin helicopter is in the air, the total pitch and cyclic pitch controller 51 of the left front rotor and the tilting tray of the left rear rotor and the cyclic pitch controller 54 of the flexible connection rotor cabin helicopter are operated to tilt to the left, so that the tip rotating surfaces of the left front rotor 41 and the left rear rotor 44 of the flexible connection rotor cabin helicopter tilt to the left, the resultant force of the left front rotor 41 and the left rear rotor 44 of the flexible connection rotor cabin helicopter tilts to the left, meanwhile, the total pitch and cyclic pitch controller 53 of the right front rotor and the tilt disc of the total pitch and cyclic pitch controller 52 of the right rear rotor of the flexible connection rotor cabin helicopter are operated to tilt left, so that the tip rotating surfaces of the right front rotor 43 and the right rear rotor 42 of the flexible connection rotor cabin helicopter tilt left, the resultant force of the right front rotor 43 and the right rear rotor 42 of the flexible connection rotor cabin helicopter tilts left, and the flexible connection rotor cabin helicopter rolls left; the tilting disk of the total pitch and cyclic pitch controller 51 and the total pitch and cyclic pitch controller 54 of the left front rotor and the left rear rotor of the flexible connection rotor cabin helicopter is operated to tilt rightwards, the rotating surfaces of the blade tips of the left front rotor 41 and the left rear rotor 44 of the flexible connection rotor cabin helicopter tilt rightwards, the resultant force of the left front rotor 41 and the left rear rotor 44 of the flexible connection rotor cabin helicopter tilts rightwards, meanwhile, the total pitch and cyclic pitch controller 53 of the right front rotor and the tilt disc of the total pitch and cyclic pitch controller 52 of the right rear rotor of the flexible connection rotor cabin helicopter are operated to tilt rightwards, the tip rotating surfaces of the right front rotor 43 and the right rear rotor 42 of the flexible connection rotor cabin helicopter tilt leftwards, the resultant force of the right front rotor 43 and the right rear rotor 42 of the flexible connection rotor cabin helicopter tilts leftwards, and the flexible connection rotor cabin helicopter rolls leftwards, so that the roll operation is realized.

The left rear rotor 44 and the right rear rotor 42 operate pitching, the left front rotor 41, the right front rotor 43, the left rear rotor 44 and the right rear rotor 42 operate rolling together, and the left front rotor 41 and the right front rotor 43 operate heading.

During the whole flight, the rotating speeds of the front left rotor 41, the front right rotor 43, the rear left rotor 44 and the rear right rotor 42 are kept the same or nearly the same, the reactive torques of the front left rotor 41, the front right rotor 43, the rear left rotor 44 and the rear right rotor 42 are offset or nearly offset, the remaining reactive torque interferes with the course, the course is manipulated by the front left rotor 41 and the front right rotor 43 to overcome the interference, the lift forces of the front left rotor 41, the front right rotor 43, the rear left rotor 44 and the rear right rotor 42 are equal or nearly equal, the lift forces of the front left rotor 41, the front right rotor 43, the rear left rotor 44 and the rear right rotor 42 are unequal to interfere with the lateral stability and the longitudinal stability, and the interference is overcome by the pitching manipulation of the rear left rotor 44 and the rear right rotor 42 and the rolling of the front left rotor 41, the front right rotor 43, the rear left rotor 44 and the rear right rotor 42.

Because the left front rotor 41, the right front rotor 43, the left rear rotor 44 and the right rear rotor 42 are provided with blade flapping devices, the flapping of the blades generates harmonic vibration, because the rotating speeds of the left front rotor 41, the right front rotor 43, the left rear rotor 44 and the right rear rotor 42 are kept the same or are close to the same, the flapping of the blades of the left front rotor 41, the right front rotor 43, the left rear rotor 44 and the right rear rotor 42 generates harmonic vibration with the same or close to the same frequency, thus causing resonance which can damage the body structure, and the flexible member 4 arranged at the bottom of the rotor cabin 3 effectively blocks the vibration transmission of the left front rotor 41, the right front rotor 43, the left rear rotor 44 and the right rear rotor 42, thereby preventing the resonance from occurring.

Another method of pitch steering is: when the flexible connection rotor cabin helicopter is in the air, the tilting disks of the total pitch and cyclic pitch controller 51 and the total pitch and cyclic pitch controller 54 of the front left rotor and the rear left rotor of the flexible connection rotor cabin helicopter are operated to tilt forwards, the tip rotating surfaces of the front left rotor 41 and the rear left rotor 44 of the flexible connection rotor cabin helicopter tilt forwards, the resultant force of the front left rotor 41 and the rear left rotor 44 of the flexible connection rotor cabin helicopter tilts forwards, meanwhile, the tilting disks of the total pitch and cyclic pitch controller 53 and the total pitch and cyclic pitch controller 52 of the right front rotor and the right rear rotor of the flexible connection rotor cabin helicopter are operated to tilt forwards, so that the tip rotating surfaces of the right front rotor 43 and the right rear rotor 42 of the flexible connection rotor cabin helicopter tilt forwards, the resultant force of the right front rotor 43 and the right rear rotor 42 of the flexible connection rotor cabin helicopter tilts forwards, and the flexible connection rotor cabin helicopter tilts forwards; the tilting disk of the total pitch and cyclic pitch controller 51 of the left front rotor and the total pitch and cyclic pitch controller 54 of the left rear rotor of the flexible connection rotor cabin helicopter is operated to tilt backwards, so that the rotating surfaces of the blade tips of the left front rotor 41 and the left rear rotor 44 of the flexible connection rotor cabin helicopter tilt backwards, the resultant force of the left front rotor 41 and the left rear rotor 44 of the flexible connection rotor cabin helicopter tilts backwards, meanwhile, the total pitch and cyclic pitch controller 53 of the right front rotor and the tilt disc of the total pitch and cyclic pitch controller 52 of the right rear rotor of the flexible connection rotor cabin helicopter are operated to tilt backwards, so that the tip rotating surfaces of the right front rotor 43 and the right rear rotor 42 of the flexible connection rotor cabin helicopter tilt backwards, the resultant force of the right front rotor 43 and the right rear rotor 42 of the flexible connection rotor cabin helicopter tilts backwards, and the flexible connection rotor cabin helicopter tilts backwards to realize pitching operation.

Claims

1. A helicopter with flexibly connected rotor cabin is characterized in that an engine or a motor is arranged in the rotor cabin, the engine or the motor drives a rotor shaft through a transmission, a blade of the rotor is connected with the rotor shaft through a propeller casing, the propeller casing is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, a total pitch and periodic variable pitch controller is arranged to operate the dump angle of a rotating surface of a blade tip of the rotor so as to change the magnitude and the direction of lift force of the rotor, the rotating surface of the rotor is horizontally arranged, a flexible member is arranged at the bottom, the left side, the right side, the front part and the rear part of the rotor cabin, the tail rotor cabin consists of the rotor cabin and a tail rotor provided with a rotating surface vertical tail wing and a horizontal tail wing, the tail rotor is connected with the transmission through a transmission shaft and driven by the engine or the motor which drives the rotor, the flexible component is arranged at the bottom, or the left side, or the right side, or the front part of the tail rotor cabin, the aircraft cabin is provided with a flight control system, a cockpit, a cargo cabin and the like, the undercarriage is arranged at the lower part of the aircraft cabin, or the rotor cabin, or the tail rotor cabin, the rigid beam is used for connecting the flexible component of the aircraft cabin, or the rotor cabin, or the flexible component of the tail rotor cabin, the rigid beam connects the aircraft cabin, or the rotor cabin, or the tail rotor cabin through connecting the flexible component to form two types of flexible connection rotor cabin helicopters, one type is the flexible component of the rigid beam connecting the aircraft cabin, the rotor cabin and the flexible component of the tail rotor cabin, the other type is the flexible component of the rigid beam connecting the aircraft cabin and the plurality of rotor cabins, the flexible connection rotor cabin formed by the flexible connection of the rigid beam, the undercarriage is arranged at the lower part of the aircraft cabin near the gravity center, the left side of the fuselage bin is connected with a rigid beam, the left end of the rigid beam is connected with a right flexible component of the rotor bin, the right side of the fuselage bin is connected with the rigid beam, the right end of the rigid beam is connected with a left flexible component of the tail rotor bin, the left rotor of the rotor bin arranged on the left side and the right rotor of the tail rotor bin arranged on the right side have opposite rotating directions, so that a flexible connection rotor bin helicopter which has two rotors with the same size and opposite rotating directions and a vertical tail wing at the tail part is formed, the lower part of the fuselage bin near the center of gravity is provided with an undercarriage, the front side of the fuselage bin is connected with the rigid beam, the front end of the rigid beam is connected with a bottom flexible component of the rotor bin, the rear part of the fuselage bin is connected with the rigid beam, the rear end of the rigid beam is connected with a bottom flexible component of the tail rotor bin, the front rotor of the rotor bin arranged on the front side, the front rotor wing and the rear rotor wing which are the same in front and rear and are opposite in turning direction are formed, the tail part of the helicopter is provided with a vertical tail wing, the lower part of a fuselage bin near the gravity center is provided with an undercarriage, the left side of the fuselage bin is connected with a rigid beam, the left end of the rigid beam is connected with a flexible member at the bottom of the rotor wing bin, the right side of the fuselage bin is connected with a rigid beam, the right end of the rigid beam is connected with a flexible member at the bottom of another rotor wing bin, the front side of the fuselage bin is connected with a rigid beam, the front end of the rigid beam is connected with a flexible member at the bottom of another rotor wing bin, the left rotor wing arranged on the left side of the fuselage bin and the right rotor wing arranged on the right side of the rotor wing bin are opposite in rotating direction, the front rotor wing arranged on the front side of the fuselage bin is opposite in rotating direction to the rear rotor wing arranged on the rear side, the flexible connection rotor wing cabin helicopter is characterized in that the flexible connection rotor wing cabin helicopter transversely comprises two rotor wings which are same in size and opposite in steering and longitudinally comprises four same rotor wings which are same in size and opposite in steering: two sizes are the same, turn to the flexible connection rotor storehouse helicopter that opposite rotor or four the same rotors of size constitute, the manipulation flexibility that has single rotor helicopter, two sizes are the same, turn to and need not the transmission shaft between the opposite rotor or four the same rotors and connect, structure weight has been reduced, in the whole flight process, the rotational speed of each rotor keeps the same or is close the same, the counter-torque of each rotor offsets or is close to offsetting each other, the setting of flexible component effectively blocks two sizes the same, turn to opposite rotor or four the same, turn to waving of the paddle of two liang of opposite rotors and produce the mutual transmission of harmonic vibrations, resonance's emergence has been prevented, the organism structure has been protected.