CN114084344A - Multi-shaft rotor aircraft with power wheel type undercarriage - Google Patents
Multi-shaft rotor aircraft with power wheel type undercarriage Download PDFInfo
- Publication number
- CN114084344A CN114084344A CN202110967547.9A CN202110967547A CN114084344A CN 114084344 A CN114084344 A CN 114084344A CN 202110967547 A CN202110967547 A CN 202110967547A CN 114084344 A CN114084344 A CN 114084344A
- Authority
- CN
- China
- Prior art keywords
- gear
- bracing piece
- motor
- landing gear
- aircraft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface wheeled type, e.g. multi-wheeled bogies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface wheeled type, e.g. multi-wheeled bogies
- B64C25/36—Arrangements or adaptations of wheels, tyres or axles in general
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
- B64C27/59—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
- B64C27/68—Transmitting means, e.g. interrelated with initiating means or means acting on blades using electrical energy, e.g. having electrical power amplification
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
Abstract
The invention relates to the technical field of aircrafts, and discloses a multi-shaft rotor aircraft with a power wheel type undercarriage, which comprises: a body; the support rods are arranged on the periphery of the machine body and connected with the machine body; the multiple multi-axis rotor systems are respectively arranged at the end parts of the corresponding support rods far away from one end of the machine body and are used for providing lifting power and operating torque; the wheel type landing gear system is arranged on the lower portion of the aircraft body and connected with the aircraft body, and the wheel type landing gear system is provided with a driving device and used for providing power for ground movement for the aircraft. The multi-shaft rotor aircraft with the power wheel type landing gear can fly freely in the air like a common multi-shaft rotor aircraft and can also move freely on the ground like a robot.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a multi-shaft rotor aircraft with a power wheel type undercarriage.
Background
At present, the multi-shaft rotor craft is developed rapidly, is applied on a large scale in the aspects of agricultural plant protection, logistics transportation, patrol, routing inspection and the like, and has obvious application effect. The existing multi-axis rotor craft mainly comprises a skid type undercarriage and a multi-foot type undercarriage, the two undercarriage designs have the biggest characteristic of light structural weight, the undercarriage designs mainly based on the reduction of the structural weight of the craft and the improvement of effective load, but the undercarriage designs have obvious defects and are inconvenient to move on the ground.
Patent CN105270615B proposes a multi-axis aircraft, which adopts a wheel type landing gear or a combination structure of a skid and a wheel, and compared with a skid type landing gear and a multi-foot type landing gear, the multi-axis aircraft is convenient to move, but because the wheel type landing gear itself has no driving device, the multi-axis aircraft cannot move to a target position autonomously, and the multi-axis aircraft must be moved under the support of a worker.
Along with the rapid development of AI technology, the degree of unmanned is constantly improved, and unmanned autonomous operation of multiaxial rotor craft will be the inevitable trend, and present multiaxial rotor craft platform obviously can't satisfy this unmanned autonomous operation's intelligent development demand, consequently, need develop the multiaxial rotor craft of a section of band power wheel formula undercarriage.
Disclosure of Invention
In order to solve the technical problems, the invention provides a multi-axis rotor aircraft with a power wheel type undercarriage, which can fly freely in the air like a common multi-axis rotor aircraft and can also move freely on the ground like a robot.
The technical scheme provided by the invention is as follows:
a multi-axis rotorcraft with powered wheeled landing gear, comprising:
a body;
the support rods are arranged on the periphery of the machine body and connected with the machine body;
the multiple multi-axis rotor systems are respectively arranged at the end parts of the corresponding support rods far away from one end of the machine body and are used for providing lifting power and operating torque;
the wheel type landing gear system is arranged on the lower portion of the aircraft body and connected with the aircraft body, and the wheel type landing gear system is provided with a driving device and used for providing power for ground movement for the aircraft.
Further preferably, the body includes:
a hollow housing;
the bearing framework is arranged inside the shell;
the equipment cabin is arranged at the front section, the rear section or the lower part in the shell, an equipment support is arranged in the equipment cabin and connected with the bearing framework, and equipment is arranged on the equipment support and comprises a power supply system, a control system, communication equipment and a sensor;
and the payload cabin is arranged at the middle section of the shell and used for providing a placing space for goods or a riding space for personnel.
In the technical scheme, the power wheel type undercarriage system is additionally arranged in the multi-shaft rotor aircraft, so that the aircraft can freely move through the power system of the aircraft when in a ground state, and the size and the weight of the aircraft are not limited by the number of support personnel and physical strength; meanwhile, a good basic aircraft platform is provided for further expanding and applying an intelligent automatic control technology on the multi-shaft rotor aircraft, and a technical foundation is laid for the multi-shaft rotor aircraft to realize comprehensive unmanned and automatic application in the fields of agriculture, logistics and the like.
Further preferably, the support rods are of an integral structure, at least two support rods are arranged, the support rods are respectively arranged at the front section and the rear section of the machine body and penetrate through the machine body in the left-right direction, and the multi-axis rotor system is arranged at two ends of the support rods.
Further preferably, the support rods are of a sectional structure, at least two support rods are arranged, and each support rod comprises a middle support rod and an end support rod;
the utility model discloses a rotor wing aircraft engine, including payload cabin, middle part bracing piece, end bracing piece, the casing, the middle part bracing piece runs through the casing is fixed on the load skeleton, just the middle part bracing piece is arranged around the payload cabin, the one end of end bracing piece with the middle part bracing piece is connected, the other end with multiaxis rotor system connects, wherein, the middle part bracing piece is arranged both ends around the organism to run through along left and right directions the organism, or the middle part bracing piece is arranged the left and right sides of organism to run through along the fore-and-aft direction the organism.
Further preferably, the support rod further comprises a support rod adapter, and two ends of the support rod adapter are respectively connected with the middle support rod and the end support rod;
and/or, the bracing piece still includes collapsible connecting piece, collapsible connecting piece arranges the tip bracing piece with middle part bracing piece or the junction between the bracing piece adapter makes the tip bracing piece can wind but rotary motion is to the pivot of collapsible connecting piece.
Further preferably, the bracing piece still includes collapsible actuating system, collapsible actuating system includes joint, connecting rod, steering wheel rocker and rotation connecting piece, the joint is installed on the tip bracing piece, the one end of connecting rod with the joint is articulated, the other end with the steering wheel rocker is articulated, the steering wheel rocker with the steering wheel drive is connected, steering wheel fixed mounting is in on the middle part bracing piece.
Further preferably, the method further comprises the following steps:
rotor actuating system verts, rotor actuating system verts including the steering gear that verts, the drive gear that verts and vert and turn to the motor, the steering gear that verts with the bracing piece is connected, the drive gear that verts with the steering gear meshing that verts is connected, the steering motor that verts with the drive gear drive that verts is connected.
Further preferably, the method further comprises the following steps:
the wing, the wing sets up bracing piece department, with the bracing piece is connected, and follows the bracing piece is the motion of verting for produce lift when multiaxis rotor craft horizontal flight.
Further preferably, the method further comprises the following steps:
the wing rotating mechanism is arranged inside the wing and comprises a rotating gear, a rotating driving bevel gear, a motor driving bevel gear and a rotating driving motor, the rotating gear is connected with the supporting rod, the rotating driving gear is meshed with the rotating gear and is coaxially arranged with the rotating driving gear, the rotating driving motor is in driving connection with the motor driving bevel gear, and the rotating driving bevel gear is meshed with the rotating driving motor.
It is further preferred that the multi-axis rotor system is provided in at least four numbers, each multi-axis rotor system including an electric motor and a propeller, the electric motor being mounted at an end of the support rod, the propeller being connected to an output of the electric motor, the propeller including at least two blades.
Further preferably, the multi-shaft rotor system further comprises an annular duct system, the annular duct system comprises an annular duct and a duct support, and the annular duct is arranged at the periphery of the tip of the propeller and is coaxial with the rotating shaft of the motor;
one end of the duct support is fixedly connected with the annular duct, and the other end of the duct support is connected with the support rod at the position of the motor and used for providing fixed support for the annular duct.
Further preferably, the wheeled landing gear system comprises a landing gear support, a driving motor and a wheel, the landing gear support is fixed on the lower side of the machine body, the driving motor is mounted on the landing gear support, and the output end of the driving motor is connected with the wheel;
or, the driving motor is a hub motor, and the hub motor is arranged in the wheel.
Further preferably, the wheeled landing gear system further comprises a shock absorbing system disposed between the landing gear strut and the body, or the shock absorbing system is disposed at a lower end of the landing gear strut.
Further preferably, the wheeled undercarriage system further comprises a steering system, the steering system comprises a steering gear, a driving gear and a steering motor, the steering gear is connected with the undercarriage strut, the driving gear is in meshed connection with the steering gear, and the steering motor is in driving connection with the driving gear.
It is further preferred that the wheeled landing gear system further comprises a braking system mounted on the landing gear strut for providing the wheels with the frictional force required for braking.
Compared with the prior art, the multi-shaft rotor craft with the power wheel type landing gear has the beneficial effects that:
(1) the invention adds a wheel type undercarriage system on the basis of the multi-axis rotor craft, so that the craft can fly in the air and can freely move on the ground, the workload of operators is reduced, and a basic multi-axis rotor craft platform is provided for realizing comprehensive intelligent automatic control in the future;
(2) the scheme of adding the tilting rotor wing driving system can effectively improve the horizontal flight speed of the multi-axis rotor wing aircraft, increase the flight distance and enlarge the future application space of the multi-axis rotor wing aircraft.
Drawings
The foregoing features, technical features, advantages and embodiments are further described in the following detailed description of the preferred embodiments, which is to be read in connection with the accompanying drawings.
FIG. 1 is a front view of a multi-axis rotary-wing aircraft according to an embodiment of the present invention;
FIG. 2 is a side view of a multi-axis rotary-wing vehicle according to one embodiment of the present invention;
FIG. 3 is a top view of a multi-axis rotary-wing vehicle according to one embodiment of the present invention;
figure 4 is an elevation view of a multi-axis rotary-wing vehicle according to a second embodiment of the present invention;
FIG. 5 is a side view of a multi-axis rotary-wing vehicle according to a second embodiment of the present invention;
FIG. 6 is a top view of a multi-axis rotary-wing vehicle according to a second embodiment of the present invention;
figure 7 is a top view of a second embodiment of a multi-axis rotary-wing aircraft in a folded rotor configuration in accordance with the present invention;
figure 8 is an elevation view of a third embodiment of a multi-axis rotary-wing aircraft in accordance with the present invention;
figure 9 is a side view of a multi-axis rotary-wing vehicle according to a third embodiment of the present invention;
figure 10 is a top view of a multi-axis rotary-wing vehicle according to a third embodiment of the present invention;
figure 11 is an elevation view of a ducted multi-axis rotary-wing aircraft according to an embodiment of the present invention;
figure 12 is a side view of a ducted multi-axis rotary-wing aircraft according to an embodiment of the present invention;
figure 13 is a top view of a ducted multi-axis rotary-wing aircraft according to an embodiment of the present invention;
figure 14 is an elevation view of a ducted tilt multi-axis rotary-wing aircraft according to an embodiment of the present invention;
figure 15 is a side view of a ducted tilt multi-axis rotary wing aircraft according to an embodiment of the present invention;
figure 16 is a tilt-state side view of a ducted tilt multi-axis rotary-wing aircraft in accordance with an embodiment of the present invention;
figure 17 is a top view of a ducted tilt multi-axis rotary wing aircraft according to an embodiment of the present invention;
figure 18 is an elevation view of a six-rotor multi-axis rotary-wing aircraft according to an embodiment of the present invention;
figure 19 is a vertical takeoff and landing profile view of a multi-axis rotary-wing aircraft in accordance with a sixth embodiment of the present invention;
figure 20 is a side view of a six-rotor multi-axis rotary-wing aircraft according to an embodiment of the present invention in a horizontal flight configuration;
figure 21 is a top plan view of a six-rotor multi-axis rotary-wing vehicle according to an embodiment of the present invention;
figure 22 is a schematic partial schematic view of a multi-axis rotary-wing aircraft according to a sixth embodiment of the present invention;
figure 23 is a schematic view of a multi-axis rotorcraft wing rotation device according to a seventh embodiment of the present invention.
The reference numbers illustrate:
10. the aircraft comprises a machine body, 11 equipment cabins, 12 payload cabins, 13 equipment supports, 14 bearing frameworks, 15 shells, 16 equipment, 20 supporting rods, 21 middle supporting rods, 22 end supporting rods, 23 foldable connecting pieces, 24 supporting rod connectors, 25 foldable driving systems, 251 connectors, 252 connecting rods, 253 steering engines, 254 steering engine rockers, 255 rotary connecting pieces, 30 multi-shaft rotor systems, 31 motors, 32 propellers, 321 hubs, 322 blades, 323 rotor hub foldable connecting pieces, 33 annular duct systems, 331 annular ducts, 332 duct supports, 34 motor front fairing, 35 motor rear fairing, 40 wheel type landing gear systems, 41 wheels, 42 landing gear supports, 43 driving motors, 44 damping systems, 45 steering systems, 451 steering gears, 452. the system comprises a driving gear, 453, a steering motor, 46, a braking system, 50, a tilting rotor driving system, 51, a tilting steering gear, 52, a tilting driving gear, 53, a tilting steering motor, 60, a wing, 70, a wing rotating mechanism, 71, a rotating gear, 72, a rotating driving gear, 73, a rotating driving bevel gear, 74, a motor driving bevel gear and 75, a rotating driving motor.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In the embodiments shown in the drawings, the directions such as up, down, left, right, front, and rear are used to explain the structure and movement of various components of the present invention not absolutely but relatively. These illustrations are appropriate when these components are in the positions shown in the figures. If the description of the positions of these components changes, the indication of these directions changes accordingly.
In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
As a specific embodiment, as shown in fig. 1, the present embodiment provides a multi-axis rotorcraft with powered wheeled landing gear, comprising: body 10, support rods 20, a multi-axis rotor system 30, and a wheeled landing gear system 40. Wherein airframe 10 provides installation and storage space for the equipment and payload of the aircraft, and bears and balances the corresponding loads; a plurality of support rods 20 are arranged, the support rods 20 are arranged around the machine body 10 and connected with the machine body 10, and an installation space is provided for the multi-axis rotor system 30; a plurality of multi-axis rotor systems 30 are arranged, and the multi-axis rotor systems 30 are respectively arranged at the end parts of the corresponding support rods 20 far away from one end of the machine body 10 and are used for providing power and control moment for taking off and landing; a wheeled landing gear system 40 is provided at a lower portion of the airframe 10 and is connected to the airframe 10, the wheeled landing gear system 40 being provided with a drive means for powering the ground movement of the aircraft.
In the embodiment, the power wheel type undercarriage system is additionally arranged in the multi-axis rotor aircraft, so that the aircraft can freely move through the power system of the aircraft when in a ground state, and the size and the weight of the aircraft are not limited by the number of support personnel and physical strength; meanwhile, a good basic aircraft platform is provided for further expanding and applying an intelligent automatic control technology on the multi-shaft rotor aircraft, and a technical foundation is laid for the multi-shaft rotor aircraft to realize comprehensive unmanned and automatic application in the fields of agriculture, logistics and the like.
The following description of the embodiments of the present invention is provided with reference to the accompanying drawings:
example one
As shown in fig. 1 to 3, the present embodiment provides a multi-axis rotorcraft with powered wheel-type landing gear, including a body 10, a support rod 20, a multi-axis rotor system 30, and a wheel-type landing gear system 40.
The airframe 10 is arranged in the middle of the aircraft and comprises an equipment cabin 11, a payload cabin 12, an equipment support 13, a catenary 14, a shell 15 and equipment 16. The devices 16 include power systems, control systems, communication devices, sensors, and the like. The equipment bay 11 is disposed at the front and rear of the machine body 10, providing a space for the equipment 16; a payload bay 12 is disposed in the middle of the airframe 10 to provide space for a payload or personnel; the equipment support 13 is arranged in the equipment cabin 11 and fixedly connected with the bearing framework 14 to provide an installation space for the equipment 16; the force bearing frameworks 14 are arranged around the payload cabin 12 to form a supporting framework of the payload cabin 12 and provide installation space for the supporting rods 20, the wheel type undercarriage system 40 and the equipment support 13; the outer shell 15 is arranged around the aircraft, is detachably connected with the heavy-duty framework 14, and provides protection for the equipment compartment 11 and the payload compartment 12.
The support rods 20 are of an integral structure, two support rods 20 are arranged at the front part and the rear part of the machine body 10 respectively and penetrate through the machine body 10 to be fixedly connected with the bearing framework 14, and two ends of each support rod 20 provide installation space for the multi-axis rotor system 30.
The wheeled landing gear system 40 is a forward three point wheeled landing gear, although the wheeled landing gear system 40 could also be a rear three point wheeled landing gear, or a four wheeled landing gear. The wheel type landing gear system 40 comprises a wheel 41, a landing gear support 42 and a driving motor 43, wherein the wheel 41 is arranged at the lower end of the landing gear support 42 and can rotate around a rotating shaft; the upper end of the landing gear support post 42 is arranged at the lower part of the bearing framework 14 to provide support for the wheel 41, the driving motor 43 is arranged on the landing gear support post 42, and the output end of the driving motor 43 is connected with the wheel 41; alternatively, the driving motor 43 is a hub motor, and is directly integrated with the wheel 41 and disposed inside the hub of the wheel 41. The drive motor 43 is a radial motor or an axial motor.
Example two
As shown in fig. 4 to 7, on the basis of the first embodiment, the present embodiment moves the equipment compartment 11 between the front and rear supports 20, so as to reduce the volume of the payload compartment 12; meanwhile, the support rod 20 and the propeller 32 are changed into a foldable form so as to reduce the overall dimension of the aircraft in a ground parking state or a storage state, reduce the parking area of the aircraft and improve the transportation portability of the aircraft.
Specifically, the left side and the right side of the rear portion of the machine body 10 are respectively provided with an undercarriage support 42, the undercarriage support 42 is designed in an integrated manner, the undercarriage support 42 is fixedly installed at the bottom of the machine body 10, the two side sections are inclined outwards by a certain angle and then connected with the wheel 41 through a driving motor 43, and the driving motor 43 is a radial motor or an axial motor.
The supporting rods 20 are of a split structure, two supporting rods 20 are arranged, each supporting rod 20 comprises a middle supporting rod 21, two end supporting rods 22 and a foldable connecting piece 23, and the two middle supporting rods 21 are respectively arranged at the front part and the rear part of the machine body 10 and penetrate through the machine body 10 to be fixedly connected with the bearing framework 14; the end support bars 22 are disposed at both sides of the machine body 10, and both ends of each middle support bar 21 are respectively hinged with one end support bar 22. That is, one end of the end support rod 22 is hinged to the end of the central support rod 21 via a foldable connection 23, and the other end of the end support rod 22 provides an installation space for the multi-axis rotor system 30. The propeller 32 includes a hub 321, blades 322, and a hub foldable connector 323, and the hub 321 is disposed at the middle of the propeller 32, and two or more blades 322 are connected by the hub foldable connector 323. The open position of the paddles 322 is shown in fig. 6, and the folded position of the paddles 322 is shown in fig. 7.
As shown in fig. 6, the end support rods 22 are in an open state, and the two end support rods 22 are disposed coaxially with the middle support rod 21. As shown in fig. 7, the end support rods 22 are folded, and the two end support rods 22 are parallel to each other and are respectively perpendicular to the middle support rod 21. In the folded state, the end support bar 22 of the front middle support bar 21 faces the rear middle support bar 21, and the end support bar 22 of the rear middle support bar 21 faces the front middle support bar 21.
EXAMPLE III
As shown in fig. 8 to 10, on the basis of the first embodiment, the layout of the middle support rod 21 is optimized, the support rod adapter 24 is added, and the foldable support rod 20 and the foldable propeller 32 are combined together, so that the overall size of the aircraft is reduced, and the aircraft has a streamlined appearance, and the flight resistance is reduced.
Specifically, the support rod 20 is a split structure, the support rod 20 includes a middle support rod 21, end support rods 22, foldable connectors 23 and support rod adapters 24, at least 4 middle support rods 21 are arranged at the front, rear and two sides of the payload cabin 12, and two adjacent middle support rods 21 are fixedly connected at the end; one end of the support rod adapter 24 is fixedly connected with the joint of two adjacent middle support rods 21, and the other end horizontally and obliquely extends out of the machine body 10 and is connected with the end support rod 22 through a foldable connecting piece 23.
As shown in fig. 10, in the unfolded state, the end support rod 22 and the support rod adapter 24 are coaxially arranged, and when the end support rod 22 rotates toward the middle of the machine body 10 along the foldable connecting member 23, the end support rod 22 is gradually folded, and until the end support rod 22 is parallel to the middle support rods 21 on both sides, the end support rod 22 is completely folded.
Example four
As shown in fig. 11 to 13, in the first embodiment, an annular duct system 33 is added around the propeller 32 to protect the propeller 32 and improve the working efficiency of the propeller 32. Also, wheeled landing gear system 40 is provided with a shock absorption system 44, a steering system 45, and a braking system 46.
The supporting rod 20 is a split structure, the supporting rod 20 comprises a middle supporting rod 21, an end supporting rod 22 and a foldable connecting piece 23, the middle supporting rod 21 is arranged at the front part and the rear part of the machine body 10, penetrates through the machine body 10 and is connected with the bearing framework 14; end support rods 22 are disposed at both sides of the body 10, one end of which is connected to the end of the middle support rod 21 by a foldable connection 23, and the other end of which provides an installation space for the multi-axis rotor system 30.
The wheel type landing gear system 40 is a front three-point wheel type landing gear and comprises wheels 41, a landing gear support 42 and a driving motor 43, wherein the wheels 41 are arranged at the lower end of the landing gear support 42 and can rotate around a rotating shaft; the upper end of the landing gear strut 42 is arranged at the lower part of the bearing framework 14 to provide support for the wheel 41; the driving motor 43 is a radial motor or an axial motor, is arranged on the landing gear support 42 and is in driving connection with the wheel 41. Preferably, the drive motor 43 is a hub motor, directly integral with the wheel 41, arranged inside the hub of the wheel 41.
The shock absorbing system 44 is mounted on the landing gear strut 42, one end of the shock absorbing system 44 is mounted on the lower portion of the outrigger 14, and the other end is connected with the landing gear strut 42 to absorb shock and energy transmitted when the wheels 41 contact the ground.
The steering system 45 includes a steering gear 451, a driving gear 452, and a steering motor 453, the steering gear 451 is connected to the landing gear strut 42, the driving gear 452 is engaged with the steering gear 451, and the steering motor 453 is drivingly connected to the driving gear 452.
A braking system 46 is mounted on the landing gear strut 42 and provides the wheel 41 with the frictional force required for braking.
EXAMPLE five
As shown in fig. 14 to 17, a tiltrotor drive system 50 is added to the fourth embodiment. The tilt rotor driving system 50 includes a tilt steering gear 51, a tilt driving gear 52 and a tilt steering motor 53, the tilt steering gear 51 is connected with the support rod 20 or the middle support rod 21, the tilt driving gear 52 is engaged with the tilt steering gear 51, and the tilt steering motor 53 is installed on the force bearing framework 14 and is in driving connection with the tilt driving gear 52. In the vertical takeoff and landing stage of the aircraft, the multi-axis rotor system 30 is controlled to be in the vertical upward direction through the tilt rotor driving system 50, and the propeller 32 generates downward thrust to enable the aircraft to take off or land vertically; during the horizontal flight phase of the aircraft, multi-axis rotor system 30 is controlled by tiltrotor drive system 50 to a forward and upward tilt state, and propeller 32 generates backward and downward thrust, wherein the vertical thrust component balances the gravity of the aircraft, and the horizontal thrust component enables the aircraft to fly horizontally, and during the flight phase, the aircraft can maintain a horizontal state and reduce the flight resistance.
EXAMPLE six
As shown in fig. 18 to 22, on the basis of the fifth embodiment, the annular duct system is eliminated, and the wings 60 and the foldable driving systems 25 are added at the supporting rods 20, so that the lift force of the aircraft during horizontal flight is increased, and the flight efficiency is improved; meanwhile, the supporting rod 20 can be automatically folded under the ground state, so that the overall dimension is reduced, and the aircraft can move on the ground independently.
The wing 60 is arranged at the end support rod 22 and connected with the end support rod 22, and the wing 60 is installed in the same direction as the rotating shaft of the motor 31. During vertical takeoff and landing of the aircraft, the wings 60 and the multi-axis rotor system 30 are in a vertically upward state; when the aircraft flies forwards horizontally, the tilting rotor driving system 50 drives the supporting rod 20 to drive the wing 60 and the multi-axis rotor system 30 to tilt forwards simultaneously, the wing 60 generates lift force under the action of airflow in the horizontal direction, the output power of the multi-axis rotor system 30 can be reduced, and the endurance time and the endurance mileage are improved.
As shown in fig. 22, the foldable drive system 25 includes a joint 251, a connecting rod 252, a steering engine 253, a steering engine rocker 254, and a rotary link 255. The joint 251 is installed on the end supporting rod 22, one end of the connecting rod 252 is connected with the joint 251 through the rotating connecting piece 255, the other end of the connecting rod 252 is connected with the steering engine rocker 254 through the rotating connecting piece 255, the steering engine rocker 254 is in driving connection with the steering engine 253, and the steering engine 253 is fixedly installed on the middle supporting rod 21 or the supporting rod adapter 24. The steering engine rocker 254 can be driven by the steering engine 253 to drive the connecting rod 252 to move, so that the end supporting rod 22 is driven to rotate around the rotating shaft of the foldable connecting piece 23, and the supporting rod 20 can be freely switched between an opening state and a folding state.
Further, multi-axis rotor system 30 further includes a motor front fairing 34, and motor front fairing 34 is disposed in front of motor 31 to improve front profile flow linearity of motor 31 and reduce flow resistance of high-speed airflow generated by rotor 32 when flowing through motor 31; it is further preferred that multi-axis rotor system 30 further includes a rear motor fairing 35, and that rear motor fairing 35 is disposed aft of motor 31 to improve aft profile flow linearity of motor 31 and reduce flow resistance of the high velocity air stream generated by rotor 32 as it flows past motor 31.
EXAMPLE seven
As shown in fig. 23, on the basis of the sixth embodiment, in the present embodiment, a wing rotating mechanism 70 is added at the supporting rod, so that the wing 60 can rotate around the supporting rod 20, and is used for adjusting the attack angle of the wing 60 under the wake flow of the multi-axis rotor system, so that the wing 60 is always in the optimal lift state, and the working efficiency is improved.
The wing rotation mechanism 70 is disposed inside the wing 60, and includes a rotation gear 71, a rotation drive gear 72, a rotation drive bevel gear 73, a motor drive bevel gear 74, and a rotation drive motor 75. The rotary gear 71 is connected with the end support rod 22, the rotary driving gear 72 is meshed with the rotary gear 71, the rotary driving bevel gear 73 is coaxially installed with the rotary driving gear 72, the rotary driving motor 75 is in driving connection with the motor driving bevel gear 74, and the motor driving bevel gear 74 is meshed with the rotary driving bevel gear 73. The motor can be driven by the rotary driving motor 75 to drive the bevel gear 74 to drive the wing 60 to rotate around the end support rod 22, so that the wing is always in the optimal working state, and the working efficiency of the aircraft is improved.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (15)
1. A multi-axis rotorcraft with powered wheeled undercarriages, comprising:
a body;
the support rods are arranged on the periphery of the machine body and connected with the machine body;
the multiple multi-axis rotor systems are respectively arranged at the end parts of the corresponding support rods far away from one end of the machine body and are used for providing lifting power and operating torque;
the wheel type landing gear system is arranged on the lower portion of the aircraft body and connected with the aircraft body, and the wheel type landing gear system is provided with a driving device and used for providing power for ground movement for the aircraft.
2. The multi-axial rotorcraft with powered wheeled landing gear of claim 1, wherein the airframe includes:
a hollow housing;
the bearing framework is arranged inside the shell;
the equipment cabin is arranged at the front section, the rear section or the lower part in the shell, an equipment support is arranged in the equipment cabin and connected with the bearing framework, and equipment is arranged on the equipment support and comprises a power supply system, a control system, communication equipment and a sensor;
and the payload cabin is arranged at the middle section of the shell and used for providing a placing space for goods or a riding space for personnel.
3. The multi-axis rotary-wing aircraft with powered wheeled landing gear of claim 2, wherein:
the utility model discloses a multi-axis aircraft engine, including organism, bracing piece, multiaxis rotor system, bracing piece are monolithic structure, the bracing piece is provided with two at least, the bracing piece is arranged respectively anterior segment and the back end of organism to along controlling the direction and running through the organism, multiaxis rotor system installs the both ends department of bracing piece.
4. The multi-axis rotary-wing aircraft with powered wheeled landing gear of claim 2, wherein:
the support rods are of a sectional structure, at least two support rods are arranged, and each support rod comprises a middle support rod and an end support rod;
the utility model discloses a rotor wing aircraft engine, including payload cabin, middle part bracing piece, end bracing piece, the casing, the middle part bracing piece runs through the casing is fixed on the load skeleton, just the middle part bracing piece is arranged around the payload cabin, the one end of end bracing piece with the middle part bracing piece is connected, the other end with multiaxis rotor system connects, wherein, the middle part bracing piece is arranged both ends around the organism to run through along left and right directions the organism, or the middle part bracing piece is arranged the left and right sides of organism to run through along the fore-and-aft direction the organism.
5. The multi-axis rotary-wing aircraft with powered wheeled landing gear of claim 4, wherein:
the support rod further comprises a support rod adapter, and two ends of the support rod adapter are respectively connected with the middle support rod and the end support rod;
and/or, the bracing piece still includes collapsible connecting piece, collapsible connecting piece arranges the tip bracing piece with middle part bracing piece or the junction between the bracing piece adapter makes the tip bracing piece can wind but rotary motion is to the pivot of collapsible connecting piece.
6. The multi-axis rotary-wing aircraft with powered wheeled landing gear of claim 5, wherein:
the support rod further comprises a foldable driving system, the foldable driving system comprises a joint, a connecting rod, a steering engine rocker and a rotating connecting piece, the joint is installed on the end portion support rod, one end of the connecting rod is hinged to the joint, the other end of the connecting rod is hinged to the steering engine rocker, the steering engine rocker is connected with the steering engine in a driving mode, and the steering engine is fixedly installed on the middle support rod.
7. The multi-axis rotary wing aircraft with powered wheeled landing gear according to any one of claims 3 to 6, further comprising:
rotor actuating system verts, rotor actuating system verts including the steering gear that verts, the drive gear that verts and vert and turn to the motor, the steering gear that verts with the bracing piece is connected, the drive gear that verts with the steering gear meshing that verts is connected, the steering motor that verts with the drive gear drive that verts is connected.
8. The multi-axis rotary wing aircraft with powered wheeled landing gear of claim 7, further comprising:
the wing, the wing sets up bracing piece department, with the bracing piece is connected, and follows the bracing piece is the motion of verting for produce lift when multiaxis rotor craft horizontal flight.
9. The multi-axis rotary wing aircraft with powered wheeled landing gear of claim 8, further comprising:
the wing rotating mechanism is arranged inside the wing and comprises a rotating gear, a rotating driving bevel gear, a motor driving bevel gear and a rotating driving motor, the rotating gear is connected with the supporting rod, the rotating driving gear is meshed with the rotating gear and is coaxially arranged with the rotating driving gear, the rotating driving motor is in driving connection with the motor driving bevel gear, and the rotating driving bevel gear is meshed with the rotating driving motor.
10. The multi-axis rotary-wing aircraft with powered wheeled landing gear of claim 1, wherein:
the multi-axis rotor system is provided with at least four, and every multi-axis rotor system includes motor and screw, the motor is installed the tip of bracing piece, the screw with the output of motor is connected, the screw includes two at least paddles.
11. The multi-axis rotary-wing aircraft with powered wheeled landing gear of claim 10, wherein:
the multi-shaft rotor system further comprises an annular duct system, the annular duct system comprises an annular duct and a duct support, and the annular duct is arranged on the periphery of the tip of the propeller and is coaxial with the rotating shaft of the motor;
one end of the duct support is fixedly connected with the annular duct, and the other end of the duct support is connected with the support rod at the position of the motor and used for providing fixed support for the annular duct.
12. The multi-axis rotary-wing aircraft with powered wheeled landing gear of claim 1, wherein:
the wheel type undercarriage system comprises an undercarriage support, a driving motor and an airplane wheel, wherein the undercarriage support is fixed on the lower side of the machine body, the driving motor is arranged on the undercarriage support, and the output end of the driving motor is connected with the airplane wheel;
or, the driving motor is a hub motor, and the hub motor is arranged in the wheel.
13. The multi-axis rotary-wing aircraft with powered wheeled landing gear of claim 12, wherein:
the wheel landing gear system further comprises a shock absorption system, wherein the shock absorption system is arranged between the landing gear strut and the machine body, or the shock absorption system is arranged at the lower end of the landing gear strut.
14. The multi-axis rotary-wing aircraft with powered wheeled landing gear of claim 12, wherein:
the wheel type undercarriage system further comprises a steering system, the steering system comprises a steering gear, a driving gear and a steering motor, the steering gear is connected with the undercarriage supporting column, the driving gear is meshed with the steering gear and connected with the steering gear, and the steering motor is in driving connection with the driving gear.
15. The multi-axis rotary-wing aircraft with powered wheeled landing gear according to any one of claims 12 to 14, wherein:
the wheeled landing gear system further comprises a braking system mounted on the landing gear strut for providing the wheels with frictional force required for braking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110967547.9A CN114084344A (en) | 2021-08-23 | 2021-08-23 | Multi-shaft rotor aircraft with power wheel type undercarriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110967547.9A CN114084344A (en) | 2021-08-23 | 2021-08-23 | Multi-shaft rotor aircraft with power wheel type undercarriage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114084344A true CN114084344A (en) | 2022-02-25 |
Family
ID=80296111
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110967547.9A Pending CN114084344A (en) | 2021-08-23 | 2021-08-23 | Multi-shaft rotor aircraft with power wheel type undercarriage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114084344A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114537065A (en) * | 2022-02-28 | 2022-05-27 | 重庆交通大学 | Air-ground dual-purpose multifunctional unmanned aerial vehicle |
| CN114735218A (en) * | 2022-04-12 | 2022-07-12 | 江苏信博建设项目管理有限公司 | Three-dimensional topography mapping device based on unmanned aerial vehicle |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105667772A (en) * | 2016-03-29 | 2016-06-15 | 京东方科技集团股份有限公司 | Aircraft landing gear, aircraft and aircraft landing method |
| CN205440867U (en) * | 2015-12-30 | 2016-08-10 | 崔浩 | But tilting wing aircraft |
| CN106163924A (en) * | 2014-04-10 | 2016-11-23 | 空中客车英国运营有限责任公司 | Drive system for aircraft landing gear |
| CN106516080A (en) * | 2016-12-06 | 2017-03-22 | 昆山鲲鹏无人机科技有限公司 | Tilting wing unmanned aerial vehicle with aerodynamic layout and tilting mechanisms and method for detecting whether wings get loose or not |
| CN107416198A (en) * | 2017-07-20 | 2017-12-01 | 珠海磐磊智能科技有限公司 | Aircraft and its flying method |
| CN207257972U (en) * | 2017-09-26 | 2018-04-20 | 广东黄赛航空科技有限公司 | A kind of unmanned plane transfer |
| CN108116668A (en) * | 2017-11-24 | 2018-06-05 | 南京航空航天大学 | The land and air double-used more rotor manned aircraft of full electricity |
| CN109250091A (en) * | 2018-10-30 | 2019-01-22 | 佛山市神风航空科技有限公司 | A kind of flap aircraft |
| US20190031337A1 (en) * | 2016-07-01 | 2019-01-31 | Bell Helicopter Textron Inc. | Aerial Imaging Aircraft having Attitude Stability During Translation |
| CN109311533A (en) * | 2016-06-22 | 2019-02-05 | 深圳市大疆创新科技有限公司 | The system and method for aircraft running gear |
| CN109319106A (en) * | 2018-11-08 | 2019-02-12 | 宁波市海曙发辉机械科技有限公司 | A kind of high-speed rotor machine |
| CN111225853A (en) * | 2017-09-22 | 2020-06-02 | 艾姆索创新私人有限公司 | Wing tilt actuation system for electric vertical take-off and landing (VTOL) aircraft |
| CN111315654A (en) * | 2017-06-01 | 2020-06-19 | 舒尔弗莱股份有限公司 | Auxiliary power system for rotorcraft having folding rotor arms and crush zone landing gear |
| CN112572778A (en) * | 2019-09-30 | 2021-03-30 | 株式会社斯巴鲁 | Air-land dual-purpose moving body |
| CN213800172U (en) * | 2020-11-03 | 2021-07-27 | 南京航空航天大学 | Cross type tilt rotorcraft |
-
2021
- 2021-08-23 CN CN202110967547.9A patent/CN114084344A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106163924A (en) * | 2014-04-10 | 2016-11-23 | 空中客车英国运营有限责任公司 | Drive system for aircraft landing gear |
| CN205440867U (en) * | 2015-12-30 | 2016-08-10 | 崔浩 | But tilting wing aircraft |
| CN105667772A (en) * | 2016-03-29 | 2016-06-15 | 京东方科技集团股份有限公司 | Aircraft landing gear, aircraft and aircraft landing method |
| CN109311533A (en) * | 2016-06-22 | 2019-02-05 | 深圳市大疆创新科技有限公司 | The system and method for aircraft running gear |
| US20190031337A1 (en) * | 2016-07-01 | 2019-01-31 | Bell Helicopter Textron Inc. | Aerial Imaging Aircraft having Attitude Stability During Translation |
| CN106516080A (en) * | 2016-12-06 | 2017-03-22 | 昆山鲲鹏无人机科技有限公司 | Tilting wing unmanned aerial vehicle with aerodynamic layout and tilting mechanisms and method for detecting whether wings get loose or not |
| CN111315654A (en) * | 2017-06-01 | 2020-06-19 | 舒尔弗莱股份有限公司 | Auxiliary power system for rotorcraft having folding rotor arms and crush zone landing gear |
| CN107416198A (en) * | 2017-07-20 | 2017-12-01 | 珠海磐磊智能科技有限公司 | Aircraft and its flying method |
| CN111225853A (en) * | 2017-09-22 | 2020-06-02 | 艾姆索创新私人有限公司 | Wing tilt actuation system for electric vertical take-off and landing (VTOL) aircraft |
| CN207257972U (en) * | 2017-09-26 | 2018-04-20 | 广东黄赛航空科技有限公司 | A kind of unmanned plane transfer |
| CN108116668A (en) * | 2017-11-24 | 2018-06-05 | 南京航空航天大学 | The land and air double-used more rotor manned aircraft of full electricity |
| CN109250091A (en) * | 2018-10-30 | 2019-01-22 | 佛山市神风航空科技有限公司 | A kind of flap aircraft |
| CN109319106A (en) * | 2018-11-08 | 2019-02-12 | 宁波市海曙发辉机械科技有限公司 | A kind of high-speed rotor machine |
| CN112572778A (en) * | 2019-09-30 | 2021-03-30 | 株式会社斯巴鲁 | Air-land dual-purpose moving body |
| CN213800172U (en) * | 2020-11-03 | 2021-07-27 | 南京航空航天大学 | Cross type tilt rotorcraft |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114537065A (en) * | 2022-02-28 | 2022-05-27 | 重庆交通大学 | Air-ground dual-purpose multifunctional unmanned aerial vehicle |
| CN114735218A (en) * | 2022-04-12 | 2022-07-12 | 江苏信博建设项目管理有限公司 | Three-dimensional topography mapping device based on unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7472863B2 (en) | Sky hopper | |
| CN103144769B (en) | Pneumatic layout of vertical taking-off and landing aircraft with tilted duct | |
| US6382556B1 (en) | VTOL airplane with only one tiltable prop-rotor | |
| CN110053435B (en) | Foldable amphibious four-rotor aircraft | |
| US2708081A (en) | Convertible aircraft structure | |
| KR20220075239A (en) | Evtol aircraft using large, variable speed tilt rotors | |
| CN110316370B (en) | Layout and control method of distributed power tilting wing aircraft | |
| US20140124613A1 (en) | Vertical take-off and landing aircraft with tiltrotor power for use on land and in air | |
| RU141669U1 (en) | VERTICAL TAKEOFF AND LANDING FLIGHT | |
| CN103552686B (en) | A kind of compound type duct aerial reconnaissance machine people | |
| CN114084344A (en) | Multi-shaft rotor aircraft with power wheel type undercarriage | |
| CN103538714A (en) | Vertical take-off and landing model aircraft unmanned aerial vehicle | |
| CN111003166A (en) | Tandem electric double-rotor helicopter and control system thereof | |
| CN113753229A (en) | Foldable fixed-wing four-rotor composite unmanned aerial vehicle and control method thereof | |
| CN209972084U (en) | Foldable triphibian four-rotor aircraft | |
| US3744743A (en) | Helicopter power plant system | |
| CN213168519U (en) | Air-ground dual-purpose unmanned aerial vehicle | |
| CN106005385A (en) | Gasoline-electric hybrid coaxial helicopter based on multi-rotor manipulation | |
| CN108569396A (en) | Combined type blended wing-body high-speed helicopter | |
| CN112124589B (en) | Two rotor vector unmanned aerial vehicle that verts | |
| CN115648869A (en) | Reconfigurable hovercar and hovercar control method | |
| RU2662339C2 (en) | Rotor-craft | |
| CN114180046A (en) | Electric vertical take-off and landing unmanned aerial vehicle | |
| RU185205U1 (en) | Unmanned aerial vehicle | |
| CN208377053U (en) | Combined type blended wing-body high-speed helicopter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |