CN205256663U

CN205256663U - 16 rotor crafts on eight arms of on -plane surface

Info

Publication number: CN205256663U
Application number: CN201520877409.1U
Authority: CN
Inventors: 曹萍
Original assignee: 曹萍
Current assignee: Inner Mongolia Zhongke Shiyuan Ecology Technology Co., Ltd.
Priority date: 2015-11-05
Filing date: 2015-11-05
Publication date: 2016-05-25
Anticipated expiration: 2025-11-05

Abstract

The utility model belongs to the technical field of the aeronautics, a have evenly distributed and non -coplanar eight pairs two -spool one kind aircraft around the organism is related to. The aircraft includes the organism, eight spinal branch braces on connecting around the organism, set up eight pairs of birotors on each support arm tip and set up each the two -spool electrical system of control connection in the organism respectively. This aircraft has high mobility, can realize the VTOL, fly before quick, the inverted flight, hover, fly in arbitrary direction change.

Description

On-plane surface eight arm ten six rotorcrafts

Technical field

The utility model relates to a kind of multi-rotor aerocraft of new structure.

Background technology

The unmanned vehicle with VTOL and hovering function has demand widely in numerous dual-use fields such as military surveillance, anti-terrorism, public security, fire-fighting, forest inspection, pesticide spraying, nuclear leakage detection and rescue and relief works. And the unmanned vehicle with VTOL and hovering function can be divided into two large classes generally: a class is depopulated helicopter, roughly comprise the versions such as single rotor, the bispin wing, tilting rotor, single-rotor helicopter needs tail-rotor structure to offset the torsion that rotor produces body, and tiltrotor need to be carried out at the peaceful state of flying that takes off vertically the verting of aerofoil of rotor. Its weak point is that the upper main oar diameter of design is larger with respect to body, complex structure, flexibility and stationarity are poor, and the lift of aircraft and weight is lower, if be designed to small aircraft, load capacity is very poor, in addition, because complicated aerodynamic characteristic causes the aircraft control difficulty of the type large, independence is poor, security is not high, has affected its application development. Another kind of is multi-rotor aerocraft, commonly quadrotor, six rotorcraft and eight-rotary wing aircraft. Multi-rotor aerocraft is compared helicopter and has been cancelled complicated bending moment structure, rely on the rotation speed change of multiple rotors to realize the control to aircraft, compare depopulated helicopter and there is the advantage such as simple in structure, flexible operation, high, autonomous easily realizations of stability, realized successful Application in a lot of fields. Along with multi-rotor aerocraft is in the application of industrial circle, its load-carrying requires increasing, if the control sensitivity of many rotors that simply increased time delay influence that rotor diameter and power of motor cause, and in present planar structure, increase motor and rotor number makes its volume increasing, transport and use very inconvenient. In addition, present plane multi-rotor aerocraft causes control moment deficiency and low-response by anti-twisted Torque Control driftage, affect the overall performance of aircraft, particularly used large motor to join major diameter rotor and can make the response time slack-off, when serious, even can make controller unstability. More importantly, the gyroscopic couple that existing multi-rotor aerocraft produces in flight course cannot be eliminated, and can only, as disturbing by control system and overcome in system self, waste energy and reduce again control quality and locomitivity.

Utility model content

For overcoming above-mentioned technical deficiency, the purpose of this utility model be to provide a kind of can overcome that gyroscopic couple that when motion produces causes aircraft in disturb, respond sensitive, volume compact and there are on-plane surface eight arm ten six rotorcrafts of higher lifting capacity.

For achieving the above object, the utility model adopts following technical scheme:

On-plane surface eight arm ten six rotorcrafts, comprise body, are connected to the eight piece support arms of body on around, are separately positioned on eight pairs of birotors on each support arm end and are arranged on the electric-control system of the each rotor of control connection in body. At grade, the geometric center lines of adjacent two support arms becomes equal angle to the geometric center lines of eight described support arms, and angle is 45 degree.

Every pair of described birotor is to be made up of the base of the upper motor of rotor in upper rotor, lower rotor, driving, the lower motor that drives lower rotor and the upper motor of connection and lower motor. The center line of the rotating shaft of every pair of two-spool upper motor and lower motor point-blank, rotating shaft center's line of every pair of two-spool upper motor and lower motor becomes an angle equating with the geometric center lines place interplanar of described eight support arms, and angle is greater than 0 degree and is less than 90 degree. Adjacent two pairs of two-spool upper rotor wing rotation opposite directions, adjacent two pairs of two-spool lower rotor direction of rotation are contrary. Two pairs of two-spool upper rotor wing rotation Plane intersects on diagonal, on diagonal, two pairs of two-spool lower rotor Plane of rotations intersect. Every pair two-spool upper rotor is parallel with the Plane of rotation of lower rotor, direction of rotation is contrary. The center line of every pair of two-spool upper motor and lower electric machine rotational axis is with to be connected this geometric center lines to two-spool support arm vertical.

The beneficial effects of the utility model are:

Than prior art, on-plane surface eight arm ten six rotorcrafts that the utility model provides, every pair of two-spool upper and lower two rotors are driven by upper and lower motor respectively, control the rotary speed of upper and lower two rotors of each birotor, make its torque equate, opposite direction, be zero to the moment of torsion that closes of body. In addition, in the time of aircraft flight, two rotors of every pair of birotor positive and negative rotation have been eliminated the gyroscope interference effect to body. What eight of becoming with the geometric center lines place interplanar of described eight support arms of the eight pairs of two-spool electric machine rotational axis center lines equated be greater than angle that 0 degree is less than 90 degree makes eight pairs of two-spool lift to body make a concerted effort and resultant moment is distinguished controlledly at three axial six components, realized the full decoupled of motion and attitude. In addition, what eight of becoming of the geometric center lines place interplanar of the center line of eight pairs of two-spool electric machine rotational axis and described eight support arms equated be greater than, and angle that 0 degree is less than 90 degree makes the driftage of aircraft be provided by lift, and having solved plane multi-rotor aerocraft need to be by the low-response of anti-twisted Torque Control driftage existence and the shortcoming of control moment deficiency. Gyroscopic couple while having eliminated flight due to this aircraft, the interference that anti-twisted moment causes, and can decoupling zero attitude and translation between coupling, therefore, this aircraft has the mobility of height, can realize VTOL, flies before fast, inverted flight, hovering, any direction changes in-flight.

The two-spool dynamical system being formed with rotor by upper and lower two groups of motors that on-plane surface of the present utility model eight arm ten six rotorcrafts adopt compare the multi-rotor aerocraft of planar structure plane one group of motor and dynamical system volume utilization that rotor forms is high, lift density is high, has larger lifting capacity and longer flight time under equal volume.

Brief description of the drawings

Fig. 1 is structural representation of the present utility model;

Fig. 2 is simplified diagram of the present utility model;

Fig. 3 is the schematic diagram of dual-rotor structure shown in Fig. 1;

Fig. 4 is the structural representation of connector combination in Fig. 3;

Fig. 5 is connector 101 structural representations in Fig. 4;

Fig. 6 is connector 102 structural representations in Fig. 4.

Detailed description of the invention

The embodiment providing below in conjunction with accompanying drawing is described in further detail the utility model.

See figures.1.and.2, on-plane surface eight arm ten six rotorcrafts, comprise body 1, be connected to eight support arms 2 on around of body 1, be separately positioned on eight pairs of rotors 3 on each support arm 2 ends and be arranged on the electric-control system 4 of the each rotor of control connection in body 1, at grade, the geometric center lines angle of each two adjacent support arms 2 equates to be 45 degree to the geometric center lines of eight described support arms 2. The upper motor 303 of every pair of birotor 3 and rotating shaft center's line of lower motor 304 are point-blank, in the driving of described every pair of birotor 3, the upper motor 303 of rotor 301 becomes to equate angle a with the rotating shaft center's line of lower motor 304 and the geometric center lines place interplanar of described eight support arms 2 that drive lower rotor 302, and a is greater than 0 degree and is less than 90 degree. Upper rotor 301 direction of rotation of adjacent two pairs of birotors 3 are contrary, and lower rotor 302 direction of rotation of adjacent two pairs of birotors 3 are contrary. On diagonal, the Plane of rotation of the upper rotor 301 of two pairs of birotors 3 intersects, and on diagonal, the Plane of rotation of the lower rotor 302 of two pairs of birotors 3 intersects. The upper motor 303 of every pair of birotor 3 is vertical with the geometric center lines that is connected this support arm 2 to birotor 3 with rotating shaft center's line of lower motor 304.

With reference to Fig. 3, Fig. 4 and Fig. 6, described birotor 3 is to be made up of the base 305 of the upper motor 303 of rotor 301 in upper rotor 301, lower rotor 302, driving, the lower motor 304 that drives lower rotor 302 and the upper motor 303 of connection and lower motor 304. Upper motor 303 and lower motor 304 are connected on base 305 by the mode of mechanical connection. Upper rotor 301 is connected on upper motor 303 by the mode of mechanical connection, and lower rotor 302 is connected on lower motor 304 by the mode of mechanical connection. The upper rotor 301 of every pair of birotor 3 is parallel with the Plane of rotation of lower rotor 302, direction of rotation is contrary. Birotor 3 is connected to by base 305 on one end of support arm 2, and connected mode can be the mode of cementing, mechanical connection or both combinations. The other end of support arm 2 is connected on the connector 101 of connector combination 10 by the mode of cementing, mechanical connection or both combinations. The connector 102 of connector combination 10 adopts the mode of mechanical connection to be connected on body 1 by connecting hole 1023,1024,1025 and 1026.

With reference to Fig. 4, Fig. 5 and Fig. 6, connector combination 10 is made up of connector 101 and connector 102. Use bearing pin that the unthreaded hole 1021 of the unthreaded hole of connector 101 1011 and connector 102 is linked together, use bolt to link together by the unthreaded hole 1012 of connector 101 and the screwed hole 1022 of connector 102. Connect by bearing pin, between connector 101 and connector 102, can rotate around bearing pin. The equal diameters of unthreaded hole 1011 and unthreaded hole 1021, the nominal diameter of the diameter of unthreaded hole 1012 and screwed hole 1022 equates. Connecting hole 1023,1024,1025 and 1026 equal diameters.

Claims

1. on-plane surface eight arm ten six rotorcrafts, it is characterized in that, this aircraft comprises body, eight support arms, the eight pairs of birotors and electric-control system, and eight support arms are connected to around body, eight pairs of birotors are separately positioned on each support arm end, and electric-control system is arranged in body; In one plane, the geometric center lines of adjacent two support arms becomes equal angle to the geometric center lines of eight support arms, and angle is 45 degree; Birotor is made up of the base of the upper motor of rotor in upper rotor, lower rotor, driving, the lower motor that drives lower rotor and the upper motor of connection and lower motor; The center line of the rotating shaft of every pair of two-spool upper motor and lower motor point-blank, rotating shaft center's line of every pair of two-spool upper motor and lower motor becomes an angle equating with the geometric center lines place interplanar of described eight support arms, and angle is greater than 0 degree and is less than 90 degree; Adjacent two pairs of two-spool upper rotor wing rotation opposite directions, adjacent two pairs of two-spool lower rotor direction of rotation are contrary; Two pairs of two-spool upper rotor wing rotation Plane intersects on diagonal, on diagonal, two pairs of two-spool lower rotor Plane of rotations intersect; Every pair two-spool upper rotor is parallel with the Plane of rotation of lower rotor, direction of rotation is contrary; Rotating shaft center's line of every pair of two-spool upper motor and lower motor is with to be connected this geometric center lines to two-spool support arm vertical.

2. on-plane surface eight arm ten six rotorcrafts as claimed in claim 1, it is characterized in that: birotor is connected on support arm by base, connected mode can be the mode of cementing, mechanical connection or both combinations, and support arm is connected on body by connector.

3. on-plane surface eight arm ten six rotorcrafts as claimed in claim 1, is characterized in that: connector combination is made up of connector 101 and connector 102, between connector 101 and connector 102, can rotate.