CN208393629U - Three ducted fan bionic Aircraft of torque self-balancing - Google Patents

Abstract

Three ducted fan bionic Aircraft of torque self-balancing; main includes spherical manned capsule, flight lift bottom plate, bionical wing, bionical empennage, transition rack, three groups of self-balancing ducted fan/paddle devices, safety system and electric power robot control system(RCS); the top and bottom of rotatable spherical shape manned capsule are connect with the front end of transition rack, and the front end of bionical empennage is connect with the rear end of transition rack；Bionical wing is connected in the top of transition rack, and flight lift bottom plate is connected in the bottom of transition rack；Two groups in three groups of self-balancing ducted fan/paddle devices are fixed on bionical wing, and another group is fixed on the head and the tail middle line of bionical empennage, and three groups of self-balancing ducted fan/paddle devices and safety system are with electric power robot control system(RCS) to be electrically connected.The utility model structure is simple, VTOL and can provide lift using body, energy loss is low, and applicability is good, and cost is lower, highly-safe, while efficiently solving the problems, such as the self-balancing of three ducted fans.

Description

Three ducted fan bionic Aircraft of torque self-balancing

Technical field

The utility model relates to vehicle technology fields, and in particular to a kind of bionical flight of three ducted fan of torque self-balancing Device.

Background technique

Currently, aircraft development make rapid progress, all kinds of aircraft take photo by plane, agricultural, plant protection, self-timer, express transportation, disaster The fields such as rescue, observation wild animal, monitoring, mapping, news report, electric inspection process, the disaster relief, movies-making, military affairs are related to extensively It is general, but the aircraft in each field mainly uses Large Scale Space Vehicle and small-sized or miniature unmanned vehicle at present, rarely has small-sized manned Aircraft does flight experience and daily life trip for ordinary people.Existing aircraft is broadly divided into fixed wing aircraft and cunning Xiang machine, heligyro and gyroplane, flapping-wing aircraft and tiltrotor, fixed wing aircraft and aerodone are generally required to longer Landing runway and expensive, be generally not suitable for that ordinary people does flight experience and daily life trip is preferred；Rotor is gone straight up to The larger and helicopter operation of the flight noise of machine and gyroplane vibration is complicated, is unfavorable for daily life trip flight and uses, and flies Row experience sense is very poor；Flapping-wing aircraft is that the general weight of bionic Aircraft is smaller, is relatively suitble to do unmanned plane use；Tiltrotor combines Fixed-wing and helicopter feature are as course of new aircraft, though having lot of advantages, its single high cost and complex operations are uncomfortable Close ordinary people's routine use and flight experience.

Secondly, aircraft emerges one after another as the design scheme of the vehicles, especially more rotors and culvert channel blade are manned The deep attention by vast scientific and technical research of the design of aircraft, but there are still many deficiencies, such as Chinese patent for such technology CN201521115297.2 provides a kind of more rotor manned aircraft, including have can manned accommodating chamber aircraft body and At least three horns in aircraft body are set, and each horn is equipped with two spirals up and down driven by driving device Paddle, technology provides a kind of tool for manned vehicle, but there are still some problems, and first, preferred embodiment is four machines Arm, and the self-balancing for needing to be arranged symmetrically to reach complete machine by offsetting torque between two horns, if using three horns very It is difficult to guarantee balance；Second, the propeller that horn uses has biggish aerodynamic noise, in terms of manned or external influence all Larger, comfort experience is poor；Third, no setting security system, in power failure or encounters more in emergency circumstances, not can guarantee Contained personnel safety is not suitable for ordinary people's flight experience and comfortable living trip.In addition how three rotor crafts that vert make it Flying quality is more stable and balance is still the hot spot of academia in recent years, it is thus proposed that passes through arm of force length by calculating Match with revolving speed by complicated computational algorithm adjustment and solves but still undesirable.

Utility model content

Technical problem to be solved in the utility model is for overcome the deficiencies in the prior art, to provide a kind of structure letter It singly, can VTOL and the torsion for being adapted to ordinary people and carrying out flight experience or daily flight trip using body offer lift Three ducted fan bionic Aircrafts of square self-balancing.

Technical solution adopted by the utility model to solve its technical problems is three ducted fan of torque self-balancing is bionical to fly Row device, main includes spherical manned capsule, flight lift bottom plate, bionical wing, bionical empennage, transition rack, three groups of self-balancings culverts Road fan/paddle device, safety system and electric power robot control system(RCS), the top and bottom of the rotatable spherical manned capsule It is connect with the front end of transition rack, the front end of the bionical empennage is connect with the rear end of transition rack；The bionical wing is solid It is connected in the top of transition rack, the flight lift bottom plate is connected in the bottom of transition rack；Three groups of self-balancing ducted fan/paddles Two groups in leaf device are fixed on bionical wing, and are symmetrically positioned in the two sides of spherical manned capsule, and three groups of self-balancing ducted fans/ Another group in paddle device is fixed on the head and the tail middle line of bionical empennage, and the electric power robot control system(RCS) and safety system are equal It is fixed in aircraft, three groups of self-balancing ducted fan/paddle devices and safety system are with electric power robot control system(RCS) with electricity Connection.

Spheroidal structure can be used in the spherical shape manned capsule, and rugby shape or elliposoidal structure can also be used, spherical manned Cabin is clamped in highs and lows by transition rack and can be rotated around two o'clock.

The flight lift bottom plate mainly includes baffle at bottom and two pieces of side deflectors, the baffle at bottom stem Straight and tail portion arc is bent downwardly, and the top edge of two pieces of side deflectors and the both sides of the edge front of baffle at bottom connect, Flight lift bottom plate can effectively generate downwash flow when aircraft advances and avoid the formation of vortex simultaneously, promote aircraft lift.

The bionical wing mainly includes the airfoil body of two imitative bird's wing wing and one is connected and fixed seat, on two airfoil bodies It is equipped with for installing self-balancing ducted fan/paddle device through-hole, two groups of self-balancing ducted fan/paddle devices are pacified respectively In through-hole loaded on two airfoil bodies；Two airfoil bodies are arranged symmetrically in the both ends for being connected and fixed seat, airfoil body be connected and fixed Seat is connected, and forms a streamlined bionical wing；Or two airfoil bodies are arranged symmetrically in the both ends for being connected and fixed seat, airfoil body can It is rotated around the end for being connected and fixed seat.

The bionical empennage mainly includes two fixed vertical empennages and a tailplane, for keeping aircraft steady Fixed, two vertical tails are symmetrically fixed on the both ends of tailplane, the self-balancing ducted fan on the bionical empennage/blade dress It sets and is mounted on tailplane or is mounted between two vertical tails, direct lift or thrust can be not only provided for aircraft, And aircraft top air flow flow velocity can be accelerated while aircraft provides thrust, form flight top surface and the higher stream in bottom surface Speed difference further improves lift for aircraft.

The transition rack is used for fixed spherical for connecting bionical empennage, flight lift bottom plate and bionical wing Manned capsule guarantees overall stability, can be equipped with streamlined covering in transition rack periphery, it is ensured that complete machine cleanliness.

Self-balancing ducted fan/the paddle device mainly includes at least one set of torque self-balancing wind that can be reversely rotated Fan/blade, duct tub, swing mechanism, power mechanism and swing power mechanism；Every group of torque self-balancing wind that can be reversely rotated Fan/blade includes torque self balancing fan/blade of at least two mutually opposing rotations；Torque self balancing fan/the blade Be fixed in duct tub, described swing mechanism one end is fixed in duct tub, the other end directly with swing power mechanism Power output axis connection or by bionical wing and swing power mechanism power output axis connection, swing power mechanism be fixed on On bionical wing or bionical empennage, to realize the angle rotary oscillation of self-balancing ducted fan/paddle device or airfoil body；Institute It states power mechanism and connect and provide rotary power with torque self balancing fan/blade, mentioned while providing lift for aircraft For onward impulse.The power mechanism and swing power mechanism preferred motor, the swing mechanism are preferably fixed to duct cylinder Frame structure on frame.

The safety system includes safety early warning device, emergency protective device and emergency energy storage equipment.The safety Prior-warning device includes signal processor and/or sensor and/or detector, and sensor is connect with signal processor, and detector is also It being connect with signal processor, sensor and/or detector provide weather environment information and flight attitude information early warning for aircraft, The preferred weather monitoring sensor of sensor and/or flight attitude sensor etc., the preferred radar detedtor of detector and/or vision are visited Device etc. is surveyed, the signal processor analyzes the signal of sensor and detector, dangerous information existing for early warning.It is described to answer Anxious protective device mainly includes emergency ramp-down device and person-protecting means.The emergency ramp-down device be located in bionical wing or In spherical manned capsule, emergency ramp-down device preferably includes floatage body, and floatage body is in umbrella or balloon-like, buoyancy after inflation Body is connect by pipeline with the bottle body of built-in high-pressure helium, and control valve, control valve and electric power robot control system(RCS) are equipped on pipeline The processing module of electric control gear connects；When there is significant trouble by sensor monitoring aircraft, the high-pressure helium impact of triggering Umbrella or the floatage body transient response inflation of balloon-like provide high buoyancy for aircraft, in short-term in so that aircraft is in flat Floating state, protects aircraft security.The person-protecting means are mounted in spherical manned capsule, preferred security air bag and safety belt Equal personnel's safeguard procedures, can in case of emergency automatic trigger, preventing mechanism is made to personnel, guarantees the safety of personnel.It is described Electricity power supply between energy storage equipment of meeting an urgent need can guarantee in emergency circumstances or when energy storage equipment power supply deficiency not, finds peace for aircraft High-fall pick-up point provides electric power, preferably the battery group of the high-energy density with charge function.

The electric power robot control system(RCS) mainly includes the energy storage device and electric control gear being fixed in aircraft, energy storage device It is electrically connected with electric control gear, the electric control gear includes signal acquisition module, operation module, display module and processing module, letter Number acquisition module and operation module are electrically connected with processing module, and processing module is electrically connected with display module, self-balancing duct wind Fan/paddle device swings the emergency ramp-down device and processing module electricity of power mechanism and power mechanism and protective device of meeting an urgent need The signal processor of connection, the signal acquisition module and safety early warning device connects, and signal acquisition module is by the signal of acquisition It is transmitted to processing module, and after processing module processing and cycle detection removal existence of redundant, output to display module is shown Show or export to emergency protective device and/or self-balancing ducted fan/paddle device execution and is automatically brought into operation, or passes through operation module It issues instruction output to emergency protective device and/or self-balancing ducted fan/paddle device after processing module is handled and executes hand Dynamic operation.The battery group of the high-energy density with charge function can be used in the energy storage device, mainly supplies each power equipment Power.

Further, the side deflector of the flight lift bottom plate and/or the vertical tail of bionical empennage are alternatively arranged as flying The support of row device uses.The side deflector and vertical tail can be made of highly elastic material or bottom is equipped with high-elastic Property material, for aircraft landing buffering is provided.

Further, shaftless ducted fan/blade of torque self-balancing can be used in the torque self balancing fan/blade, Torque self-balancing can be used has axis ducted fan/blade.

Further, two be fixed on bionical wing group self-balancing ducted fan/paddle device can also be adopted to rotation Two groups of existing ducted fans/blade replaces.

Further, empennage yaw device is also provided on the bionical empennage, the bionical empennage is yawed by empennage Device is connect with transition rack, and empennage yaw device can make bionical empennage, and small angle oscillation is biased in the horizontal direction, for adjusting The heading of aircraft.The motor with speed reducer can be used in the empennage yaw device, can also be used electric cylinder or strut or Oil cylinder or cylinder.

Further, the aircraft can also be equipped with energy management apparatus and wireless charging device, and energy storage device and emergency store Can device pass through energy management apparatus and be electrically connected with electric control gear, energy storage device and meet an urgent need energy storage equipment also and wireless charging Device electrical connection.Energy storage device and emergency energy storage equipment can be in any one group of power supplies, and another group ensures electricity using wireless charging Power supply, energy storage device and emergency energy storage equipment can not between electric mutual backup.

Further, the aircraft can also be equipped with path planning processing unit, path planning processing unit and processing module It is connected, can be handled according to set path planning through processor, implements self-balancing ducted fan/paddle device and/or empennage is inclined The adjustment of boat device, and planning is made by the sensor and/or detector signal of safety early warning device collected in real time and is adjusted It is whole.Path planning processing unit is existing mature unit.

Further, the electric power robot control system(RCS) can also be equipped with man machine language's interactive device, man machine language's interactive device It can recognize the sound of aircraft pilot and by acoustic control operation, it can be achieved that the flight experience of high degree of comfort.Man machine language's interaction Device is existing maturing appts.

Further, the flight attitude sensor mainly includes three-axis gyroscope, three axis accelerometer, three axis electronics sieve Sensor signal can be transmitted to signal processor to adjust ducted fan/blade operating status by disk etc., realize steady fly Row, reduces aerial flow perturbation.The preferred wind speed wind direction sensor of the weather monitoring sensor and Temperature Humidity Sensor etc..Institute State the preferred laser sensor of distance measuring sensor and ultrasonic sensor etc..

The utility model uses three groups of swingable self-balancing ducted fan/paddle devices to provide flying power for aircraft And guarantee that aircraft is stablized, with the fixed Rotable spherical manned capsule of transition rack and connect bionical wing, bionical empennage and flight Lift bottom plate constitutes the aircraft for meeting aerodynamic principle.After aircraft starting, three groups of self-balancing ducted fan/paddles The rotational automatic specified altitude assignment that is promoted to of leaf device is by setting route swing torque self balancing fan/blade angle, by self-balancing Ducted fan/paddle device provides forward flight power while providing lift, flight lift bottom plate and bionical wing are flight Device complete machine provides lift, and bionical empennage reinforces complete machine stability.In flight course, distinguished by electric power robot control system(RCS) automatic The deviation angle of adjustment control self-balancing ducted fan/paddle device revolving speed or swing angle and bionical empennage, realizes and flies The acceleration or steering of row device, while being controlled with flight attitude sensor real-time monitoring state of flight and by signal processor conditions Self-balancing ducted fan/paddle device operating status reduces flow perturbation, increases flight stability.In addition this aircraft is also Equipped with a variety of safety precautions, in terms of energy resource supply, be equipped with energy storage device and emergency energy storage equipment, can not between electricity guarantee supply While electricity is safe, also giving warning in advance using safety early warning device and making planning and adjusting avoids the occurrence of danger, can also lose Automatically emergency protective device is enabled when removing power or being in an emergency, and guarantees aircraft and persons on board's safety.

Beneficial effect

1, the self-balancing ducted fan/paddle device of this bionic Aircraft solves the flight of traditional three rotor crafts not The stable and unbalanced problem of torque, while flight aerodynamic noise is also greatly inhibited, increase the comfort of persons on board.

2, the design of bionical wing and flight lift bottom plate reduces windage and provides lift, imitates when can fly before aircraft The flight stability of aircraft can be improved in the design of raw empennage, and the aircraft for originally meeting aerodynamic principle reduces traditional rotor Or the flight energy consumption of duct rotor, increase air mileage.

3, the safety system of this bionic Aircraft not only gives warning in advance using emergency advance warning device and makes planning Adjustment avoids the occurrence of danger, can be also automatic enabling emergency protective device running out of steam or being in an emergency, can be significantly The flight safety of aircraft is improved, while ensureing the safety of personnel on aircraft.

4, structure is simple, can VTOL and using body provide lift, energy loss is low, and applicability is good, cost compared with It is low, it is highly-safe, it is applicable not only to ordinary person and does manned experience, be further adapted to ordinary people and do daily life trip work Tool is conducive to substantially promotion and application.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model embodiment 1；

Fig. 2 is the Section A-A view of the utility model embodiment 1；

Fig. 3 is the bionical wing section B-B view of the utility model embodiment 1；

Fig. 4 is the self-balancing ducted fan/paddle device structural schematic diagram of the utility model embodiment 1；

Fig. 5 is the schematic diagram of 1 aircraft power supply of embodiment；

Fig. 6 is the structural schematic diagram of the utility model embodiment 2；

Fig. 7 is the C-C section view of the utility model embodiment 2；

Fig. 8 is the bionical wing D-D section view of the utility model embodiment 2.

In figure, 1- spherical shape manned capsule, 2- flight lift bottom plate, 201- baffle at bottom, the side 202- deflector, 3- is bionical Wing, 301- airfoil body, 302- are connected and fixed seat, the bionical empennage of 4-, 401- vertical tail, 402- tailplane, 5- transition machine Frame, 6- self-balancing ducted fan/paddle device, 6 '-existing ducted fan/blades, 601- self balancing fan/blade, 602- are contained Road tub, 603- swing mechanism, 604- power mechanism, 605- swing power mechanism, 7- safety system, 701- safe early warning Device, 702- emergency protective device, 703- emergency energy storage equipment, 8- electric power robot control system(RCS), 801- energy storage device, the automatically controlled dress of 802- It sets, 803- energy management apparatus, 804- wireless charging device, 9- empennage yaw device.

Specific embodiment

The following is a further explanation of the present invention with reference to the accompanying drawings and embodiments.

Embodiment 1

Referring to Fig.1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, three ducted fan bionic Aircraft of torque self-balancing, main includes spherical shape 5, three groups of manned capsule 1, flight lift bottom plate 2, bionical wing 3, bionical empennage 4, transition rack self-balancing ducted fans/blade dress Set 6, safety system 7 and electric power robot control system(RCS) 8, the top and bottom of the rotatable spherical manned capsule 1 are and transition The front end of rack 5 connects, and the front end of the bionical empennage 4 is connect with the rear end of transition rack 5；The bionical wing 3 is fixed on The top of transition rack 5, the flight lift bottom plate 2 are connected in the bottom of transition rack 5；Self-balancing ducted fan/the paddle Two groups in leaf device 6 are fixed on bionical wing 3, and are symmetrically positioned in spherical 1 two sides of manned capsule, self-balancing ducted fan/paddle Another group in leaf device 6 is fixed on the head and the tail middle line of bionical empennage 4, the electric power robot control system(RCS) 8 and safety system 7 Be each attached in aircraft, three groups of self-balancing ducted fan/paddle devices 6 and safety system 7 with electric power robot control system(RCS) 8 With electrical connection.

The spherical shape manned capsule 1 uses penetrating inner frame spheroidal structure.The flight lift bottom plate 2 mainly includes bottom Portion's deflector 201 and two pieces of side deflectors 202,201 stem of baffle at bottom is straight and tail portion arc is bent downwardly (ginseng See Fig. 3), the top edge of two pieces of side deflectors 202 is connect with the both sides of the edge front of baffle at bottom 201 respectively, and flight rises Power bottom plate 2 can effectively generate downwash flow when aircraft advances and avoid the formation of vortex simultaneously, promote aircraft lift, reduce energy Source loss.The bionical wing 3 mainly includes that the airfoil body 301 of two imitative bird's wing wing and one are connected and fixed seat 302, the wing Type body 301 is equipped with self-balancing ducted fan/paddle device 6 through-hole for installing rotatable swing；The airfoil body 301 The both ends for being connected and fixed seat 302 are arranged symmetrically in, airfoil body 301 is connected with seat 302 is connected and fixed, and formation one is streamlined bionical The wing, it is ensured that bionical 3 top airflow velocity of wing than flight lift bottom plate 2 wind speed faster, pressure is smaller, further increases winged The lift of row device.The bionical empennage 4 mainly includes two vertical tails 401 and a tailplane 402, for keeping flight Device is stablized, and described two vertical tails 401 are separately fixed at 402 both ends of tailplane, the midline position of the tailplane 402 Equipped with through-hole, for installing self-balancing ducted fan/paddle device 6 of fixed rotatable swing；The transition rack 5 is for connecting Bionical empennage 4, flight lift bottom plate 2 and bionical wing 3 are connect, while for fixed spherical manned capsule 1, guaranteeing overall stability, Streamlined covering can be equipped in 5 periphery of transition rack, it is ensured that complete machine cleanliness.

Self-balancing ducted fan/the paddle device 6 mainly includes one group of torque self balancing fan/paddle that can be reversely rotated Leaf 601, duct tub 602, swing mechanism 603, power mechanism 604 and swing power mechanism 605, the torsion which can reversely rotate Square self balancing fan/blade 601 includes torque self balancing fan/blade of two mutually opposing rotations；The torque self-balancing Fan/blade 601 is fixed in duct tub 602, and described 603 one end of swing mechanism is fixed in duct tub 602, the other end Directly with swing power mechanism 605 power output axis connection, the swings power mechanism 605 be fixed on bionical wing 3 or imitate On raw empennage 4；The power mechanism 604 is connect with torque self balancing fan/blade 601 by gear and provides reverse rotation and moved Power, swing mechanism 603 can around swing power mechanism 605 power output shaft rotation, swing mechanism 603 drive in set torque from The duct tub 602 of balancing fan/blade 601 is swung, to realize the swing of self-balancing ducted fan/paddle device 6.It is described Power mechanism 604 and swing power mechanism 605 select motor, and the selection of swing mechanism 603 is fixed in duct tub 602 Frame structure.When swing power mechanism 605 is fixed on bionical wing 3, bionical wing 3 is fixed in selection in the present embodiment On airfoil body 301, duct tub 602 is fixed in the through-hole of airfoil body 301.In the present embodiment, torque self balancing fan/blade 601 use shaftless ducted fan/blade of torque self-balancing.

The safety system 7 includes safety early warning device 701, emergency protective device 702 and emergency energy storage equipment 703.Safety early warning device 701, emergency protective device 702 and emergency energy storage equipment 703 are existing maturing appts.The safety Prior-warning device 701 includes that signal processor and sensor and detector, sensor are connect with signal processor, detector also with letter The connection of number processor, sensor and detector provide weather environment information and flight attitude information early warning, sensor for aircraft Including weather monitoring sensor and/or flight attitude sensor etc., detector includes radar detedtor and/or visual detector Deng the signal processor analyzes the signal of sensor/detector, dangerous information existing for early warning.The emergency is anti- Protection unit 702 includes emergency ramp-down device and person-protecting means.The emergency ramp-down device is arranged in bionical wing, emergency Ramp-down device may include floatage body, and floatage body is in umbrella or balloon-like after inflation, and floatage body passes through pipeline and built-in height The bottle body connection of helium is pressed, control valve, the processing of control valve and the electric control gear 802 of electric power robot control system(RCS) 8 are installed on pipeline Module connection；When there is significant trouble by sensor or detector monitors aircraft, triggering high-pressure helium impact umbrella or The floatage body transient response inflation of balloon-like provides high buoyancy for aircraft, interior in short-term that aircraft is made to be in flat floating state, Protect aircraft security.The person-protecting means are mounted in spherical manned capsule 1, the personnel such as preferred security air bag and safety belt Safeguard procedures, can in case of emergency automatic trigger, preventing mechanism is made to personnel, guarantees the safety of personnel.The emergency stores Can device 703 be located in transition rack 5, it is ensured that in emergency circumstances or when energy storage equipment power supply deficiency not between electricity power supply, Safe falling place being found for aircraft, electric power being provided, the battery group of the high-energy density with charge function can be selected.

The electric power robot control system(RCS) 8 includes the energy storage device 801 and electric control gear 802 being fixed in aircraft, energy storage Device 801 is electrically connected with electric control gear 802, and the electric control gear 802 includes signal acquisition module, operation module, display module And processing module, signal acquisition module and operation module are electrically connected with processing module, processing module is electrically connected with display module, Self-balancing ducted fan/paddle device 6 swing power mechanism 605 and power mechanism 604 and emergency protective device 702 are answered First aid shaking apparatus is electrically connected with processing module, and the signal processor of the signal acquisition module and safety early warning device 701 connects It connects, the signal of acquisition is transmitted to processing module by signal acquisition module, and is handled simultaneously cycle detection through processing module and removed redundancy After ingredient, output is shown or is exported to display module to emergency protective device 702 and self-balancing ducted fan/paddle device 6 execute be automatically brought into operation, or by operation module issue instruction after processing module is handled output to emergency protective device 702 and from Balance ducted fan/paddle device 6 executes manual operation.It is close that the high-energy with charge function can be used in the energy storage device 801 The battery group of degree mainly supplies each power equipment power.Signal acquisition module, operation module, display module and processing module It is existing mature modules.

In addition, this aircraft is additionally provided with energy management apparatus 803, wireless charging device 804 and empennage yaw device 9. Energy storage device 801 and emergency energy storage equipment 703 are electrically connected by energy management apparatus 803 with electric control gear 802, and energy is passed through Managing device 803 is monitored energy storage device 801 and emergency energy storage equipment 703, keeps power supply duration；Energy storage device 801 It is also electrically connected with wireless charging device 804 with emergency energy storage equipment 703, is to exhaust electric energy by wireless charging device 804 Energy storage device 801 or emergency energy storage equipment 703 charge.The bionical empennage 4 passes through empennage yaw device 9 and transition rack The motor with speed reducer can be used in 5 connections, the empennage yaw device.Empennage yaw device can make bionical empennage in the horizontal direction Small angle oscillation is biased to, and to guarantee bionical empennage yaw angle, for adjusting the heading of aircraft, auxiliary realizes aircraft Course changing control.The bottom of the vertical tail 401 of the side deflector 202 and bionical empennage 4 of the flight lift bottom plate 2 of this aircraft Equipped with highly elastic material, the landing for aircraft is buffered.

The aircraft can also be equipped with path planning processing unit, and path planning processing unit is connected with processing module, It can be handled according to set path planning through processor, implement the tune of self-balancing ducted fan/paddle device and empennage yaw device It is whole, and planning and adjusting is made by the sensor and/or detector signal of safety early warning device collected in real time.Path planning Processing unit is existing mature unit.

The flight attitude sensor includes mainly three-axis gyroscope, three axis accelerometer, and three axle electronic compass etc. can Sensor signal is transmitted to signal processor to adjust ducted fan/blade operating status, realizes smooth flight, is reduced empty Middle flow perturbation.The weather monitoring sensor includes wind speed wind direction sensor and Temperature Humidity Sensor etc..The ranging passes Sensor includes laser sensor and ultrasonic sensor etc..

Embodiment 2

Referring to Fig. 6, Fig. 7 and Fig. 8, a kind of three ducted fan bionic Aircraft of torque self-balancing, the main region with embodiment 1 Be not: the flight lift bottom plate 2 of the present embodiment is connected in the bottom of transition rack 5 and forms entirety with bionical 4 bottom surface of empennage, Constitute continuous flow line type lift bottom plate.The bionical empennage 4 is connected in transition rack 5, and the streamline at the top of 5 periphery of transition rack 402 top surface of tailplane of type covering and bionical empennage 4 forms the streamlined top surface of aircraft.Two of the bionical wing 3 Airfoil body 301 is arranged symmetrically in the both ends for being connected and fixed seat 302, and airfoil body 301 can be around the end rotation for being connected and fixed seat 302 Turn.For two groups of self-balancing ducted fan/paddle devices being arranged on bionical wing 3, two groups of self-balancing ducted fan/blades Device is replaced with existing ducted fan/blade 6 ' and is connected with airfoil body 301, the rotation of two groups of existing ducted fan/blades 6 ' Turning mode is to rotation.The airfoil body 301 of bionical wing 3 and the power output axis connection for swinging power mechanism 605 swing engine Structure 605 is fixed on being connected and fixed on seat 302 of bionical wing 3, and airfoil body 301 can be driven around swinging the dynamic of power mechanism 605 Power output shaft rotation.Self-balancing ducted fan/paddle device 6 of aircraft tail portion is located between two vertical tails 401；Flight Self-balancing ducted fan/paddle device 6 swing power mechanism 605 of device tail portion is fixed on the vertical tail 401 of bionical empennage 4 On.For self-balancing ducted fan/paddle device 6 of aircraft tail portion, which includes one Torque self balancing fan/blade that group can reversely rotate, torque self balancing fan/blade which can reversely rotate include up and down Mutual two reversely rotated torque self balancing fan/blade of arrangement.Two torques self-balancing wind arranged up and down What fan/blade was all made of torque self-balancing has axis ducted fan/blade.Two torques self balancing fan/blade arranged up and down It is connect with power mechanism.In the present embodiment, double-axis motor is can be selected in power mechanism, and two motor also can be selected.Twin shaft Two axis direction of rotation of motor are on the contrary or the direction of rotation of two motor is opposite.Another the present embodiment is without setting empennage yaw dress It sets.

Embodiment 3

The present embodiment the difference from embodiment 1 is that: the spherical manned capsule 1 of this implementation uses rugby shape manned capsule；It is right In two groups of self-balancing ducted fan/paddle devices 6 being arranged on bionical wing 3, two groups of self-balancing ducted fan/paddle devices 6 603 one end of swing mechanism is fixed in duct tub 602, and the other end is dynamic by the airfoil body 301 of bionical wing 3 and swing The power output axis connection of force mechanisms 605, it is described swing that power mechanism 605 is fixed on bionical wing 3 be connected and fixed seat 302 On, airfoil body 301 can be driven around the power output shaft rotation for swinging power mechanism 605.In the present embodiment, torque self-balancing wind Fan/blade has axis ducted fan/blade using torque self-balancing.Remaining is the same as embodiment 1.

Claims (10)

1. three ducted fan bionic Aircraft of torque self-balancing, which is characterized in that main includes spherical manned capsule, flight lift bottom Plate, bionical wing, bionical empennage, transition rack, three groups of self-balancing ducted fan/paddle device, safety system and electric power The top and bottom of robot control system(RCS), the rotatable spherical manned capsule are connect with the front end of transition rack, the bionical tail The front end of the wing is connect with the rear end of transition rack；The bionical wing is connected in the top of transition rack, flight lift bottom Plate is connected in the bottom of transition rack；Two groups in three groups of self-balancing ducted fan/paddle devices are fixed on bionical wing, and The two sides of spherical manned capsule are symmetrically positioned in, another group in three groups of self-balancing ducted fan/paddle devices is fixed on bionical empennage Head and the tail middle line on, the electric power robot control system(RCS) and safety system are each attached in aircraft, three groups of self-balancing duct wind Fan/paddle device and safety system are with electric power robot control system(RCS) to be electrically connected.

2. three ducted fan bionic Aircraft of torque self-balancing according to claim 1, which is characterized in that the bionical machine The wing mainly includes the airfoil body of two imitative bird's wing wing and one is connected and fixed seat, is equipped on two airfoil bodies for installing from flat Weigh ducted fan/paddle device through-hole, and two groups of self-balancing ducted fan/paddle devices are respectively arranged in the logical of two airfoil bodies Kong Zhong；Two airfoil bodies are arranged symmetrically in the both ends for being connected and fixed seat, and airfoil body is connected with seat is connected and fixed, and form a stream The bionical wing of line style；Or two airfoil bodies are arranged symmetrically in the both ends for being connected and fixed seat, airfoil body can surround and be connected and fixed seat End rotation.

3. three ducted fan bionic Aircraft of torque self-balancing according to claim 1 or 2, which is characterized in that described imitative Raw empennage mainly includes two fixed vertical empennages and a tailplane, and two vertical tails are symmetrically fixed on tailplane Both ends, self-balancing ducted fan/paddle device on the bionical empennage be mounted on tailplane or be mounted on two it is vertical Between empennage.

4. three ducted fan bionic Aircraft of torque self-balancing according to claim 1 or 2, which is characterized in that it is described from Balance ducted fan/paddle device mainly includes at least one set of torque self balancing fan/blade, duct cylinder that can be reversely rotated Frame, swing mechanism, power mechanism and swing power mechanism；Every group of torque self balancing fan/blade that can be reversely rotated includes extremely Torque self balancing fan/blade of few two mutually opposing rotations；Torque self balancing fan/the blade is fixed on duct tub Interior, described swing mechanism one end is fixed in duct tub, power output axis connection of the other end directly with swing power mechanism Or the power output axis connection by bionical wing and swing power mechanism, it swings power mechanism and is fixed on bionical wing or bionical On empennage；The power mechanism is connect with torque self balancing fan/blade.

5. three ducted fan bionic Aircraft of torque self-balancing according to claim 1 or 2, which is characterized in that described to fly Row lift bottom plate mainly includes baffle at bottom and two pieces of side deflectors, and the baffle at bottom stem is straight and tail portion arc It is bent downwardly, the top edge of two pieces of side deflectors and the both sides of the edge front of baffle at bottom connect.

6. three ducted fan bionic Aircraft of torque self-balancing according to claim 1 or 2, which is characterized in that the peace All risk insurance protecting system includes safety early warning device, emergency protective device and emergency energy storage equipment, and the safety early warning device includes letter Number processor and/or sensor and/or detector, sensor are connect with signal processor, and detector also connects with signal processor It connects；The emergency protective device mainly includes emergency ramp-down device and person-protecting means；The emergency ramp-down device is located at imitative In the life wing or in spherical manned capsule, the person-protecting means are mounted in spherical manned capsule.

7. three ducted fan bionic Aircraft of torque self-balancing according to claim 6, which is characterized in that the electric power is certainly Control system mainly includes the energy storage device and electric control gear being fixed in aircraft, and energy storage device is electrically connected with electric control gear, The electric control gear includes signal acquisition module, operation module, display module and processing module, signal acquisition module and operation mould Block is electrically connected with processing module, and processing module is electrically connected with display module, and the swing of self-balancing ducted fan/paddle device is dynamic The emergency ramp-down device of force mechanisms and power mechanism and protective device of meeting an urgent need is electrically connected with processing module, the signal acquisition mould The connection of the signal processor of block and safety early warning device.

8. three ducted fan bionic Aircraft of torque self-balancing according to claim 4, which is characterized in that the torque is certainly Shaftless ducted fan/blade of torque self-balancing can be used in balancing fan/blade, or has axis duct wind using torque self-balancing Fan/blade.

9. three ducted fan bionic Aircraft of torque self-balancing according to claim 1 or 2, which is characterized in that the ball Shape manned capsule uses spheroidal structure, or uses rugby shape, or uses elliposoidal structure, and spherical manned capsule is pressed from both sides by transition rack It holds and rotatable.

10. three ducted fan bionic Aircraft of torque self-balancing according to claim 1 or 2, which is characterized in that described imitative Empennage yaw device is additionally provided on raw empennage, the bionical empennage is connect by empennage yaw device with transition rack.