CN209427024U - Blade attitude-adjusting system - Google Patents

Abstract

The utility model discloses a kind of blade attitude-adjusting systems, including limiting fixed seat and rotor holder.Limiting fixed seat is for being arranged in propeller hub；One end of rotor holder is movably arranged on limiting fixed seat, and rotor holder can be relative to the radial rotating of propeller hub, and moving radially along propeller hub；The other end of rotor holder is for being arranged rotor blade.The blade attitude-adjusting system of the utility model, rotor holder is movably arranged on limiting fixed seat, rotor holder can be relative to the radial rotating of propeller hub and moving radially along propeller hub, rotor blade is adjusted relative to the tilt angle of propeller hub, after aircraft assembly, it can reinforce the adjustment capability of aircraft flight posture, so that the ability that this aircraft resists wind-force is stronger, so that the flight stability of aircraft is effectively ensured.

Description

Blade attitude-adjusting system

Technical field

The utility model relates to vehicle technology fields, more particularly to a kind of blade attitude-adjusting system.

Background technique

In recent years, small-sized unmanned aircraft plays remarkable effect in military, civil field.In military field, small in size, Light-weight small aircraft has very strong stealthy effect in various aspects such as vision, noise and radar reflection sections, can mention significantly It is horizontal to rise battle field informationization.In civil field, small-sized unmanned aircraft also can be using exploration outdoors, power-line patrolling, fire prison In the dangerous situations such as survey.

Currently, small-sized unmanned aircraft often shows certain limitation when coping with a variety of different task demands.Example Such as, conventional Fixed Wing AirVehicle, forward flight speed is fast, task radius is big, but sliding race or ejection is needed to take off, and needs to block Land, and a hovering investigation can not be carried out away to target；Rotor class aircraft, further as helicopter, more rotors fly Row device etc., can VTOL, hovering, show excellent low-speed performance, but rotor class aircraft forward flight speed is low, task Radius is small, can not cope with quick response, remote mission requirements.

In particular, individual soldier and level of platoon leader combat unit are different to the performance requirement of aircraft under different operational environments, for example, In military operations in urban terrain, have it is vertical rise battle array, ability of hovering unmanned vehicle can between building, on roof, on windowsill observation exist The enemy in shelter promotes soldier's situation of battlefield sensing capability；In Field Operational, often need flying speed fast, combat radius Big aircraft is to obtain rapidly the large-scale reconnaissance in periphery.It is limited by load capacity, individual soldier and level of platoon leader combat unit are difficult Different combat duty demands are coped with to carry a variety of aircraft simultaneously, a kind of flight stability is researched and developed, is not easy to be affected by the wind, it is empty Between occupy small, be convenient for carrying, be suitble to individual equipment, be able to satisfy friction speed, different combat radiuses, can vertically play the small-sized nothing of battle array People's aircraft is particularly important.

Utility model content

The purpose of this utility model is to provide a kind of blade attitude-adjusting systems, to solve nothing existing in the prior art The unstable technical problem of people's aircraft flight.

To achieve the goals above, the utility model uses following technical scheme:

A kind of blade attitude-adjusting system provided by the utility model, including limiting fixed seat and rotor holder；

The limiting fixed seat is for being arranged in propeller hub；

One end of the rotor holder is movably arranged on the limiting fixed seat, and the rotor holder can be relative to The radial rotating of the propeller hub, and moving radially along the propeller hub；

The other end of the rotor holder is for being arranged rotor blade.

Further, one end of the rotor holder is arranged on the limiting fixed seat by connection horizontal axis；

The axis of the connection horizontal axis is located at the propeller hub in the radial direction, and the rotor holder can be relative to described Connect the axial rotation of horizontal axis, and the axial movement along the connection horizontal axis.

Further, the rotor holder is socketed on the connection horizontal axis by sliding bearing.

Further, retaining spring is provided between the limiting fixed seat and the rotor holder；

One end of the retaining spring is connect with the limiting fixed seat, the other end of the retaining spring and the rotor The connection of paddle holder, the retaining spring are used to limit the relative position of the rotor holder and the limiting fixed seat.

Further, one end of the rotor holder is arranged on the limiting fixed seat by connection horizontal axis；

The axis of the connection horizontal axis is located at the propeller hub in the radial direction, and the rotor holder can be relative to described Connect the axial rotation of horizontal axis, and the axial movement along the connection horizontal axis.

Further, the retaining spring is set on the connection horizontal axis.

Further, the rotor holder includes rotating base and limiting slot；

One end of the rotating base is socketed on the limiting fixed seat；

The other end of the rotating base is arranged in the limiting slot.

Further, the rotating base is socketed on the sliding bearing, and the rotating base can be relative to described Limiting fixed seat sliding and rotation.

Further, the rotor holder further includes position limit arm；

One end of the rotating base is arranged in the position limit arm, and the position limit arm is for limiting the rotating base in institute State the range on limiting fixed seat.

Further, the rotor holder and the foldable connection of rotor blade.

Blade attitude-adjusting system provided by the utility model, rotor holder are movably arranged on limiting fixed seat, rotation Wing paddle holder can be relative to the radial rotating of propeller hub and moving radially along propeller hub, so that rotor blade inclining relative to propeller hub Rake angle can be adjusted, and after aircraft assembly, can reinforce the adjustment capability of aircraft flight posture, so that this aircraft The ability for resisting wind-force is stronger, so that the flight stability of aircraft is effectively ensured, solves existing unmanned flight Device flies unstable problem.

Detailed description of the invention

It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art Under the premise of labour, it is also possible to obtain other drawings based on these drawings.

Fig. 1 is a kind of structural schematic diagram for blade attitude-adjusting system that the utility model embodiment one provides；

Fig. 2 is a kind of schematic cross-sectional view for blade attitude-adjusting system that the utility model embodiment one provides；

Fig. 3 is the structure of the rotor holder in a kind of blade attitude-adjusting system that the utility model embodiment one provides Schematic diagram；

Fig. 4 is a kind of overall structure diagram for portable aircraft that the utility model embodiment two provides；

Fig. 5 is a kind of overall structure diagram for portable aircraft that the utility model embodiment two provides；

Fig. 6 is the structural representation of the bispin swing device in a kind of portable aircraft that the utility model embodiment two provides Figure；

Fig. 7 is the structural representation of the bispin swing device in a kind of portable aircraft that the utility model embodiment two provides Figure；

Fig. 8 is the structural representation of the upper rotor mechanism in a kind of portable aircraft that the utility model embodiment two provides Figure；

Fig. 9 is the structural representation of the upper rotor mechanism in a kind of portable aircraft that the utility model embodiment two provides Figure；

Figure 10 is the section view knot of the upper rotor mechanism in a kind of portable aircraft that the utility model embodiment two provides Structure schematic diagram；

Figure 11 is the wing drop pitch-changing mechanism in a kind of portable aircraft that the utility model embodiment two provides Structural schematic diagram；

Figure 12 is the wing drop pitch-changing mechanism in a kind of portable aircraft that the utility model embodiment two provides Structural schematic diagram；

Figure 13 is the wing drop pitch-changing mechanism in a kind of portable aircraft that the utility model embodiment two provides Schematic cross-sectional view；

Figure 14 is the structure in the upper wing drop portion in a kind of portable aircraft that the utility model embodiment two provides Schematic diagram；

Figure 15 is the structure of the folding and unfolding take-off and landing device in a kind of portable aircraft that the utility model embodiment two provides Schematic diagram.

Appended drawing reference:

112- rotor blade；

1131- limiting fixed seat；1132- rotor holder；1133- connection horizontal axis；1134- sliding bearing；1135- positioning Spring；

11321- limiting slot；11322- rotating base；11323- position limit arm；

000- fuselage；100- bispin swing device；200- folding and unfolding take-off and landing device；

The upper rotor mechanism of 110-；Rotor mechanism under 120-；130- wing drop pitch-changing mechanism；140- central axis；

111- propeller hub；113- blade attitude-adjusting system；114- rotor connecting rod；115- brushless motor；116- motor cabinet；

The upper wing drop portion 131-；Wing drop portion under 132-；133- synchronising (connecting) rod；The anti-torsion link assembly of 134-；135- Leaning device steering engine；136- steering engine kinematic link；137- steering engine driving rocker；138- leaning device steering engine bracket；139- inclination Portion's connecting rod；

1311- rake inner ring；1312- rake outer ring；

230- buffers foot mechanism；

211- telescoping mechanism steering engine fixing seat；212- telescoping mechanism steering engine；213- sliding connector；214- sliding bearing；

221- first connecting rod；222- second connecting rod；223- third connecting rod；224- fourth link；The 5th connecting rod of 225-；226- Six-bar linkage.

Specific embodiment

The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical Novel protected range.

It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary, It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition The concrete meaning of language in the present invention.

Embodiment one:

In the optinal plan of the present embodiment, as shown in Figure 1 to Figure 3, a kind of blade pose adjustment provided in this embodiment Mechanism, including limiting fixed seat 1131 and rotor holder 1132；Limiting fixed seat 1131 is for being arranged in propeller hub 111；Rotation One end of wing paddle holder 1132 is movably arranged on limiting fixed seat 1131, and rotor holder 1132 can be relative to propeller hub 111 Radial rotating, and moving radially along propeller hub 111；The other end of rotor holder 1132 is for being arranged rotor blade 112.

In the present embodiment, rotor holder 1132 is movably arranged on limiting fixed seat 1131, rotor holder 1132 It can be relative to the radial rotating of propeller hub 111 and moving radially along propeller hub 111, so that rotor blade 112 is relative to propeller hub 111 Tilt angle can be adjusted, aircraft assembly after, the adjustment capability of aircraft flight posture can be reinforced so that this fly The ability that row device resists wind-force is stronger, so that the flight stability of aircraft is effectively ensured

In the optinal plan of the present embodiment, one end of rotor holder 1132 is being limited by the connection setting of horizontal axis 1133 In fixing seat 1131；The axis of connection horizontal axis 1133 is located at propeller hub 111 in the radial direction, and rotor holder 1132 can be relative to Connect the axial rotation of horizontal axis 1133, and the axial movement along connection horizontal axis 1133.

In the optinal plan of the present embodiment, rotor holder 1132 is socketed in connection horizontal axis by sliding bearing 1134 On 1133, structure is simple, the operation is stable.

In the optinal plan of the present embodiment, positioning bullet is provided between limiting fixed seat 1131 and rotor holder 1132 Spring 1135；One end of retaining spring 1135 is connect with limiting fixed seat 1131, and the other end and rotor of retaining spring 1135 press from both sides Seat 1132 connects, and retaining spring 1135 is used to limit the relative position of rotor holder 1132 Yu limiting fixed seat 1131.

In the optinal plan of the present embodiment, one end of rotor holder 1132 is being limited by the connection setting of horizontal axis 1133 In fixing seat 1131；The axis of connection horizontal axis 1133 is located at propeller hub 111 in the radial direction, and rotor holder 1132 can be relative to Connect the axial rotation of horizontal axis 1133, and the axial movement along connection horizontal axis 1133.

In the optinal plan of the present embodiment, retaining spring 1135 is set on connection horizontal axis 1133.

In the present embodiment, after the posture for adjusting rotor blade 112, it is solid in limit such as to adjust rotor blade 112 After the tilt angle of tilt angle, rotor blade 112 relative to central axis 140 in reservation 1131, retaining spring 1135 with 1134 mating reaction of sliding bearing, rotor blade 112 and the relative position of limiting fixed seat 1131 are locked, and guarantee flight course In safety accident will not occur because 112 position of rotor blade is unstable.

In the optinal plan of the present embodiment, rotor holder 1132 includes rotating base 11322 and limiting slot 11321； One end of rotating base 11322 is socketed on limiting fixed seat 1131；The another of rotating base 11322 is arranged in limiting slot 11321 One end.

In the optinal plan of the present embodiment, rotating base 11322 is socketed on sliding bearing 1134, rotating base 11322 can slide and rotate relative to limiting fixed seat 1131.

In the present embodiment, rotating base 11322 on sliding bearing 1134 by being arranged on limiting fixed seat 1131.

In the optinal plan of the present embodiment, rotor holder 1132 further includes position limit arm 11323；Position limit arm 11323 is set It sets in one end of rotating base 11322, position limit arm 11323 is for limiting rotating base 11322 on limiting fixed seat 1131 Range.

In the present embodiment, limiting fixed seat 1131 is arranged on propeller hub 111, on the centrally disposed axis 140 of propeller hub 111, Propeller hub 111 can rotate on central axis 140.

In the optinal plan of the present embodiment, rotor holder 1132 and the foldable connection of rotor blade 112.

In the present embodiment, for the foldable setting of rotor blade 112 on rotor holder 1132, rotor blade 112 can It is folded relative to central axis 140, reduces the space hold of rotor blade 112 when not in use, convenient for storage and transport etc., improved The portability of rotor blade 112.

Embodiment two:

In the optinal plan of the present embodiment, as shown in Fig. 4 to Figure 15, a kind of portable flight provided in this embodiment Device, including fuselage 000, bispin swing device 100 and folding and unfolding take-off and landing device 200:

Wherein, bispin swing device 100 includes upper rotor mechanism 110, lower rotor mechanism 120, wing drop pitch-changing mechanism 130 And central axis 140；

Upper rotor mechanism 110 is arranged on fuselage 000 by central axis 140 with lower rotor mechanism 120, upper rotor mechanism 110 can coaxially rotate backward with lower rotor mechanism 120 relative to central axis 140, so that this aircraft can be realized lifting, and on Rotor mechanism 110 and lower rotor mechanism 120 can collapse and be unfolded, upper rotor mechanism 110, lower gyroplane relative to fuselage 000 Structure 120 can be inserted into the seam of fuselage 000 after collapsing, and improve the portability and ease for use of this aircraft；

On the centrally disposed axis 140 of wing drop pitch-changing mechanism 130, wing drop pitch-changing mechanism 130 is located at upper gyroplane Between structure 110 and lower rotor mechanism 120, wing drop pitch-changing mechanism 130 is for changing upper rotor mechanism 110 and lower rotor mechanism The 120 expansion amplitude relative to fuselage 000, and for changing between upper rotor mechanism 110 and lower rotor mechanism 120 away from From enabling this aircraft to realize in three-dimensional space longitudinally, laterally and vertically and horizontally compound movement, further, it is possible to adjust this The flight attitude of aircraft is effectively reduced influence of the wind-force to flight, so that the ability that this aircraft resists wind-force is stronger, flies Row is more steady；

Folding and unfolding take-off and landing device 200 includes telescoping mechanism and buffering foot mechanism 230；The centrally disposed axis in one end of telescoping mechanism On 140, the other end of telescoping mechanism is arranged in buffering foot mechanism 230, and telescoping mechanism can be unfolded and receive relative to fuselage 000 Hold together.

In the present embodiment, upper rotor mechanism 110 and lower 120 coaxial reverse of rotor mechanism, can eliminate from torque, make It is more steady to obtain the work of bispin swing device 100, has ensured the flight stability of this aircraft.

In the optinal plan of the present embodiment, upper rotor mechanism 110 includes propeller hub 111, rotor blade 112, rotor connecting rod 114；

It and include blade attitude-adjusting system 113 as described in embodiment one；Propeller hub 111 is rotatably arranged on central axis On 140；Rotor blade 112 is connect by blade attitude-adjusting system 113 with propeller hub 111；Propeller hub 111 passes through rotor connecting rod 114 It is connect with wing drop pitch-changing mechanism 130.

Further, the quantity of rotor blade 112 and blade attitude-adjusting system 113 is multiple, and the quantity of the two Identical, multiple blade attitude-adjusting systems 113 are uniformly arranged along the circumferential direction of propeller hub 111.

Preferably, propeller hub 111 is connect by bearing with central axis 140.

In the optinal plan of the present embodiment, upper rotor mechanism 110 further includes brushless motor 115 and motor cabinet 116；Motor Seat 116 is fixed on central axis 140；The stator of brushless motor 115 is connect with motor cabinet 116, the rotor of brushless motor 115 It is connect with propeller hub 111.

In the optinal plan of the present embodiment, blade attitude-adjusting system 113 includes limiting fixed seat 1131 and rotor Holder 1132；Limiting fixed seat 1131 is arranged on propeller hub 111；One end of rotor holder 1132 is set by connecting horizontal axis 1133 It sets on limiting fixed seat 1131, rotor holder 1132 can be relative to the radial rotating of propeller hub 111, and along propeller hub 111 It moves radially；The foldable other end that rotor holder 1132 is set of rotor blade 112.

In the present embodiment, for the foldable setting of rotor blade 112 on rotor holder 1132, rotor blade 112 can It is folded relative to fuselage 000, rotor blade 112 is inserted into the seam of fuselage 000 after folding, and reduces this aircraft when not in use Space hold, convenient for storage and transport etc., improve the portability and ease for use of this aircraft.

Further, rotor holder 1132 is socketed on connection horizontal axis 1133 by sliding bearing 1134, connection structure Simply, the operation is stable.

Also, retaining spring 1135, one end of retaining spring 1135 and limiting fixed seat are arranged on connection horizontal axis 1133 1131 connections, the other end of retaining spring 1135 are connect with rotor holder 1132, and retaining spring 1135 is for limiting rotor The relative position of holder 1132 and limiting fixed seat 1131.

Still further, rotor holder 1132 includes rotating base 11322 and limiting slot 11321；Rotating base 11322 One end be socketed on limiting fixed seat 1131；The other end of rotating base 11322 is arranged in limiting slot 11321.Rotating base 11322 are socketed on sliding bearing 1134, and rotating base 11322 can be slided and be rotated relative to limiting fixed seat 1131.

Also, rotor holder 1132 further includes position limit arm 11323；Rotating base 11322 is arranged in position limit arm 11323 One end, position limit arm 11323 is for limiting range of the rotating base 11322 on limiting fixed seat 1131.

Preferably, rotor blade 112 passes through the foldable other end that rotor holder 1132 is arranged in of shaft；Also, it revolves The quantity of wing blade 112 is preferably 3, i.e., the sum of the blade of this aircraft is 6.

In the present embodiment, rotor blade 112 is unfolded, and adjusts posture, and retaining spring 1135 is matched with sliding bearing 1134 Cooperation is used, and rotor blade 112 and the relative position of limiting fixed seat 1131 are locked, and guaranteeing will not be because of rotor in flight course 112 position of leaf is unstable and safety accident occurs.

It should be noted that lower rotor mechanism 120 is identical as upper 110 structure of rotor mechanism, the diameter relative to central axis 140 To being symmetricly set on central axis 140.

In the optinal plan of the present embodiment, wing drop pitch-changing mechanism 130 includes upper wing drop portion 131, lower automatic Rake 132 and synchronising (connecting) rod 133；Upper wing drop portion 131 is movably arranged on central axis 140 with lower wing drop portion 132 On, upper wing drop portion 131 can be tilted with lower wing drop portion 132 relative to the axis of central axis 140, and in The axis direction of mandrel 140 is mobile；Upper wing drop portion 131 is connect with lower wing drop portion 132 by synchronising (connecting) rod 133, on Wing drop portion 131 and lower wing drop portion 132 can the axis simultaneously relative to central axis 140 tilted, and along center The axis direction of axis 140 is mobile；Upper rotor mechanism 110 is connect with upper wing drop portion 131, lower rotor mechanism 120 with it is lower automatic Rake 132 connects.

In the optinal plan of the present embodiment, wing drop pitch-changing mechanism 130 further includes anti-torsion link assembly 134；Down certainly Dynamic rake 132 is connect by anti-torsion link assembly 134 with central axis 140.

Further, anti-torsion link assembly 134 includes the sequentially connected first anti-torsion connecting rod and the second anti-torsion connecting rod；First Anti- torsion connecting rod and the second anti-torsion connecting rod are at angle；First anti-torsion connecting rod is connect with the second anti-torsion connecting rod by pin shaft, the axis of pin shaft Axis of the line perpendicular to central axis 140.

In the optinal plan of the present embodiment, wing drop pitch-changing mechanism 130 further includes leaning device steering engine 135 and inclination Mechanism steering engine bracket 138；Leaning device steering engine bracket 138 is fixed on central axis 140, and leaning device steering engine 135 is arranged On leaning device steering engine bracket 138；Upper wing drop portion 131 is passed by sequentially connected steering engine kinematic link 136 and steering engine Shake arm 137 to connect with leaning device steering engine 135；Upper wing drop portion 131 is located at dumper with lower wing drop portion 132 The two sides up and down of structure steering engine bracket 138.

In the present embodiment, leaning device steering engine 135 is driven by steering engine kinematic link 136 and steering engine driving rocker 137 Axis run-off the straight of the upper wing drop portion 131 relative to central axis 140, and moved along the axis direction of central axis 140, it is real Existing 100 feathering of bispin swing device, that is, realize feathering between upper rotor mechanism 110 and lower rotor mechanism 120.

Preferably, leaning device steering engine 135 is arranged on leaning device steering engine bracket 138 by bolt.

Wherein, anti-one end for turning round link assembly 134 is connect with lower wing drop portion 132, anti-to turn round the another of link assembly 134 End is connect with leaning device steering engine bracket 138.

In the optinal plan of the present embodiment, upper wing drop portion 131 includes rake inner ring 1311 and rake outer ring 1312；Rake inner ring 1311 is set on central axis 140 by oscillating bearing, and rake inner ring 1311 can be relative to central axis 140 axis is tilted to any direction；Rake outer ring 1312 is set in rake inner ring 1311；Rake inner ring 1311 are connect by steering engine kinematic link 136 with steering engine driving rocker 137；Rake outer ring 1312 and upper rotor mechanism 110 connect It connects.

In the present embodiment, oscillating bearing can be moved up and down along central axis 140, thus upper wing drop portion 131 and under Wing drop portion 132 can be moved up and down along central axis 140.

Preferably, rake outer ring 1312 is set in rake inner ring 1311 by ball bearing.

Wherein, rake inner ring 1311 is connect by steering engine kinematic link 136 with steering engine driving rocker 137, so with incline Oblique mechanism steering engine 135 connects, that is to say, that rake inner ring 1311 is connect with leaning device steering engine 135.

Further, rake connecting rod 139 is provided in rake inner ring 1311；Rake inner ring 1311 passes through rake Connecting rod 139 is connect with steering engine kinematic link 136.

It should be noted that lower wing drop portion 132 is identical as upper 131 structure of wing drop portion；Upper wing drop portion 131 Rake inner ring 1311 and the rake inner ring 1311 in lower wing drop portion 132 connect by synchronising (connecting) rod 133；On incline automatically The rake outer ring 1312 of inclined portion 131 is connect by rotor connecting rod 114 with the propeller hub 111 of upper rotor mechanism 110, lower wing drop The rake outer ring 1312 in portion 132 is connect by rotor connecting rod 114 with the propeller hub 111 of lower rotor mechanism 120.

Also, anti-one end for turning round link assembly 134 is connect with the rake inner ring 1311 in lower wing drop portion 132, anti-torsion The other end of link assembly 134 is connect with leaning device steering engine bracket 138.

Further, upper wing drop portion 131 further includes bulb mouth.

In the optinal plan of the present embodiment, telescoping mechanism includes sequentially connected second connecting rod 222, third connecting rod 223 And the 5th connecting rod 225；Second connecting rod 222 is connected on central axis 140, second connecting rod 222 can relative to fuselage 000 be unfolded and It collapses；Buffering foot mechanism 230 is connected on the 5th connecting rod 225；Telescoping mechanism further include first connecting rod 221, fourth link 224 and Six-bar linkage 226；One end of first connecting rod 221 is connected on second connecting rod 222, and the other end of first connecting rod 221 is connected to On double leval jib 224, one end of fourth link 224 is connected on third connecting rod 223, and the other end of fourth link 224 is connected to One end of six-bar linkage 226, the other end of six-bar linkage 226 are connected on the 5th connecting rod 225.

In the present embodiment, six hinged connecting rods constitute two parallelogram stretching structures；Also, it is interconnected Connecting rod is realized by the structure type of pin shaft and shaft hole matching and is connected.

In the optinal plan of the present embodiment, buffering foot mechanism 230 includes buffering foot prop；Buffering foot prop is rotatably connected on the On five connecting rods 225.

In the present embodiment, when this aircraft lands, buffering foot prop plays the role of bumper and absorbing shock.

Further, buffering foot prop is connect with the 5th connecting rod 225 by pin shaft；Torque spring, torsion are arranged on pin shaft One end of spring is connect with buffering foot prop, and the other end of torque spring is connect with the 5th connecting rod 225.

In the present embodiment, buffering foot prop can be rotated relative to the 5th connecting rod 225, and be resetted after rotation.

Still further, folding and unfolding take-off and landing device 200 further includes Power Component, Power Component is used to provide it to telescoping mechanism The power for being unfolded relative to fuselage 000 and collapsing.

Also, Power Component include telescoping mechanism steering engine 212, telescoping mechanism steering engine fixing seat 211, sliding bearing 214 and Sliding connector 213；Telescoping mechanism steering engine fixing seat 211 is fixed on central axis 140；The one of telescoping mechanism steering engine 212 End is arranged in telescoping mechanism steering engine fixing seat 211, and telescoping mechanism steering engine 212 can provide the axis side for being parallel to central axis 140 To power；Sliding bearing 214 is set on central axis 140, and sliding bearing 214 is another with telescoping mechanism steering engine 212 simultaneously End connection, sliding bearing 214 can be under the drives of telescoping mechanism steering engine 212 along the axial direction up and down motion of central axis 140；Sliding connects One end of fitting 213 is movably arranged on sliding bearing 214, and the other end of sliding connector 213 is connected on telescoping mechanism, sliding Follower link 213 is moved with sliding bearing 214 to drive telescoping mechanism to be unfolded and collapse relative to fuselage 000.

Wherein, one end of second connecting rod 222 and telescoping mechanism steering engine fixing seat 211 are rotatablely connected, second connecting rod 222 it is another One end and third connecting rod 223 and first connecting rod 221 are rotatablely connected.

Also, one end of sliding connector 213 and sliding bearing 214 are rotatablely connected, the other end of sliding connector 213 with First connecting rod 221 is rotatablely connected.

In the present embodiment, sliding bearing 214 is under the drive of telescoping mechanism steering engine 212 in the axial direction of central axis 140 Lower movement, then drive telescoping mechanism to be unfolded and collapse relative to fuselage 000 by sliding connector 213.

After this aircraft takeoff, the telescoping mechanism steering engine 212 of Power Component is moved down, so that sliding connector 213 The slide downward on central axis 140, so that first connecting rod 221 is moved down with sliding connector 213, so that first Connecting rod 221 rotates, and the other end of first connecting rod 221 moves up, i.e., the other end of first connecting rod 221 tilts, first connecting rod 221 pull the one of one end of second connecting rod 222 and the connection of third connecting rod 223 and fourth link 224 and the connection of the 5th connecting rod 225 End moves up, and the distance that fourth link 224 moves up connects less than the distance that the 5th connecting rod 225 moves up, the 6th The other end of bar 226 tilts, and in the horizontal direction upwards, first connecting rod 221, second connecting rod 222, third connecting rod the 223, the 4th Connecting rod 224, the 5th connecting rod 225 are mobile to fuselage 000, and final folding and unfolding take-off and landing device 200 is folded in the seam of fuselage 000, During aircraft is taken photo by plane, the visual field of taking photo by plane will not be blocked.When the landing of this aircraft, the telescoping mechanism steering engine of Power Component 212 move up, so that the upward sliding on central axis 140 of sliding connector 213, so that first connecting rod 221 and sliding Connector 213 moves up, so that first connecting rod 221 rotates, and the other end of first connecting rod 221 is moved down, i.e., and the The other end of one connecting rod 221 is sagging, one end that first connecting rod 221 pulls second connecting rod 222 and third connecting rod 223 to connect and the One end of double leval jib 224 and the connection of the 5th connecting rod 225 moves down, and the distance that moves down of fourth link 224 is less than the The distance that five connecting rods 225 move down, six-bar linkage 226 and buffer foot mechanism 230 one end it is sagging, and in the horizontal direction to On, first connecting rod 221, second connecting rod 222, third connecting rod 223, fourth link 224, the 5th connecting rod 225 are towards far from fuselage 000 Direction it is mobile, buffering foot mechanism 230 becomes the minimum point of aircraft, in aircraft landing with ground face contact, bumper and absorbing shock.

It should be noted that being provided with mission payload, flight control system, smart battery system on fuselage 000；Task carries Lotus is mounted on the lower end of fuselage 000, and according to the needs of task, mission payload can be changed the outfit as photoelectric nacelle, first-aid medicine packet, be answered The load such as anxious communication equipment；Flight control system is used to control brushless motor 115, the wing drop displacement of bispin swing device 100 The leaning device steering engine 135 of mechanism 130 and the telescoping mechanism steering engine 212 of folding and unfolding take-off and landing device 200 work；Smart battery system The two sides up and down of bispin swing device 100 are symmetrically disposed in, and are connect by central axis 140 with motor cabinet 116, for being bispin The brushless motor 115 of swing device 100, the leaning device steering engine 135 of wing drop pitch-changing mechanism 130 and folding and unfolding take-off and landing device 200 telescoping mechanism steering engine 212 is powered, and smart battery system includes upper battery pack, lower battery pack and battery house keeper.In addition, this Aircraft further includes mission payload installing mechanism, and mission payload installing mechanism includes load portion, and load portion is for mounting gondola, just In quick despatch, also, SOS alarm is installed on mission payload installing mechanism, is made a sound when beyond specified counterweight and light Learn alarm.

In conclusion the course of work of this portable aircraft is as follows:

Aircraft rises or falls, and folding and unfolding take-off and landing device 200 lands, and fuselage 000 is perpendicular to the ground, bispin swing device 100 two groups of brushless motors 115 drive two groups of coaxial reverse rotations of rotor blade 112, and pushing air to generate thrust makes this flight Device takes off vertically；Change thrust size by adjusting the revolving speed of two groups of brushless motors 115, control aircraft rises or falls winged Row；

Aircraft changes course, and controls two groups of rotor blades 112 by two groups of brushless motors 115 and carries out differential speed rotation, Yawing, the heading of change of flight device are provided using the reaction torque difference of two groups of rotor blades 112 for this aircraft；

The longitudinal direction of aircraft or/and horizontal flight adjust three steering engine kinematic links by three leaning device steering engines 135 136 relative position, such as a steering engine kinematic link 136 moves downward, other two steering engine kinematic link 136 is transported upwards It is dynamic, so that upper wing drop portion 131, lower wing drop portion 132 synchronize inclination in the same direction, remain parastate, rotor connecting rod 114 drive upper rotor mechanism 110, lower rotor mechanism 120 therewith, so that the rotor of upper rotor mechanism 110, lower rotor mechanism 120 Blade 112 changes different angle in each swing circle, realizes the longitudinal direction or/and transverse shifting of this aircraft.

Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new The range of each embodiment technical solution of type.

Claims (10)

1. a kind of blade attitude-adjusting system, which is characterized in that including limiting fixed seat (1131) and rotor holder (1132)；

The limiting fixed seat (1131) is for being arranged in propeller hub (111)；

One end of the rotor holder (1132) is movably arranged on the limiting fixed seat (1131), the rotor holder (1132) can be relative to the radial rotating of the propeller hub (111), and moving radially along the propeller hub (111)；

The other end of the rotor holder (1132) is for being arranged rotor blade (112).

2. blade attitude-adjusting system according to claim 1, which is characterized in that the one of the rotor holder (1132) End is arranged on the limiting fixed seat (1131) by connection horizontal axis (1133)；

The axis of connection horizontal axis (1133) is located at the propeller hub (111) in the radial direction, the rotor holder (1132) it can be moved relative to the axial rotation of connection horizontal axis (1133), and along the axial of connection horizontal axis (1133) It is dynamic.

3. blade attitude-adjusting system according to claim 2, which is characterized in that the rotor holder (1132) passes through Sliding bearing (1134) is socketed on the connection horizontal axis (1133).

4. blade attitude-adjusting system according to claim 1, which is characterized in that the limiting fixed seat (1131) and institute It states and is provided with retaining spring (1135) between rotor holder (1132)；

One end of the retaining spring (1135) is connect with the limiting fixed seat (1131), the retaining spring (1135) it is another One end is connect with the rotor holder (1132), and the retaining spring (1135) is for limiting the rotor holder (1132) With the relative position of the limiting fixed seat (1131).

5. blade attitude-adjusting system according to claim 4, which is characterized in that the one of the rotor holder (1132) End is arranged on the limiting fixed seat (1131) by connection horizontal axis (1133)；

The axis of connection horizontal axis (1133) is located at the propeller hub (111) in the radial direction, the rotor holder (1132) it can be moved relative to the axial rotation of connection horizontal axis (1133), and along the axial of connection horizontal axis (1133) It is dynamic.

6. blade attitude-adjusting system according to claim 5, which is characterized in that the retaining spring (1135) is set in On the connection horizontal axis (1133).

7. blade attitude-adjusting system according to claim 3, which is characterized in that the rotor holder (1132) includes Rotating base (11322) and limiting slot (11321)；

One end of the rotating base (11322) is socketed on the limiting fixed seat (1131)；

The other end of limiting slot (11321) setting in the rotating base (11322).

8. blade attitude-adjusting system according to claim 7, which is characterized in that rotating base (11322) socket On the sliding bearing (1134), the rotating base (11322) can be slided relative to the limiting fixed seat (1131) And rotation.

9. blade attitude-adjusting system according to claim 7, which is characterized in that the rotor holder (1132) is also wrapped Include position limit arm (11323)；

Position limit arm (11323) setting is in one end of the rotating base (11322), and the position limit arm (11323) is for limiting Make range of the rotating base (11322) on the limiting fixed seat (1131).

10. blade attitude-adjusting system according to claim 1, which is characterized in that the rotor holder (1132) with Rotor blade (112) foldable connection.