CN113978718B - Aircraft active tilting structure, control method and aircraft - Google Patents
Aircraft active tilting structure, control method and aircraft Download PDFInfo
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- CN113978718B CN113978718B CN202111598201.2A CN202111598201A CN113978718B CN 113978718 B CN113978718 B CN 113978718B CN 202111598201 A CN202111598201 A CN 202111598201A CN 113978718 B CN113978718 B CN 113978718B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
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Abstract
The invention discloses an aircraft active tilting structure, a control method and an aircraft, wherein the aircraft active tilting structure comprises a tilting shaft, a support rod and a driving mechanism; one end of the tilting shaft is connected with the supporting rod, the supporting rod can rotate around the axis of the tilting shaft, and two ends of the supporting rod are respectively connected with the driving mechanism; actuating mechanism includes the rotor subassembly, torsional spring and electromagnetic lock, the rotor subassembly is connected with the bracing piece, and can take place longitudinal rotation by relative bracing piece, set up the electromagnetic lock between rotor subassembly and the bracing piece, the outer end and the bracing piece of torsional spring are connected, the inner of torsional spring is passed through the pivot and is connected with the rotor subassembly, when locking through the electromagnetic lock between rotor subassembly and the bracing piece, the rotor subassembly is angle setting with the bracing piece, the torsional spring is rotatory to produce torsion, when the electromagnetic lock is opened, torsional spring torsion release, it is parallel to with the bracing piece to rotate the rotor subassembly. On the basis of realizing power backup, the fault points are reduced, and the safety and reliability of the aircraft are improved.
Description
Technical Field
The disclosure relates to the technical field of aircrafts, in particular to an active tilting structure of an aircraft, a control method and the aircraft.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Current many rotor crafts, in order to realize verting, set up the structure of verting of constituteing by devices such as steering wheel, lead screw, hydraulic pressure, will vert the structure and be connected with the rotor subassembly, through verting the verting of the steering wheel drive rotor subassembly in the structure to change the flight direction of aircraft.
However, current tilting structure spare part is more, breaks down easily, in case tilting mechanism breaks down, the aircraft will be out of control or even crash, simultaneously, because tilting structure's spare part is more, has increased the weight and the cost of aircraft for the power utilization of aircraft is lower.
Disclosure of Invention
The aircraft active tilting structure, the control method and the aircraft are provided for solving the problems, the supporting rod is actively tilted around a tilting shaft by means of rotation speed difference, the tilting structure with the steering engine is not additionally arranged, the possibility of failure is reduced, and the power utilization rate is improved.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
the first aspect provides an active tilting structure of an aircraft, which comprises a tilting shaft, a support rod and a driving mechanism;
one end of the tilting shaft is connected with the supporting rod, the supporting rod can rotate around the axis of the tilting shaft, and two ends of the supporting rod are respectively connected with the driving mechanism;
actuating mechanism includes rotor subassembly, torsional spring and electromagnetic lock, and the rotor subassembly is connected with the bracing piece to can take place longitudinal rotation by relative bracing piece, set up the electromagnetic lock between rotor subassembly and the bracing piece, the outer end and the bracing piece of torsional spring are connected, the inner of torsional spring is passed through the pivot and is connected with the rotor subassembly, when locking through the electromagnetic lock between rotor subassembly and the bracing piece, the rotor subassembly is angle setting with the bracing piece, the torsional spring is rotatory to produce torsion, when the electromagnetic lock is opened, torsional spring torsion release, it is parallel to with the bracing piece to rotate the rotor subassembly.
In a second aspect, a method for controlling an active aircraft tilting structure is provided, including:
the rotation speed difference between the rotor wing assemblies at the two ends of the supporting rod is adjusted, so that the tilting control of the active tilting structure is realized;
when the rotor wing assembly at one end of the supporting rod stops rotating due to faults, the electromagnetic locks of the two rotor wing assemblies at the two ends of the supporting rod are controlled to be unlocked in a delayed mode; in the delay neutral position, the rotor wing assembly without faults continues to work, the rotating speed of a motor in the rotor wing assembly without faults is increased, the other end of the supporting rod is pulled upwards by the pulling force generated by the rotor wing assembly without faults, the supporting rod is rotated to a vertical state, and the supporting rod is locked in the vertical state; the bracing piece is when vertical state is locked, and the electromagnetic lock of two rotor subassemblies is opened, and torsional spring release torsion makes two rotor subassemblies twist reverse to coaxial with the bracing piece is parallel, is vertical state, provides flight power through the rotor subassembly that does not break down and continues the flight.
In a third aspect, a vertical take-off and landing aircraft is provided, comprising:
the first aspect of the invention provides an aircraft active tilting structure connected with an airframe.
Compared with the prior art, the beneficial effect of this disclosure is:
1. the utility model discloses an aircraft structure of verting initiatively, the bracing piece that its set up can be rotatory around the axis of the axle that verts to set up the rotor subassembly at the both ends of bracing piece, thereby can utilize the difference in rotational speed between the rotor subassembly at the both ends of bracing piece, realize that the bracing piece verts around the initiative of the axle that verts, and need not additionally set up the structure of verting that has the steering wheel, reduced the trouble possibility of taking place, and improved the flexibility and the power utilization ratio of aircraft.
2. The utility model discloses an aircraft initiative structure of verting, it can rotate relative to the bracing piece through setting up the rotor subassembly, and set up the electromagnetic lock between rotor subassembly and bracing piece, when the electromagnetic lock is dead, the torsional spring of rotor subassembly department produces torsion, make to be the angle setting between rotor subassembly and the bracing piece, be about 90 degrees, when the rotor subassembly of one end breaks down and stops rotating, flight control signals sends the electromagnetic lock and delays to unblank, in the neutral position of delaying, the pulling force of another rotor subassembly makes the bracing piece rotate around the axle that verts upwards, when rotating to being close to 90 degrees, two location bolts on the bracing piece are blocked the bracing piece by the spring bullet to the jack on the axle that verts and no longer rotates, the rotor subassembly that does not break down is on the upper portion, the rotor subassembly that breaks down is in the lower part, the electromagnetic lock of two rotor subassemblies department is opened simultaneously, torsional spring release torsion, make two rotor subassemblies twist reverse to be parallel with the bracing piece, therefore, flight power is provided through the rotor wing assembly without failure, backup of the power of the aircraft is realized, compared with a backup method of contra-rotating of the upper rotor wing and the lower rotor wing, the cost of two motors, two paddles and two electric regulators and the weight of the parts are reduced, the number and the weight of the parts are further reduced, failure points are reduced, the safety and the reliability of the aircraft are improved, the power utilization rate of the aircraft is improved on the basis of reducing the weight, and the endurance time and the endurance mileage of the aircraft are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a schematic structural diagram of an active tilting structure and a support arm of an aircraft disclosed in embodiment 1;
fig. 2 is an enlarged view of a connecting portion of a support rod and a tilting shaft of the active tilting structure of the aircraft disclosed in embodiment 1;
fig. 3 is an enlarged view of the torsion spring and the electromagnetic lock part of the active tilting structure of the aircraft disclosed in embodiment 1;
FIG. 4 is a schematic structural diagram of the VTOL aerial vehicle disclosed in embodiment 3;
FIG. 5 is a schematic structural diagram of the VTOL aerial vehicle disclosed in embodiment 4;
fig. 6 is a schematic structural diagram of the vertical take-off and landing aircraft disclosed in embodiment 5.
Wherein: 1. support arm, 2, the axle that verts, 3, bracing piece, 4, location bolt, 5, jack, 6, torsional spring, 7, electro-magnet, 8, magnetism inhale the iron plate, 9, support, 10, seat, 11, chassis, 12, cabin, 13, preceding wing, 14, back wing, 15, first rotor subassembly, 16, second rotor subassembly.
Detailed Description
The present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
Example 1
In the embodiment, an active tilting structure of an aircraft is disclosed, which comprises a tilting shaft, a support rod and a driving mechanism;
one end of the tilting shaft is connected with the supporting rod, the supporting rod can rotate around the axis of the tilting shaft, and two ends of the supporting rod are respectively connected with the driving mechanism;
actuating mechanism includes the rotor subassembly, torsional spring and electromagnetic lock, the rotor subassembly is connected with the bracing piece, and can take place longitudinal rotation by relative bracing piece, set up the electromagnetic lock between rotor subassembly and the bracing piece, the outer end and the bracing piece of torsional spring are connected, the inner of torsional spring is passed through the pivot and is connected with the rotor subassembly, when locking through the electromagnetic lock between rotor subassembly and the bracing piece, the rotor subassembly is angle setting with the bracing piece, the torsional spring is rotatory to produce torsion, when the electromagnetic lock is opened, torsional spring torsion release, it is parallel to with the bracing piece to rotate the rotor subassembly.
The electromagnetic lock comprises an electromagnet and a magnetic iron block, the electromagnet is installed on the supporting rod, and the magnetic iron block is installed on the rotor wing assembly.
The rotor subassembly includes screw, motor and mount pad, and the screw is installed on the motor output shaft to can follow the output shaft rotatory, the motor is installed on the mount pad, fixed connection pivot on the mount pad, the pivot is connected with the one end of bracing piece.
The active aircraft tilting structure disclosed by the embodiment is explained in detail.
The utility model provides an aircraft structure of verting initiatively, as shown in figure 1, including verting axle 2, bracing piece 3 and being located the actuating mechanism at 3 both ends of bracing piece, every actuating mechanism all includes torsional spring 6, electromagnetic lock and rotor subassembly. As shown in fig. 3, the electromagnetic lock includes an electromagnet 7 and a magnet block 8.
Wherein, the one end of the axle 2 that verts is connected with the middle part of bracing piece 3, and bracing piece 3 can be around the axis rotation of the axle 2 that verts. Specifically, as shown in fig. 2, the middle position of the support rod 3 is provided with a first shaft hole, and the first shaft hole is sleeved on the tilting shaft 2, that is, one end of the tilting shaft 2 is inserted into the first shaft hole. The other end of the shaft 2 that verts is used for one end or frame or the organism of fixed connection support arm 1 to realize being connected of support arm 1 or frame or organism and bracing piece 3, and bracing piece 3 can be around 2 rotations or sways of the shaft that verts. First shaft hole bilateral symmetry is provided with location bolt 4, and 4 covers of location bolt have the spring, and the one end of spring is fixed on the spring, and this end is close to first shaft hole, and the other end is fixed on the bracing piece, and first shaft hole is kept away from to this end, and when not breaking down, the spring is in compression state, and the spring produces thrust to first shaft hole central direction to the location bolt, and the jack 5 has been seted up to the one of tilting shaft 2 insertion first shaft hole.
Two ends of the supporting rod are respectively connected with a driving mechanism; the drive mechanism includes a rotor assembly, a torsion spring, and an electromagnetic lock.
Set up a rotor subassembly respectively at the both ends of bracing piece 3, two rotor subassemblies are: a first rotor assembly 15 and a second rotor assembly 16.
When concrete implementation, two rotor assemblies's structure is the same, all includes screw, motor and mount pad, and the screw is fixed in on the output shaft of motor to can follow the output shaft rotation, the motor is installed on the mount pad.
As shown in fig. 3, two ends of the support rod 3 are respectively provided with a cross-shaped structure, and a second shaft hole is formed on the cross-shaped structure; the lower part of the mounting seat is of a convex structure, a third shaft hole is formed in the convex structure, and a key groove is formed in the third shaft hole. The convex structure is connected with the fork-shaped structure at the end part of the supporting rod 3 through the shaft pin, specifically, the convex structure of the mounting seat is arranged in the fork-shaped structure of the supporting rod, and the shaft pin penetrates through the second shaft hole and the third shaft hole. When the installation seat is connected specifically, the installation seat is placed into the supporting rod Y-shaped structure, then the shaft pin penetrates through the second shaft hole and the third shaft hole to complete connection, and the flat key arranged on the shaft pin is inserted into the key groove, namely the flat key is matched with the key groove, so that the installation seat is fixedly connected with the shaft pin. The pivot rotation can drive the mount pad rotatory to make the mount pad can take place longitudinal rotation around the second axle hole of the tip of bracing piece 3, make the rotor subassembly can be at the state parallel with the bracing piece and the state free rotation of relative vertically, for example, make the rotor subassembly can be rotatory to rotor subassembly and bracing piece from the state parallel with the bracing piece and be the state of relative vertically.
Every rotor subassembly all is provided with torsional spring 6, when concrete implementation, all sets up torsional spring 6 at the both ends of every pivot, and the card is on the pivot round pin in the inner of torsional spring 6, and the outer end card of torsional spring 6 is on bracing piece 3, and is concrete, and the card hole has all been seted up on the side in the second shaft hole of bracing piece 3 and the pivot round pin, and the card hole card on the pivot round pin is passed through to the inner of torsional spring 6, and the card hole card on the side in the second shaft hole of bracing piece 3 is passed through to the outer end of torsional spring 6 is on bracing piece 3. An electromagnet 7 of an electromagnetic lock is arranged on the supporting rod 3, and a magnetic iron block 8 is arranged on the rotor wing component. Specifically, set up the magnetism of electro-magnet and inhale iron plate 8 on the mount pad, rotor subassembly restraines torsion of torsional spring 6 and inwards verts 90 degrees after, and iron plate 8 is inhaled to electro-magnet 7, makes the electromagnetic lock be in the lock state of dying, and at this moment, rotor subassembly and bracing piece 3 are relative perpendicular, at the flight control in-process of aircraft, owing to the structure emergence of verting voluntarily, the angle between rotor subassembly and bracing piece 3 is all the time about 90 degrees, unchangeable.
Two positioning bolts 4 are oppositely arranged at the first shaft hole in the middle of the supporting rod, a spring is sleeved on each positioning bolt, the spring generates thrust to the positioning bolts towards the center of the first shaft hole, and a jack 5 is arranged in the vertical direction of the tilting shaft relative to the horizontal plane. When being normal, bracing piece 3 is horizontal or when verting promptly, 4 heads tops of location bolt on the surface of axle 2 that verts, when certain rotor subassembly breaks down, the rotor subassembly that does not break down can stimulate the bracing piece corotation, and location bolt 4 is gone into jack 5 by the spring bullet when rotatory to 90 degrees, and the bracing piece will be locked at this gesture.
The aircraft active tilting structure disclosed by the embodiment can realize tilting of the active tilting structure through the rotation speed difference between the first rotor wing assembly 15 and the second rotor wing assembly 16 at the two ends of the control support rod 3 without the help of other driving mechanisms. When the rotating speed of the first rotor assembly 15 is greater than that of the second rotor assembly 16, the active tilting structure tilts from the first rotor assembly 15 to the second rotor assembly 16, and generates an upward lift force and a pulling force of the first rotor assembly 15 to the second rotor assembly 16, the larger the rotating speed difference is, the larger the tilting angle is, and meanwhile, the larger the pulling force is, the smaller the lift force is, and if the rotating speeds of the two rotor assemblies are increased correspondingly to maintain the lift force; when the 16 rotational speeds of second rotor subassembly are greater than first rotor subassembly 15, the structure that initiatively verts is by second rotor subassembly 16 to first rotor subassembly 15 direction verts to produce ascending lift and the pulling force of second rotor subassembly 16 to first rotor subassembly 15 direction, the rotational speed difference is big more, and the angle of verting is big more, and simultaneously, the big lift of pulling force reduces, if need keep the corresponding rotational speed that increases two rotor subassemblies of lift.
In the active tilting structure of the aircraft disclosed in this embodiment, the two rotor assemblies at the two ends of the support rod 3 are in a backup relationship with each other, and when one of the rotor assemblies fails and stops rotating, the other rotor assembly provides flight power.
The first rotor assembly 15 will be described as an example of a stall condition.
When the two groups of rotor wing assemblies work normally, the supporting rod 3 is in a horizontal or inclined state, the two rotor wing assemblies are in a vertical state with the supporting rod, when the first rotor wing assembly 15 stops working due to failure, the electromagnetic lock is delayed to unlock by a flight control signal, in a delay neutral position, the supporting rod is pulled by the tension of the second rotor wing assembly 16 to rotate towards the first rotor wing assembly 15, when the supporting rod rotates to 90 degrees, the positioning bolt is pushed into the jack by the spring, the supporting rod 3 is locked and does not change the posture any more, meanwhile, the electromagnetic locks of the two rotor wing assemblies are opened, the torsion springs of the two rotor wing assemblies release the torsion force, so that the two rotor wing assemblies are outwards twisted relative to the supporting rod until the rotor wing assemblies and the supporting rod are in parallel and coaxial positions, the active tilting structure disclosed by the embodiment is changed from a two-shaft structure to work, and the power of the rotor wing assemblies is doubled for backup, therefore, the balance of the aircraft can be kept to continuously fly as long as the rotating speed of the motor in the rotor wing assembly is increased, power backup can be realized without contrarotating the upper propeller and the lower propeller, and the safety and reliability of the aircraft are improved.
The embodiment discloses an active tilting structure of an aircraft, two rotor assemblies work in parallel without power loss of up-down contra-rotation, two motors both have enough power allowance, when no fault occurs, each motor only outputs half power, once a certain rotor assembly stops rotating due to fault, flight control can send signals to two electromagnetic locks for delayed unlocking, in a delayed neutral position, the supporting rod is pulled upwards to rotate to a vertical state by pulling force generated by the continuous work of the other rotor assembly, a positioning bolt is pushed into a jack by a spring, meanwhile, the electromagnetic locks of the two rotor assemblies are unlocked, the torsion spring releases torsion force to tilt the two rotor assemblies outwards by 90 degrees so that the rotor assemblies and the supporting rod are parallel and coaxial, thereby keeping the balanced continuous flight of the aircraft, because the motors have enough power allowance, the pulling force of the two rotor assemblies can be born by increasing the rotating speed of the motors, and realizing the backup function, two rotor assemblies at two ends of the supporting rod are mutually backed up, and compared with a backup method of contra-rotating of the upper rotor and the lower rotor, the cost of two motors, two paddles and two electric regulators and the weight of the parts are reduced. Simultaneously, because the bracing piece of this embodiment can incline the rotation of axle relatively, make the verting of this embodiment not need the steering wheel to drive, can realize initiatively inclining by the rotational speed difference of motor in two rotor subassemblies, reduced the fault point, increase fail safe nature, reduced the weight and the cost of steering wheel equally, on the basis of guarantee aircraft fail safe nature, single oar work side by side has no power loss, has improved the time of endurance and the mileage of aircraft.
Example 2
In this embodiment, a method for controlling an active aircraft tilting structure is disclosed, comprising:
the rotation speed difference between the rotor wing assemblies at the two ends of the supporting rod is adjusted, and the tilting control of the active tilting structure is realized.
As an implementation manner, the method for controlling the active tilting structure of the aircraft disclosed in embodiment 1 includes:
the rotation speed difference between the rotor wing assemblies at the two ends of the supporting rod is adjusted, the tilting angle of the supporting rod is controlled, and the tilting control of the active tilting structure is realized;
when the rotor wing assembly at one end of the supporting rod stops rotating due to faults, flight control sends instructions to the electromagnetic locks of the two rotor wing assemblies at the two ends of the supporting rod, and the electromagnetic locks of the two rotor wing assemblies at the two ends of the supporting rod are controlled to be unlocked in a delayed mode; in the delay neutral position, the rotor wing assembly without faults continues to work, the rotating speed of a motor in the rotor wing assembly without faults is increased, the other end of the supporting rod is pulled upwards by the pulling force generated by the rotor wing assembly without faults, the supporting rod is rotated to be in a vertical state, the positioning bolt is overlapped with the jack, the positioning bolt is pushed into the jack by the spring, and the supporting rod is locked in the vertical state; the bracing piece is when vertical state is locked, and the electromagnetic lock of two rotor subassemblies is opened, and torsional spring release torsion makes two rotor subassemblies twist reverse to coaxial with the bracing piece is parallel, is vertical state, provides flight power through the rotor subassembly that does not break down and continues the flight.
Example 3
In this embodiment, a vertical take-off and landing aircraft is disclosed, which comprises an airframe and the active aircraft tilting structure disclosed in embodiment 1 connected with the airframe.
As an embodiment, a structure of the vertical take-off and landing aircraft is shown in fig. 4, the aircraft body includes a frame and a support 9 connected with the frame, a seat 10 and an undercarriage are connected on the support 9, the frame is a frame with a straight-line structure, and two ends of the frame with the straight-line structure are respectively connected with the other end of the tilting shaft 2 of the aircraft active tilting structure disclosed in example 1.
Or, two ends of the frame of the straight-line structure are equal to the two supporting arms 1, and are connected with the other end of the tilting shaft of the active tilting structure of the aircraft disclosed in embodiment 1.
The specific control method of the vertical take-off and landing aircraft disclosed in the embodiment comprises the following steps:
the rotation speed difference between the rotor wing assemblies at the two ends of the supporting rod is adjusted, and the tilting control of the active tilting structure is realized.
When the aircraft that embodiment 1 discloses is connected respectively at the both ends of a straight line structure frame during structure of initiatively verting, form four oar VTOL aircrafts of four shafts, the power that embodiment 1 describes each other is the protect function of backup, when one of them a set of rotor subassembly breaks down and stalls, another rotor subassembly that is located same initiative structure of verting is pulled up and is gone up work, become the triaxial by four shaft air vehicle, the operation of aircraft front portion or rear portion single-oar will produce torsional moment, make uncontrolled rotation, two rotor subassemblies of the initiative structure of verting that does not break down will produce the rotational speed difference and make this structure vert, this relative aircraft body of verting produces horizontal pulling force and suppresses torsional moment, make the aircraft can not rotate, the direction of verting is decided according to the direction of torsional moment. Compare with eight oar aircraft of traditional four-axis, the four-axis four-oar aircraft that this embodiment discloses has reduced four motors, four oars, the cost of four electricity accents and the weight of these spare parts, and traditional four-axis aircraft rotor can not vert simultaneously, and this embodiment can realize initiatively verting by the difference in rotational speed of two motors, and need not additionally set up mechanisms such as steering wheel and drive, has reduced the fault point, increases fail safe nature, has reduced the weight and the cost of steering wheel equally. The mutual interference of the upper propeller and the lower propeller on the diversion air can lose 20-70% of power, and the embodiment normally has no power loss when the double propellers work in parallel, so that the endurance mileage and the endurance time of the aircraft are improved.
The active tilting structures at the two ends of the frame with the linear structure can tilt, so that the flying actions such as turning, transverse flying, pitching and the like can be realized flexibly.
The specific control method of the four-axis four-paddle vertical take-off and landing aircraft disclosed in the embodiment comprises the following steps:
the rotation speed difference between the rotor wing assemblies at the two ends of the supporting rod is adjusted, and the tilting control of the active tilting structure is realized.
When hovering, the four rotor wing assemblies rotate at the same rotating speed capable of maintaining hovering; the two rotor assemblies on the rear side of the aircraft are rotated at a higher speed than the two rotor assemblies on the front side of the aircraft when flying forward, the aircraft flies in a forward-leaning attitude, the two rotor assemblies on the front side of the aircraft are rotated at a higher speed than the two rotor assemblies on the rear side of the aircraft when flying backward, and the aircraft flies in a backward-leaning attitude.
Pitching is achieved by the difference in rotational speed of two rotor assemblies located on the front side of the aircraft and two rotor assemblies located on the rear side of the aircraft.
The turn is realized by the difference in the rotational speed of two rotor subassemblies of aircraft front side and the difference in the rotational speed of two rotor subassemblies that are located the aircraft rear side, specifically is: the rotor subassembly rotational speed on left rotor subassembly is greater than the rotor subassembly on right side in the structure of initiatively verting of front side, and the structure of initiatively verting of front side verts to the right, and the rotor subassembly rotational speed on right side is greater than left rotor subassembly in the structure of initiatively verting of rear side, and the structure of initiatively verting of rear side verts to the left, and the front and back two structures of verting tilt opposite direction, and the aircraft turns to the right and flies, turns to the left and carries out the opposite action when turning to the right and flying.
When the aircraft transversely flies right, the rotating speeds of the two left rotor assemblies of the aircraft are the same, the rotating speeds of the two rotor assemblies on the right side are the same, the rotating speeds of the two rotor assemblies on the left side are greater than the rotating speeds of the two rotor assemblies on the right side, the front and the rear active tilting structures tilt the aircraft right and transversely fly right, and the opposite action of the aircraft transversely flying right is executed transversely leftward.
Example 4
In this embodiment, a vertical take-off and landing aircraft is disclosed, which differs from embodiment 3 in that:
the structure of the vertical take-off and landing aircraft disclosed in the embodiment is as shown in fig. 5, the aircraft body comprises a rack and a support 9 connected with the rack, the rack comprises a chassis 11 and four support arms 1, the four support arms 1 form a cross structure and are fixed on the chassis 11, the chassis 11 is connected with the support, a seat and an undercarriage are installed on the support, and the end parts of the four support arms 1 on the chassis 11 are connected with the other end of a tilting shaft of the active tilting structure of the aircraft disclosed in the embodiment 1.
The specific control method of the vertical take-off and landing aircraft disclosed in the embodiment comprises the following steps:
the rotation speed difference between the rotor wing assemblies at the two ends of the supporting rod is adjusted, and the tilting control of the active tilting structure is realized.
The beneficial effect of this embodiment is the same as the beneficial effect of embodiment 3, on the basis of realizing the backup of aircraft power, reduces the fault point, improves the safe reliability of the aircraft, and improves the endurance mileage and endurance time of the aircraft.
When the active aircraft tilting structure disclosed in embodiment 1 is connected to the end parts of the four supporting arms 1, the control method of the formed vertical take-off and landing aircraft is as follows:
taking off: eight rotor assemblies start the rotation jointly, and the rotational speed is the same, and the acceleration is the same, and the aircraft flies off ground.
Front fly or rear fly: the method comprises the steps that the rotating speeds of rotor assemblies in active tilting structures positioned on the front side and the rear side of an aircraft are the same, the two active tilting structures do not tilt and are only responsible for providing lift force for the aircraft, the active tilting structures positioned on the left and the right parts of the aircraft realize that the left and the right active tilting structures tilt forward by a set tilting angle together by controlling the rotating speeds of the rotor assemblies, so that the lift force is provided, meanwhile, pulling force is provided to pull the aircraft to fly forward, and when the left and the right active tilting structures are controlled to tilt backward by the set tilting angle together, the aircraft flies backward; the other method comprises the following steps: when flying forward, except that two active tilting structures on the left side and the right side of the aircraft tilt forward to generate pulling force, the rotating speeds of two rotor assemblies of the active tilting structure on the rear side of the aircraft are larger than the rotating speeds of two rotor assemblies of the active tilting structure on the front side of the aircraft, the aircraft tilts forward to generate pulling force by the rotating speed difference of the front rotor assembly and the rear rotor assembly, the pulling aircraft flies forward, the larger the rotating speed difference is, the larger the inclination angle of the aircraft body is, the larger the pulling force is, and the backward flying control method is opposite to the forward flying.
Pitching: under the condition that the left and right active tilting structures pull the aircraft to fly forwards, when the rotating speeds of two rotor assemblies of the front active tilting structure of the aircraft are higher than those of two rotor assemblies of the rear active tilting structure of the aircraft, the aircraft climbs in a head raising way, and the head raising angle is larger when the rotating speed difference is larger; aircraft bow when two rotor subassembly rotational speeds of the structure of verting of initiative of front side are less than two rotor subassemblies of the structure of verting of initiative of rear side and dive, and the big head angle is big more for the rotational speed difference, and the structure of verting of initiative of the left and right sides mainly provides the pulling force during the every single move.
Turning: when the aircraft turns left, the rotating speed of a right rotor assembly in the front active tilting structure of the aircraft is higher than that of a left rotor assembly, the rotating speed of a left rotor assembly in the rear active tilting structure of the aircraft is higher than that of a right rotor assembly, the rotating speed of a front rotor assembly in the left active tilting structure of the aircraft is higher than that of a rear rotor assembly, the rotating speed of the rear rotor assembly in the right active tilting structure of the aircraft is higher than that of the front rotor assembly, and the aircraft turns left with larger rotating speed difference and larger tilting angle; when turning to the right, the operation is performed in reverse to that when turning to the left.
Example 5
In this embodiment, a vertical take-off and landing aircraft is disclosed, which differs from embodiment 3 in that:
the structure of the vertical take-off and landing aircraft disclosed in this embodiment, as shown in fig. 6, includes a body, the body includes a nacelle 12 and four wings (including two front wings 13 and two rear wings 14), a seat is installed in the nacelle, a landing gear is installed under the nacelle, and ends of the four wings are all connected to the other end of the tilting shaft of the active tilting structure of the aircraft disclosed in embodiment 1.
The method specifically comprises the following steps: the other ends of the tilting shafts in the four active tilting structures are connected with four end parts of four wings, and the four wings and the engine room are combined to form an I shape.
In the embodiment, after the front of the aircraft flies to reach a certain speed, the lift force is mainly provided by the four wings, so that the endurance mileage and the endurance time of the aircraft are greatly improved. Four initiative tilting structures mainly produce pulling force and control direction, and the guard action is the same as embodiment 1, on the basis of realizing aircraft power backup, improves power efficiency, reduces the fault point, improves the fail safe nature of aircraft.
When the end parts of the four wings are connected with the active aircraft tilting structure disclosed in embodiment 1, the control method of the formed VTOL aircraft comprises the following steps:
taking off: eight rotor subassemblies are rotatory with higher speed simultaneously in the aircraft, and the rotational speed is the same, and the aircraft takes off and flies off ground when reaching certain pulling force.
Front flying: four initiative tilting structure in the left and right sides all incline forward jointly, and the angle of inclining is the same, and the common pulling aircraft flies forward, and the back flies to incline backward jointly.
Pitching: in the forward flying process, the forward-leaning angles of the two active tilting structures of the front wing are reduced, the rotating speed is increased when the front wing flies flatly, the generated lift force is increased relatively to the flat flying, the pulling force is increased relatively to the flat flying, the forward-leaning angles of the two active tilting structures of the rear wing are increased, the rotating speed is reduced relatively to the flat flying, the generated lift force is reduced relatively to the flat flying, the pulling force is increased relatively to the flat flying, and the aircraft head rises upwards; the two active tilting structures of the front wing have larger forward tilting angles in the forward flying process, the rotating speed is reduced when the front wing flies flatly, the generated pulling force is relatively flatly flown, the lifting force is relatively flatly increased, the forward tilting angle is reduced, the generated lifting force is relatively flatly flown, the lifting force is relatively flatly increased, the pulling force is relatively flatly decreased, and the aircraft is lowered and dives downwards.
Transverse flying: the aircraft is four initiatively to vert the structure and all not vert, and when four rotor subassembly rotational speeds in left side were greater than four rotor subassemblies in right side, the aircraft was violently flown to the right slope, otherwise violently flies to the left slope.
Turning: the four active tilting structures participate together when the aircraft turns, and in the process of forward flight and during leftward turning, the two active tilting structures on the right side increase forward tilting angles by adjusting the rotating speed difference, the rotating speed of the rotor wing assembly increases, the two active tilting structures on the left side decrease forward tilting angles, the rotating speed of the rotor wing assembly decreases, and the aircraft turns leftward; when turning to the right, the reverse action to the left is performed.
It should be noted that: front, back, left side, right side mentioned in this disclosure, for when the people sits on the seat, the direction of face orientation is preceding, and the direction of left-hand side is left, and the direction of right-hand side is right, and the direction that is back of the back with preceding is back. As an embodiment, the active tilting structure has many combinations, and the number, direction, position, etc. are all within the protection scope of the present disclosure.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present disclosure and not for limiting the same, and although the present disclosure is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the specific embodiments of the disclosure without departing from the spirit or scope of the disclosure, which is intended to be covered by the claims.
Claims (9)
1. An active tilting structure of an aircraft is characterized by comprising a tilting shaft, a support rod and a driving mechanism;
one end of the tilting shaft is connected with the supporting rod, the supporting rod can rotate around the axis of the tilting shaft, and two ends of the supporting rod are respectively connected with the driving mechanism;
the driving mechanism comprises a rotor wing assembly, a torsion spring and an electromagnetic lock, the rotor wing assembly is connected with the supporting rod and can longitudinally rotate relative to the supporting rod, the electromagnetic lock is arranged between the rotor wing assembly and the supporting rod, the outer end of the torsion spring is connected with the supporting rod, the inner end of the torsion spring is connected with the rotor wing assembly through a shaft pin, when the rotor wing assembly and the supporting rod are locked through the electromagnetic lock, the rotor wing assembly and the supporting rod are arranged in an angle mode, the torsion spring rotates to generate torsion, and when the electromagnetic lock is opened, the torsion of the torsion spring is released to rotate the rotor wing assembly to be parallel to the supporting rod;
the rotation speed difference between the rotor wing assemblies at the two ends of the supporting rod is adjusted, so that the tilting control of the active tilting structure is realized;
when the rotor wing assembly at one end of the supporting rod stops rotating due to faults, the electromagnetic locks of the two rotor wing assemblies at the two ends of the supporting rod are controlled to be unlocked in a delayed mode; in the delay neutral position, the rotor wing assembly without faults continues to work, the rotating speed of a motor in the rotor wing assembly without faults is increased, the other end of the supporting rod is pulled upwards by the pulling force generated by the rotor wing assembly without faults, the supporting rod is rotated to a vertical state, and the supporting rod is locked in the vertical state; the bracing piece is when vertical state is locked, and the electromagnetic lock of two rotor subassemblies is opened, and torsional spring release torsion makes two rotor subassemblies twist reverse to coaxial with the bracing piece is parallel, is vertical state, provides flight power through the rotor subassembly that does not break down and continues the flight.
2. The active tilt structure of an aircraft according to claim 1, wherein the electromagnetic lock comprises an electromagnet and a magnetically attractive iron block, the electromagnet is mounted on the support rod, and the magnetically attractive iron block is mounted on the rotor assembly.
3. The active aircraft tilter mount of claim 1, wherein the rotor assembly includes a propeller mounted to the output shaft of the motor and capable of rotating with the output shaft, a motor mounted to the mounting block, and a mounting block to which the pivot pin is fixedly attached, the pivot pin being connected to one end of the support rod.
4. The active aircraft tilting structure according to claim 3, wherein a cross-shaped structure is respectively arranged at two ends of the support rod, and a second shaft hole is formed in the cross-shaped structure; the lower part of the mounting seat is of a convex structure, and a third shaft hole is formed in the convex structure; the convex structure of the mounting seat is arranged in the fork-shaped structure of the supporting rod; the shaft pin penetrates through the second shaft hole and the third shaft hole.
5. The active aircraft tilting structure according to claim 4 and wherein said third shaft aperture has a keyway therein, and said shaft pin has a flat key thereon, said flat key cooperating with said keyway to fixedly connect said mounting base to said shaft pin.
6. A VTOL aerial vehicle, comprising: an airframe and an aircraft active roll structure according to any one of claims 2 to 5 connected to the airframe.
7. The vtol aerial vehicle of claim 6, wherein the body comprises a linear frame, and both ends of the linear frame are connected to the other ends of the tilt shafts, respectively.
8. The vtol aerial vehicle of claim 6, wherein the body comprises a chassis and four support arms, the four support arms are fixed to the chassis in a cross-shaped configuration, and ends of the four support arms are connected to the other end of the tilt shaft.
9. The vtol aerial vehicle of claim 6, wherein the body comprises a nacelle and four wings, each of the wings having an end connected to the other end of the tilt shaft.
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| CN114313251B (en) * | 2022-03-03 | 2022-06-21 | 天津斑斓航空科技有限公司 | Combined type aircraft active tilting structure and aircraft |
| CN114792488A (en) * | 2022-03-18 | 2022-07-26 | 青岛海尔空调器有限总公司 | Restorer for air conditioner model and air conditioner model |
| US20240097521A1 (en) * | 2022-09-15 | 2024-03-21 | Wisk Aero Llc | Structural stator core |
| CN115367106A (en) * | 2022-09-15 | 2022-11-22 | 陈翔斌 | Tilt rotor unmanned aerial vehicle |
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