CN205327403U

CN205327403U - Multi -rotor aircraft

Info

Publication number: CN205327403U
Application number: CN201620111261.5U
Authority: CN
Inventors: 刘海涛
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-02-04
Filing date: 2016-02-04
Publication date: 2016-06-22
Anticipated expiration: 2026-02-04

Abstract

The utility model provides a multi -rotor aircraft, including the power rotor of a vertical installation and a plurality of horizontal installation's gesture rotor. The power rotor can be by engine or motor drive, and the gesture rotor is by motor drive. The beneficial effects of the utility model are that: 1 single action power rotor craft is better from equilibrium stability in the air, can use the engine long as power time of endurance, controls that the principle is simple, parts are few, and purchasing cost, use cost are than lower. 2 the flexibility that has kept electric machine control flight gesture. 3 the mode of promptly descending occasionally that breaks down, flight safety nature is higher.

Description

Multi-rotor aerocraft

Technical field

This utility model relates to vehicle technology field, particularly relates to a kind of multi-rotor aerocraft。

Background technology

The aircraft that multi-rotor aerocraft is a kind of simple in construction, manipulation is flexible, flight attitude is stable。Having benefited from the development of microprocessor, sensor technology in recent years, multi-rotor aerocraft is widely used in the fields such as model plane, aerial photographing platform, agricultural plant protection。Multi-rotor aerocraft passes through various kinds of sensors perception state of flight, and sends rotary speed instruction by microprocessor to rotor motor and adjust the different flight attitudes of aircraft。

At present, multi-rotor aerocraft wants to obtain stable flight attitude needs the accurate perception flight state of various kinds of sensors, and send rotary speed instruction by microprocessor to response speed rotor motor quickly and keep state of flight stable, this process needs the reaction of each parts very fast, and aircraft could be kept stable。Wherein, sensor, processor, motor are required for battery and power, and the motor power consumption particularly providing power is maximum。Being confined to current battery state-of-art, the multi-rotor aerocraft general cruising time using battery to be power is short, load capacity is little, which greatly limits the performance of multi-rotor aerocraft and application。For solving short shortcoming in multi-rotor aerocraft cruising time, people consider by engine fuel as power。But engine fuel is compared with motor, maximum shortcoming is exactly that response speed is slow, and this cannot meet the requirement controlling rapidly multi-rotor aerocraft flight attitude。

It addition, tradition multi-rotor aerocraft needs each rotor to cooperate control flight attitude, once one of them rotor breaks down, aircraft will air crash out of control, be not suitable for being applied to more valuable load or manned aviation。

Summary of the invention

The purpose of this utility model is in that to provide a kind of multi-rotor aerocraft higher compared to conventional electric multi-rotor aerocraft flying power, and load capacity is bigger, it is possible to keep conventional electric multi-rotor aerocraft to manipulate advantage flexibly, and flight safety is higher。

This utility model provides a kind of multi-rotor aerocraft, fuel tank including undercarriage and undercarriage assembly connection, battery case with fuel tank assembly connection, control chamber with battery case assembly connection, power rotor with control chamber assembly connection, power rotor is one, and rotor wing rotation direction of principal axis is vertically arranged to fuselage by body nodal point。Described attitude rotor is multiple, each attitude rotor includes the rotor of motor and connection thereof, it is non-intersect with by the plumb line of body nodal point that rotor wing rotation direction of principal axis is horizontally installed to fuselage, and has at least two rotor wing rotation direction of principal axis to be in the both sides that same level face is parallel to each other and is respectively at described plumb line。

Further, described attitude rotor also includes at least one attitude rotor, rotating shaft direction is horizontally installed to fuselage, and intersects with by the plumb line of body nodal point, and be in the same level face office attitude rotor wing rotation direction of principal axis in described plumb line both sides that is parallel to each other with at least two vertical。

Further, described power rotor includes the rotor of a power part and connection thereof, or multiple rotors of a power part and connection thereof, or multiple rotors that multiple power part connects, described all rotors are all pressed rotor wing rotation axle coaxial line direction and are connected, and described power part includes electromotor or motor。

Further, the fuselage of described multi-rotor aerocraft is divided into two parts, hinged between two parts can relatively rotate, and a part of fuselage includes power rotor, attitude rotor, frame, with the part frame assembly that counterweight needs, another part fuselage includes load storehouse and residue frame assembly。

Compared with prior art, multi-rotor aerocraft of the present utility model has the characteristics that and advantage:

1, multi-rotor aerocraft of the present utility model, it is possible to fuel engines for major impetus, longer for its cruising time compared to conventional electric multi-rotor aerocraft, load capacity is bigger。

2, multi-rotor aerocraft of the present utility model, controls flight attitude mainly through motor, maintains tradition multi-rotor aerocraft and controls advantage flexibly。

3, multi-rotor aerocraft of the present utility model adopts the aerial self-balancing stability of single-power rotor better, and manipulation principle is simple, and parts are few, and working service cost is low。

4, multi-rotor aerocraft of the present utility model can be met an urgent need when there is power rotor fault or attitude rotor fault landing, and safety is higher。

After reading in conjunction with the accompanying detailed description of the invention of the present utility model, other features of the present utility model and advantage will become clearer from。

Accompanying drawing explanation

In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is embodiments more of the present utility model, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings。

Fig. 1 is the axonometric chart of a kind of multi-rotor aerocraft in this utility model embodiment 1；

Fig. 2 is the flight theory figure of a kind of multi-rotor aerocraft in this utility model embodiment 1；

Fig. 3 is the centre of gravity flight theory figure of a kind of multi-rotor aerocraft in this utility model embodiment 1；

Fig. 4 is the high center of gravity flight theory figure of a kind of multi-rotor aerocraft in this utility model embodiment 1；

Fig. 5 is the axonometric chart of a kind of multi-rotor aerocraft in this utility model embodiment 2；

Fig. 6 is the structure chart of a kind of multi-rotor aerocraft in this utility model embodiment 3；

Wherein,

1, undercarriage, 2, fuel tank, 3, set of cells, 4, control chamber, 5, attitude rotor, 51, motor, 6, power rotor, 61, electromotor, 62, electromotor rotor, 7, load storehouse, 8, frame, 81, jointed shaft, 82, swinging mounting。

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, this utility model is described in detail。

As Figure 1-4, the present embodiment 1 provides a kind of multi-rotor aerocraft, including undercarriage 1, fuel tank 2 with undercarriage assembly connection, with the battery case 3 of fuel tank assembly connection, and the control chamber 4 of battery case assembly connection, with the electromotor 61 of the vertical assembly connection of control chamber, the electromotor rotor 62 being connected with electromotor, two attitude rotor 5 symmetries are horizontally installed to fuselage outer side。Fuel tank 2 is connected through pipeline road with electromotor 61, set of cells 3 and motor 51, electrically connect through wire, it is achieved that with electromotor for power on multi-rotor aerocraft, cruising time length, characteristic that loading capability is big, it is simultaneously achieved motor and controls flight attitude, the feature of fast response time。The top assembly connection of set of cells 3 has control chamber 4, be provided with in control chamber various kinds of sensors, processor can perception, control flight attitude, control chamber 4 electrically connects with set of cells 3, and is connected with electromotor 61, motor 51 signal。Engine throttle size and motor speed and rotation direction is controlled by control chamber 4。Executing the multi-rotor aerocraft in example 1, main flying power is provided by power rotor 6, and it is driven cruising time long by electromotor 61。Single-power rotor craft center of gravity is on the lower, similar with the pendulum of lightness sensation in the upper and heaviness in the lower, relatively good by gravity airflight attitude self-balancing, this simplify the requirement to aircraft flight gesture stability。Increase and decrease engine throttle can realize the rise and fall of aircraft。The attitude rotor 5 that two horizontal symmetry are installed on fuselage outer side is the parts of major control flight attitude。It is to control point 1, two attitude rotor wing rotation axle place planes of three kinds of situations of aircraft and by the horizontal plane isoplanar of body nodal point。2, two attitude rotor wing rotation axle place planes are higher than by the horizontal plane of body nodal point。3, two attitude rotor wing rotation axle place planes are lower than by the horizontal plane of body nodal point。

As shown in Figure 2 in the first situation, fuselage only can be applied horizontal direction moment of torsion by two attitude rotor A and B, it is assumed that power rotor 6 lift offsets gravity just, if its reaction torque acting on fuselage is clockwise。When two attitude rotor A and B pulling force sizes are the same but in opposite direction, and the conjunction moment of torsion of fuselage is that counterclockwise being exactly equal to power rotor acts on the reaction torque size of fuselage by it, then aircraft realizes hovering。On hovering basis, increasing the rotating speed of two attitude rotor A and B, the pulling force controlling its increase is in the same size simultaneously, and its conjunction moment of torsion realizes original place more than power antitorque of rotor then fuselage and turns to counterclockwise, and original place steering principle clockwise is similar。On hovering basis, the pulling force increasing attitude rotor B reduces the pulling force of attitude rotor A simultaneously, and the variable quantity controlling pulling force is consistent, then its conjunction moment of torsion is constant, and fuselage does not rotate, but fuselage is flown nonstop to towards the attitude rotor B direction increasing pulling force, it is achieved fly nonstop to function。

The second situation as shown in Figure 3, two attitude rotor wing rotation axle place planes are higher than by the horizontal plane of body nodal point。90 degree have been horizontally rotated for ease of describing the relative Fig. 2 of Fig. 3。Hover identical with the first situation Fig. 2 Suo Shi with pivot stud principle。Fly nonstop to function situation different。Because two attitude rotor 5 rotating shaft place planes are higher than by the horizontal plane of body nodal point, so two attitude rotors 5 can to the moment of torsion in fuselage generation perpendicular direction。F1 is the conjunction pulling force of two attitude rotors 5, under the effect of F1, fuselage prolongs perpendicular to have rotated an angle [alpha] now attitude rotor counterclockwise is F2=F1*cos α to the power in standard of fuselage direction. because the rotary power rotor 6 of fuselage have rotated an angle [alpha] equally counterclockwise, its horizontal component is a component F6=F4*sin α of its pulling force, F2 and F6 is equidirectional, aircraft can in the lower horizontal flight of making a concerted effort of F2 and F6, it is to be noted, because the existence power rotor of angle [alpha] and attitude rotor all can weight losses force direction lift, when α value is less, loss of lift is only small, the situation that α value is bigger should suitably be compensated by by greater engine rotating speed。

The third situation as shown in Figure 4, two attitude rotor wing rotation axle place planes are lower than by the horizontal plane of body nodal point。Hover identical with the first situation Fig. 2 Suo Shi with pivot stud principle。Fly nonstop to function slightly different with principle shown in Fig. 3。Because two attitude rotor 5 rotating shaft place planes are lower than by the horizontal plane of body nodal point, so fuselage can be produced the moment of torsion in perpendicular direction by attitude rotor 5。F1 is the conjunction pulling force of two attitude rotors 5, under F1 effect, a fuselage angle [alpha] now attitude rotor that turned clockwise is F2=F1*cos α to the power in standard of fuselage direction. an angle [alpha] because the rotary power rotor 6 of fuselage has turned clockwise equally, its horizontal component is a component F6=F4*sin α of its pulling force, can be seen that horizontal component F2 and F6 is in opposite direction, when α value is only small, cos α is in close proximity to 1, sin α is in close proximity to 0 so attitude rotor horizontal component F2 can fly towards F2 direction more than power rotor horizontal component F6 now aircraft。When the pulling force α value strengthening F1 is increasing, cos α is more and more less, and sin α is increasing, ultimately results in F6 and can fly towards F6 direction more than F2 now aircraft。This characteristic can by low-angle adjustment hovering attitude, and wide-angle is used for active flight。

As it is shown in figure 5, be a kind of multi-rotor aerocraft axonometric chart of the present embodiment 2, ining contrast to embodiment 1 and add two attitude rotors, its rotating shaft direction is intersected with by the plumb line level of body nodal point, is symmetrically distributed in fuselage outer side。Increasing mainly for the side controlling aircraft flies and accurately controls flight attitude further of the two attitude rotor 5, is applied to the occasion that flight position station accuracy is higher。When two the attitude rotor wing rotation direction of principal axis increased are in isoplanar, it is possible to control aircraft side and fly。When two the attitude rotor wing rotation axle extended line directions increased are parallel and are distributed with center of gravity for point of symmetry, it is possible not only to control side fly and the fuselage moment of torsion of two attitude rotor wing rotation axle extended line place planes can be controlled, improves the degree of accuracy that flight attitude controls further。Afterburning in the same direction and power aircraft the sides in the same size of two attitude rotors fly not rotate, and when two mutually opposing reinforcings of attitude rotor, and power is in the same size, then produce original place torsion effect。

As shown in Figure 6, being a kind of multi-rotor aerocraft structure chart of the present embodiment 3, principle according to Fig. 2-4 can be seen that the control of flight attitude is existed impact by center of gravity。When aircraft is used for carry load, and load is the amount of a change, for example, the liquid pesticidal entrained by agricultural plant protection machine sprayed insecticide, constantly reducing at the process Pesticides sprayed, then body nodal point is also continually changing。The center of gravity of this change brings interference to accurately control flight attitude。Multi-rotor aerocraft fuselage as shown in Figure 6 is divided into two parts, hinged by jointed shaft 81 between two parts, can rotate each other。Wherein Part I fuselage includes frame 8, provides the power rotor 6 of flying power, controls the attitude rotor 5 of flight attitude, the set of cells 3 considered with mainly counterweight and increase, during counterweight requirements resting state, power rotor can keep position straight up under gravity。Part II fuselage includes undercarriage 1, load storehouse 7, fuel tank 2, control chamber 4。No matter how the weight of load storehouse and fuel tank changes, fuselage Part I realizes to the effect of its power only by the unique junction point jointed shaft 81 of both sides, first attitude rotor can promote frame to rotate around jointed shaft 81 when controlling flight attitude, and more flexibly, power consumption is also few。And Part II fuselage can rotate around jointed shaft and make it have stable trend vertically downward will not rotate with the rotation of frame all the time under gravity, is particularly suitable for carrying people to fly。This utility model multi-rotor aerocraft also has higher flight safety, when in flight course, electromotor breaks down, attitude rotor can control power rotor and decline horizontal by certain angle, the track that so aircraft falls under air drag effect is an oblique line, decline process medium power rotor is passively decreased a part of decrease speed by air drag, the rotation that a part of potential energy is power rotor is stored, oblique line declines and makes aircraft obtain certain level kinetic energy, when aircraft drops to certain safe altitude, attitude rotor control flight attitude, short time At High Angle of Attack is kept horizontally advancing velocity attitude power rotor。Under the effect of air drag and the rotation function of power rotor deposit, aircraft creates the deceleration of horizontal direction and vertical direction, it is achieved that the safe landing of aircraft。When one of attitude rotor breaks down, still having another one attitude rotor can keep the function that standard of fuselage face is rotated, reduce engine speed, aircraft can safe emergency land, so this utility model multi-rotor aerocraft flight safety is higher, it is particularly suitable for carrying people to fly。

Certainly; described above is not to restriction of the present utility model; this utility model is also not limited to the example above, the change made in essential scope of the present utility model of those skilled in the art, remodeling, interpolation or replacement, also should belong to protection domain of the present utility model。

Claims

1. a multi-rotor aerocraft, including power rotor, attitude rotor, fuel tank, set of cells, control chamber, frame, load storehouse, undercarriage, it is characterised in that:

Described power rotor is one, and rotor wing rotation direction of principal axis is vertically arranged to fuselage by body nodal point；

Described attitude rotor is multiple, each attitude rotor includes the rotor of motor and connection thereof, it is non-intersect with by the plumb line of body nodal point that rotor wing rotation direction of principal axis is horizontally installed to fuselage, and has at least two rotor wing rotation direction of principal axis to be in the both sides that same level face is parallel to each other and is respectively at described plumb line。

2. multi-rotor aerocraft according to claim 1, it is characterized in that: described attitude rotor also includes at least one attitude rotor wing rotation direction of principal axis and is horizontally installed to fuselage, and intersect with by the plumb line of body nodal point, and be in the isoplanar office attitude rotor wing rotation direction of principal axis in described plumb line both sides that is parallel to each other with at least two vertical。

3. the multi-rotor aerocraft according to any one of claim 1 to 2, it is characterized in that: described power rotor includes the rotor of a power part and connection thereof, or multiple rotors of a power part and connection thereof, or multiple rotors that multiple power part connects, described all rotors are all pressed rotor wing rotation axle coaxial line direction and are connected, and described power part includes electromotor or motor。

4. the multi-rotor aerocraft according to any one of claim 1 to 2, it is characterized in that: the fuselage of described multi-rotor aerocraft is divided into two parts, hinged between two parts can relatively rotate, a part of fuselage includes power rotor, attitude rotor, frame, with the part frame assembly that counterweight needs, another part fuselage includes load storehouse and residue frame assembly。