CN212099328U

CN212099328U - Three rotor helicopters of triangle form

Info

Publication number: CN212099328U
Application number: CN202020658885.5U
Authority: CN
Inventors: 江富余
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-04-27
Filing date: 2020-04-27
Publication date: 2020-12-08
Anticipated expiration: 2030-04-27

Abstract

A triangular three-rotor helicopter is composed of triangular main body, two small wing towers, two rotors, two total and periodic pitch controllers for controlling the lift of rotor, drive unit for driving said three rotors to rotate at same speed, and two rotors with same size and number, the three rotors can offset each other in reaction torque, and the undercarriage is arranged under the aircraft body and is applied to aerial photography, pesticide spraying and the like.

Description

Three rotor helicopters of triangle form

Technical Field

The utility model relates to a do not rely on airport to adopt three rotor vertical lift, hover, all around three rotor helicopters of triangle form of flight.

Background

The conventional successful method for realizing the helicopter capable of vertically lifting, hovering, flying front, back, left and right is a tandem three-rotor helicopter which has the characteristics of high speed, large load capacity and flexible operation, but the longitudinal length of the tandem three rotors is large, so that the helicopter occupies a large space.

Disclosure of Invention

In order to obtain the three rotors of column-wise, the loading capacity is big, and the characteristics of the manipulation flexibility reduce the longitudinal length of fuselage, the utility model provides a three rotor helicopters of triangle form realizes this target.

The utility model provides a technical scheme that its technical problem adopted is: the rotation centers of the three rotors are distributed in an isosceles triangle form, the front end of the approximately triangular fuselage is a triangular top corner part, the front end of the fuselage is provided with a small wing-shaped front end tower which plays a role of a vertical tail wing, the small wing-shaped front end tower is provided with a front end rotor, the left rear end of the approximately triangular fuselage is a triangular left bottom corner part, the left rear end of the fuselage is provided with a small wing-shaped left rear end tower which plays a role of a vertical tail wing, the small wing-shaped left rear end tower is provided with a left rear end rotor, the small left rear end tower is higher than the small front end tower, the rotating surface of the left rear end rotor is higher than that of the front end rotor, the influence of the front end rotor washing air flow on the left rear end rotor during front flying is reduced, the right rear end of the approximately triangular fuselage is a triangular right bottom corner part, the right rear end of the fuselage is provided with a small wing-shaped right rear end tower, the small wing-shaped rear end tower plays a vertical role, set up a right rear end rotor on wing section right rear end tower, right rear end tower is higher than the front end tower, and the rotating surface of right rear end rotor is higher than the rotating surface of front end rotor, and when flying before the reduction, the influence of front end rotor downwash air current to right rear end rotor, the rotating surface of right rear end rotor and the rotating surface height of left rear end rotor are the same.

The paddle shell of each rotor is connected with a rotor shaft through a paddle shell, the paddle shell is provided with a paddle waving device consisting of a waving hinge, a shimmy hinge and a variable pitch hinge, a total pitch controller is arranged for controlling the lift force of the rotor, and a periodic variable pitch controller is arranged for controlling the dumping angle of a rotating surface of a rotor tip, so that the lift force direction of the rotor is changed.

Set up the engine, drive three rotor simultaneously through transmission, make the rotational speed of three rotor the same, make turning to of front end rotor and left rear end rotor opposite, left rear end rotor is the same with turning to of right rear end rotor.

Each rotor wing is composed of blades with the same size, the left rear rotor wing and the right rear rotor wing are provided with the same number of blades, the number of the blades adopted by the front rotor wing is one time larger than that of the blades adopted by the left rear rotor wing (or the right rear rotor wing), and the sum of the number of the blades of the left rear rotor wing and the right rear rotor wing is equal to that of the blades of the front rotor wing.

Because the rotational speed of three rotor is the same, the reaction torque of left rear end rotor and right rear end rotor is the same, and the sum quantity of the antitorque of left rear end rotor and right rear end rotor equals the reaction torque of front end rotor, and opposite direction, so the reaction torque of three rotor offsets each other.

For example, it adopts two paddles to establish left rear end rotor, right rear end rotor adopts two paddles, then the front end rotor adopts four paddles, when adopting this kind of paddle setting, the rotation center that sets up three rotor becomes isosceles right triangle, the apex angle is 90, the length of isosceles right triangle's waist is less than the diameter of rotor, the length of isosceles right triangle's end slightly is greater than the diameter of rotor, the rotating plane of left rear end rotor and the rotating plane horizontal projection part of front end rotor overlap, the rotating plane of right rear end rotor and the rotating plane horizontal projection part of front end rotor overlap, the space that the rotor took has been reduced, the rotating plane of right rear end rotor and the rotating plane horizontal projection of left rear end rotor do not overlap.

Set up rotor synchronizer and make, two adjacent paddle initial installation phase differences 45 of left rear end rotor and front end rotor, two adjacent paddle initial installation phase differences 45 of right rear end rotor and front end rotor prevent that the rotor paddle that the horizontal projection part overlaps from colliding each other to reduce the height that the small tower needs.

Or for example, it adopts three paddle to establish left rear end rotor, and right rear end rotor adopts three paddle, then the front end rotor adopts six paddles, when adopting this kind of paddle setting, the rotation center that sets up three rotor becomes isosceles triangle, the apex angle is 120, the length of isosceles triangle's waist is less than the diameter of rotor, the length of isosceles right triangle's end slightly is greater than the diameter of rotor, the rotating surface of left rear end rotor and the rotating surface horizontal projection part of front end rotor overlap, the rotating surface of right rear end rotor and the rotating surface horizontal projection part of front end rotor overlap, the space that the rotor took has been reduced, the rotating surface of right rear end rotor and the rotating surface horizontal projection of left rear end rotor do not overlap.

Set up rotor synchronizer and make, two adjacent paddle initial installation phase differences 60 of left rear end rotor and front end rotor, two adjacent paddle initial installation phase differences 60 of right rear end rotor and front end rotor prevent that the rotor blade that the horizontal projection part overlaps from colliding each other to reduce the height that the small tower needs.

The center of gravity is arranged at the high half of the isosceles triangle.

An undercarriage is arranged under the fuselage near the center of gravity.

The working principle of the triangle three-rotor helicopter is as follows: if left rear end rotor and right rear end rotor anticlockwise turn, the front end rotor clockwise turns, and left rear end rotor adopts two paddles, and right rear end rotor adopts two paddles, then the front end rotor adopts four paddles.

Set up the rotation center of three rotor and become isosceles right triangle, the apex angle is 90, the length of isosceles right triangle's waist is less than the diameter of rotor, the length at the end of isosceles right triangle slightly is greater than the diameter of rotor, the rotating surface of left rear end rotor and the rotating surface horizontal projection part of front end rotor overlap, the rotating surface of right rear end rotor and the rotating surface horizontal projection part of front end rotor overlap, the space that the rotor took has been reduced, the rotating surface of right rear end rotor and the rotating surface horizontal projection of left rear end rotor do not overlap.

Because the rotational speed of three rotors is the same, and the reaction torque sum of the back end rotor of left and right back end rotor equals the reaction torque of front end rotor in quantity, and the opposite direction, so the reaction torque of three rotors offsets each other.

The throttle of the engine for driving the rotors is increased, meanwhile, the total distance of the three rotors is increased, the lift force of the three rotors is increased, and when the total lift force is larger than the weight of the three-rotor helicopter in the triangular form, the three-rotor helicopter in the triangular form vertically ascends.

The throttle of the engine driving the rotor is reduced, and the delta-type tri-rotor helicopter hovers when the total lift is equal to the weight of the delta-type tri-rotor helicopter.

The throttle of the engine driving the rotor continues to be reduced, and the delta-type tri-rotor helicopter descends vertically when the total lift is less than the weight of the delta-type tri-rotor helicopter.

When the three-rotor helicopter in the form of a triangle is in the air, the cyclic controller for operating the left rear rotor tilts forwards, the tip rotating surface of the left rear rotor tilts forwards, the lift force of the left rear rotor tilts forwards, meanwhile, the cyclic controller for operating the right rear rotor tilts backwards, the tip rotating surface of the right rear rotor tilts backwards, the lift force of the right rear rotor tilts backwards, the left rear rotor and the right rear rotor jointly generate a right steering torque, and the torque drives the helicopter body to steer to the right; the cyclic pitch controller that manipulates right rear end rotor slopes forward, and the tip rotating surface of right rear end rotor slopes forward, and the lift of right rear end rotor slopes forward, and simultaneously, the cyclic pitch controller that manipulates left rear end rotor slopes backward, and the tip rotating surface of left rear end rotor slopes backward, and the lift of left rear end rotor slopes backward, and left rear end rotor and right rear end rotor produce the moment of turning to the left jointly, and this moment drive fuselage turns to the left, realizes course manipulation.

When the three-rotor helicopter in the form of a triangle is in the air, the cyclic pitch controller for operating the front rotor tilts forwards, the rotating surface of the tip of the front rotor tilts forwards, the lift force of the front rotor tilts forwards, and the helicopter body tilts forwards; the pitch controller for operating the front rotor wing tilts backwards, the tip rotating surface of the front rotor wing tilts backwards, the lift force of the front rotor wing tilts backwards, and the machine body tilts backwards to realize pitching operation.

Pitch steering may also be used as follows: the cyclic pitch controller for operating the three rotors tilts forwards at the same time, the rotating surfaces of the tips of the three rotors tilt forwards, the lifting forces of the three rotors tilt forwards, and the fuselage tilts forwards; and meanwhile, the cyclic pitch controller for operating the three rotors tilts backwards, the rotating surfaces of the tips of the three rotors tilt backwards, the lifting force of the three rotors tilts backwards, and the machine body tilts backwards to realize pitching operation.

When the three-rotor helicopter in the form of a triangle is in the air, the cyclic pitch controller of the front rotor is operated to incline leftward, the tip rotating surface of the front rotor inclines leftward, and the lift force of the front rotor inclines leftward, so that the helicopter body rolls leftward; the pitch controller for operating the front rotor wing tilts rightwards, the tip rotating surface of the front rotor wing tilts rightwards, the lift force of the front rotor wing tilts rightwards, the fuselage rolls rightwards, and roll operation is achieved.

The following method may also be used for the roll maneuver: the periodic pitch controllers of the three rotors are operated to incline leftward, the rotating surfaces of the tips of the three rotors incline leftward, and the lifting forces of the three rotors incline leftward to roll the airframe leftward; meanwhile, the cyclic pitch controller for operating the three rotors inclines rightwards, the rotating surfaces of the tips of the three rotors incline rightwards, and the lift force of the three rotors incline rightwards, so that the fuselage rolls leftwards, and the roll operation is realized.

When the triangular three-rotor helicopter is in the air, the fuselage is controlled to bow forwards, meanwhile, the accelerator of an engine for driving the three rotors is increased, and the triangular three-rotor helicopter flies forwards; the helicopter body is controlled to tilt backwards, the accelerator of an engine driving the three rotors is increased at the same time, and the three-rotor helicopter in a triangular form flies backwards; the helicopter body is controlled to roll leftwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the triangular three-rotor helicopter flies leftwards; the fuselage is controlled to roll to the right, the accelerator of the engine driving the three rotors is increased at the same time, and the three-rotor helicopter in the triangular form flies to the right side.

In a similar manner, if, establish left rear end rotor and right rear end rotor and rotate clockwise, the front end rotor anticlockwise rotates, and left rear end rotor adopts two paddles, and right rear end rotor adopts two paddles, then the front end rotor adopts four paddles.

The control modes of pitching, rolling and heading are unchanged.

In a similar manner, if, establish left rear end rotor and right rear end rotor anticlockwise, the front end rotor clockwise turns, and left rear end rotor adopts three paddle, and right rear end rotor adopts three paddle, then the front end rotor adopts six paddles.

Set up rotor synchronizer and make, two adjacent paddle initial installation phase differences 60 of left rear end rotor and front end rotor, two adjacent paddle initial installation phase differences 60 of right rear end rotor and front end rotor prevent rotor blade collision each other to reduce the height that the small tower needs.

The control modes of pitching, rolling and heading are unchanged.

In a similar manner, if, establish left rear end rotor and right rear end rotor and rotate clockwise, the front end rotor anticlockwise rotates, and left rear end rotor adopts three paddle, and right rear end rotor adopts three paddle, then the front end rotor adopts six paddles.

The control modes of pitching, rolling and heading are unchanged.

The utility model has the advantages that the three rotors are adopted, the load capacity is much larger than that of a single-rotor helicopter, the reaction torques of the three rotors are mutually offset, and the power consumption for overcoming the reaction torque is reduced; adopt three rotor, the plane of rotation partially overlaps on the horizontal projection, the occupation space of the three rotor helicopters of triangle form has been saved, the overall arrangement of triangle form has improved the intensity of fuselage, structure weight has been alleviateed, the overall arrangement of triangle form reduces length than the tandem layout, the width has been reduced than the traverse layout, the center of rotation of three rotor is more close to, the equivalent reality degree of rotor has been improved, when equal lift, the space that the rotor occupy has been reduced, occasion of hovering for a long time, be applied to taking photo by plane, the pesticide sprays, the forest is put out a fire etc..

Drawings

The present invention will be further explained with reference to the drawings and examples.

Figure 1 is the utility model discloses three rotor helicopter left rear end rotors of triangle form adopt two paddles, and right rear end rotor adopts two paddles, and the front end rotor adopts the three views of the helicopter of four paddles.

Fig. 2 is the utility model discloses three rear-left rotor of three rotor helicopters of triangle form adopts three paddle, and the rear-right rotor adopts three paddle, and the front end rotor adopts the three views of the helicopter of six paddles.

In the figure, 1, a left rear rotor with two blades, 2, a front rotor with four blades, 3, a right rear rotor with two blades, 4, a total pitch and cyclic pitch controller of the left rear rotor, 5, a total pitch and cyclic pitch controller of the front rotor, 6, a total pitch and cyclic pitch controller of the right rear rotor, 7, a left tower, 8, a front tower, 9, a right tower, 10, a body, 11, an undercarriage, 12, an isosceles triangle formed by connecting dotted lines of the three rotor rotation centers, 13, a central line of the isosceles triangle, 14, a transverse line passing through the front rotor rotation center in the longitudinal direction of the body, 15, a longitudinal line passing through the left rear rotor rotation center in the longitudinal direction of the body, 16, a longitudinal line passing through the right rear rotor rotation center in the longitudinal direction of the body, 101. the left rear rotor of three blades is adopted, 202 is the front rotor of six blades, 303 is the right rear rotor of three blades, P is the center of gravity, S is the clockwise rotation of the rotor, and N is the anticlockwise rotation of the rotor.

Detailed Description

In the embodiment shown in fig. 1, the rotation centers of the three rotors are arranged in an isosceles triangle (12) type, the front end of the approximately triangular fuselage (10) is a triangular top corner, the front end of the fuselage (10) is provided with a wing-shaped front end small tower (8) which plays the role of a vertical tail wing, the front end small tower (8) is provided with a front end rotor (2), the left rear end of the approximately triangular fuselage (10) is a triangular left bottom corner, the left rear end of the fuselage (10) is provided with a wing-shaped left rear end small tower (7) which plays the role of a vertical tail wing, the left rear end rotor (1) is arranged on the left rear end small tower (7), the left rear end small tower (7) is higher than the front end small tower (8), the rotation surface of the left rear end rotor (1) is higher than that of the front end rotor (2), and when the forward flight is reduced, the influence of the front end rotor (2) downwash airflow on the left rear end rotor (1) is reduced, the right rear end of an approximately triangular fuselage (10) is a triangular right bottom corner, the right rear end of the fuselage (10) is provided with a wing section right rear end small tower (9), the wing section small tower plays a role of a vertical empennage, the right rear end rotor (3) is arranged on the right rear end small tower (9), the right rear end small tower (9) is higher than a front end small tower (8), the rotating surface of the right rear end rotor (3) is higher than the rotating surface of a front end rotor (2), when the front flying is reduced, the influence of washing airflow of the front end rotor (2) on the right rear end rotor (3) is reduced, and the rotating surface of the right rear end rotor (3) is the same as that of the left rear end rotor (1).

Set up the engine, drive three rotor simultaneously through transmission, make the rotational speed of three rotor the same, make turning to of front end rotor (2) and left rear end rotor (1) opposite, left rear end rotor (1) is the same with turning to of right rear end rotor (3).

Every rotor adopts the equidimension paddle to constitute, and left rear end rotor (1) and right rear end rotor (3) adopt two paddles, and front end rotor (2) adopt four paddles, and the paddle quantity sum of left rear end rotor (1) and right rear end rotor (3) equals the paddle quantity of front end rotor (2).

Because the rotational speed of three rotor is the same, the reaction torque of left rear end rotor (1) and right rear end rotor (3) is the same, and the sum of the reaction torque of left rear end rotor (1) and right rear end rotor (3) equals the reaction torque of front end rotor (2), and the opposite direction, so the reaction torque of three rotor offsets each other.

The apex angle that the rotation center that sets up three rotor becomes isosceles triangle (12) is 90, the length of the waist of isosceles triangle (12) is less than the diameter of rotor, the length of the end of isosceles triangle (12) slightly is greater than the diameter of rotor, the rotating surface of left rear end rotor (1) and the rotating surface horizontal projection part of front end rotor (2) overlap, the rotating surface of right rear end rotor (3) and the rotating surface horizontal projection part of front end rotor (2) overlap, the space that the rotor occupy has been reduced, the rotating surface of right rear end rotor (1) and the rotating surface horizontal projection of left rear end rotor (3) do not overlap.

Set up rotor synchronizer and make, two adjacent paddle initial installation phase differences 45 of left rear end rotor (1) and front end rotor (2), two adjacent paddle initial installation phase differences 45 of right rear end rotor (3) and front end rotor (2), prevent that the rotor blade that the horizontal projection part overlaps from colliding each other to reduce the height that the small tower needs.

The center of gravity (P) is arranged at the half of the height (13) of the isosceles right triangle.

An undercarriage (11) is arranged under the fuselage (10) and close to the center of gravity (P).

The working principle of the triangle three-rotor helicopter is as follows: if left rear rotor (1) and right rear rotor (3) anticlockwise rotate, front rotor (2) clockwise rotate, left rear rotor (1) adopts two paddles, right rear rotor (3) adopts two paddles, front rotor (2) adopts four paddles.

The accelerator of an engine for driving the three rotors is increased, meanwhile, the total distance for operating the three rotors is increased, the lift force of the three rotors is increased, and when the total lift force is larger than the weight of the three-rotor helicopter in the triangular form, the three-rotor helicopter in the triangular form vertically ascends.

The throttle of the engine driving the three rotors is reduced, and when the total lift force is equal to the weight of the three-rotor helicopter in the delta form, the three-rotor helicopter in the delta form hovers.

The throttle of the engine driving the three rotors is continuously reduced, and when the total lift force is less than the weight of the three-rotor helicopter in the delta form, the three-rotor helicopter in the delta form descends vertically.

When the three-rotor helicopter in the form of a triangle is in the air, the cyclic pitch controller (4) for operating the left rear rotor (1) inclines forwards, the tip rotating surface of the left rear rotor (1) inclines forwards, the lift force of the left rear rotor (1) inclines forwards, meanwhile, the cyclic pitch controller (6) for operating the right rear rotor (3) inclines backwards, the tip rotating surface of the right rear rotor (3) inclines backwards, the lift force of the right rear rotor (3) inclines backwards, and the left rear rotor (1) and the right rear rotor (3) jointly generate a right-hand steering torque which drives the helicopter body (10) to steer to the right; the pitch controller (4) for operating the left rear-end rotor (1) inclines backwards, the tip rotating surface of the left rear-end rotor (1) inclines backwards, the lift force of the left rear-end rotor (1) inclines backwards, meanwhile, the pitch controller (6) for operating the right rear-end rotor (3) inclines forwards, the tip rotating surface of the right rear-end rotor (3) inclines forwards, the lift force of the right rear-end rotor (3) inclines forwards, the left rear-end rotor (1) and the right rear-end rotor (3) jointly generate a left-turning moment, and the moment drives the airframe (10) to turn left to realize course operation.

When the three-rotor helicopter in the triangular form is in the air, the cyclic pitch controller (5) for operating the front rotor (2) inclines forwards, the rotating plane of the tip of the front rotor (2) inclines forwards, the lifting force of the front rotor (2) inclines forwards, and the fuselage (10) inclines forwards; the pitch controller (5) for operating the front end rotor wing (2) tilts backwards, the tip rotating surface of the front end rotor wing (2) tilts backwards, the lifting force of the front end rotor wing (2) tilts backwards, and the machine body (10) tilts backwards to realize pitching operation.

Pitch steering may also be used as follows: a cyclic pitch controller (4), a cyclic pitch controller (5) and a cyclic pitch controller (6) which simultaneously operate the three rotors of the left rear rotor (1), the front rotor (2) and the right rear rotor (3) to tilt forwards, the rotating surfaces of the tips of the three rotors tilt forwards, the lifting forces of the three rotors tilt forwards, and the fuselage (10) tilts forwards; and meanwhile, a cyclic pitch controller (4), a cyclic pitch controller (5) and a cyclic pitch controller (6) of the three rotors of the left rear-end rotor (1), the front-end rotor (2) and the right rear-end rotor (3) are operated to tilt backwards, the tip rotating surfaces of the three rotors tilt backwards, the lifting force of the three rotors tilt backwards, and the machine body (10) tilts backwards to realize pitching operation.

When the three-rotor helicopter in the triangular form is in the air, the cyclic pitch controller (5) of the front rotor (2) is operated to tilt to the left, the tip rotating surface of the front rotor (2) tilts to the left, the lift force of the front rotor (2) tilts to the left, and the fuselage (10) rolls to the left; the pitch controller (5) for controlling the cyclic pitch of the front-end rotor (2) inclines rightwards, the rotating surface of the tip of the front-end rotor (2) inclines rightwards, and the lift force of the front-end rotor (2) inclines rightwards, so that the fuselage (10) rolls rightwards, and the roll control is realized.

The following method may also be used for the roll maneuver: a periodic variable pitch controller (4), a periodic variable pitch controller (5) and a periodic variable pitch controller (6) which simultaneously operate three rotors, namely a left rear end rotor (1), a front end rotor (2) and a right rear end rotor (3), incline to the left, the tip rotating surfaces of the three rotors incline to the left, the lifting forces of the three rotors incline to the left, and the airframe rolls to the left; the pitch controller (4), the pitch controller (5) and the pitch controller (6) of the three rotors of the left rear rotor (1), the front rotor (2) and the right rear rotor (3) are controlled to tilt rightwards, the tip rotating surface of the three rotors tilts rightwards, the lift force of the three rotors tilts rightwards, so that the fuselage rolls rightwards, and the roll control is realized.

When the three-rotor helicopter in the triangular form is in the air, the fuselage (10) is controlled to bow forwards, meanwhile, the accelerator of an engine for driving the three rotors is increased, and the three-rotor helicopter in the triangular form flies forwards; the helicopter body (10) is controlled to tilt backwards, the accelerator of an engine driving the three rotors is increased, and the three-rotor helicopter flies backwards in a triangular mode; the fuselage (10) is controlled to roll leftwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the three-rotor helicopter in a triangular form flies leftwards; the fuselage (10) is operated to roll rightwards, simultaneously the accelerator of the engine driving the three rotors is increased, and the three-rotor helicopter in the triangular form flies rightwards.

In the embodiment shown in fig. 2, the rotation centers of the three rotors are arranged in an isosceles triangle (12) type, the front end of the approximately triangular fuselage (10) is a triangular top corner, the front end of the fuselage (10) is provided with a wing-shaped front end small tower (8) which plays the role of a vertical tail wing, the front end small tower (8) is provided with a front end rotor (202), the left rear end of the approximately triangular fuselage (10) is a triangular left bottom corner, the left rear end of the fuselage (10) is provided with a wing-shaped left rear end small tower (7) which plays the role of a vertical tail wing, the left rear end rotor (101) is arranged on the left rear end small tower (7), the left rear end small tower (7) is higher than the front end small tower (8), the rotation surface of the left rear end rotor (1) is higher than the rotation surface of the front end rotor (202), and when the forward flight is reduced, the influence of the front end rotor (202) downwash airflow on the left rear end rotor (101), the right rear end of an approximately triangular fuselage (10) is a triangular right bottom corner, the right rear end of the fuselage (10) is provided with a wing-shaped right rear end small tower (9), the wing-shaped small tower plays a role of a vertical empennage, the right rear end small tower (9) is provided with a right rear end rotor wing (303), the right rear end small tower (9) is higher than a front end small tower (8), the rotating surface of the right rear end rotor wing (303) is higher than the rotating surface of a front end rotor wing (202), when front flying is reduced, the influence of washing airflow of the front end rotor wing (202) on the right rear end rotor wing (303) is reduced, and the rotating surface of the right rear end rotor wing (303) is as high as that of a left rear end rotor wing (101).

The engine is arranged, the three rotors are driven simultaneously through the transmission device, the rotating speeds of the three rotors are the same, the rotation directions of the front end rotor (202) and the left rear end rotor (101) are opposite, and the rotation directions of the left rear end rotor (101) and the right rear end rotor (303) are the same.

Each rotor wing is composed of blades with the same size, the left rear rotor wing (101) and the right rear rotor wing (303) are three blades, the front rotor wing (202) is six blades, and the sum of the number of the blades of the left rear rotor wing (101) and the number of the blades of the right rear rotor wing (303) is equal to the number of the blades of the front rotor wing (202).

Since the rotating speeds of the three rotors are the same, the reactive torques of the left rear rotor (101) and the right rear rotor (303) are the same, the sum of the reactive torques of the left rear rotor (101) and the right rear rotor (303) is equal to the reactive torque of the front rotor (202), and the directions are opposite, the reactive torques of the three rotors are mutually offset.

The apex angle that the rotation center that sets up three rotor becomes isosceles triangle (12) is 120, the length of the waist of isosceles triangle (12) is less than the diameter of rotor, the length of the end of isosceles triangle (12) slightly is greater than the diameter of rotor, the rotating surface of left rear end rotor (101) overlaps with the rotating surface horizontal projection part of front end rotor (202), the rotating surface of right rear end rotor (303) overlaps with the rotating surface horizontal projection part of front end rotor (202), the space that the rotor occupy has been reduced, the rotating surface of right rear end rotor (101) and the rotating surface horizontal projection of left rear end rotor (303) do not overlap.

The rotor wing synchronizer is arranged to ensure that the initial installation phase difference of two adjacent blades of the left rear rotor wing (101) and the front rotor wing (202) is 60 degrees, the initial installation phase difference of two adjacent blades of the right rear rotor wing (303) and the front rotor wing (202) is 60 degrees, the rotor blades overlapped by the horizontal projection part are prevented from colliding with each other, and the height required by a small tower is reduced.

The working principle of the triangle three-rotor helicopter is as follows: if left rear rotor (101) and right rear rotor (303) rotate clockwise, front rotor (202) rotate counterclockwise, left rear rotor (101) adopts three paddle, right rear rotor (303) adopts three paddle, front rotor (202) adopts six paddles.

When the three-rotor helicopter in the form of a triangle is in the air, the cyclic controller (4) for operating the left rear rotor (101) inclines forwards, the tip rotating surface of the left rear rotor (101) inclines forwards, the lift force of the left rear rotor (101) inclines forwards, meanwhile, the cyclic controller (6) for operating the right rear rotor (303) inclines backwards, the tip rotating surface of the right rear rotor (303) inclines backwards, the lift force of the right rear rotor (303) inclines backwards, and the left rear rotor (101) and the right rear rotor (303) jointly generate a right-hand steering moment which drives the fuselage (10) to turn to the right; the cyclic pitch controller (4) for operating the left rear rotor wing (101) inclines backwards, the tip rotating surface of the left rear rotor wing (101) inclines backwards, the lift force of the left rear rotor wing (101) inclines backwards, meanwhile, the cyclic pitch controller (6) for operating the right rear rotor wing (303) inclines forwards, the tip rotating surface of the right rear rotor wing (303) inclines forwards, the lift force of the right rear rotor wing (303) inclines forwards, the left rear rotor wing (101) and the right rear rotor wing (303) jointly generate a left steering moment, and the moment drives the airframe (10) to steer left to realize course operation.

When the three-rotor helicopter in the triangle form is in the air, the cyclic controller (5) for operating the front rotor (202) inclines forwards, the rotating plane of the blade tip of the front rotor (202) inclines forwards, the lifting force of the front rotor (202) inclines forwards, and the fuselage (10) inclines forwards; the cyclic pitch controller (5) for operating the front end rotor wing (202) inclines backwards, the tip rotating surface of the front end rotor wing (202) inclines backwards, the lifting force of the front end rotor wing (202) inclines backwards, and the fuselage (10) tilts backwards, so that pitching operation is realized.

Pitch steering may also be used as follows: a cyclic pitch controller (4), a cyclic pitch controller (5) and a cyclic pitch controller (6) which simultaneously operate the three rotors of the left rear rotor (101), the front rotor (202) and the right rear rotor (303) to tilt forwards, the rotating surfaces of the tips of the three rotors tilt forwards, the lifting forces of the three rotors tilt forwards, and the fuselage (10) tilts forwards; and meanwhile, the cyclic pitch controller (4), the cyclic pitch controller (5) and the cyclic pitch controller (6) which operate the three rotors of the left rear-end rotor (101), the front-end rotor (202) and the right rear-end rotor (303) are inclined backwards, the tip rotating surfaces of the three rotors are inclined backwards, the lifting force of the three rotors is inclined backwards, and the fuselage (10) is inclined backwards to realize pitching operation.

When the three-rotor helicopter in the triangular form is in the air, the cyclic pitch controller (5) of the front rotor (202) is operated to tilt to the left, the tip rotating surface of the front rotor (202) tilts to the left, the lift force of the front rotor (202) tilts to the left, and the fuselage (10) rolls to the left; the cyclic pitch controller (5) for operating the front end rotor wing (202) inclines rightwards, the tip rotating surface of the front end rotor wing (202) inclines rightwards, and the lift force of the front end rotor wing (202) inclines rightwards, so that the fuselage (10) rolls rightwards, and the roll operation is realized.

The following method may also be used for the roll maneuver: a cyclic pitch controller (4), a cyclic pitch controller (5) and a cyclic pitch controller (6) which simultaneously operate the three rotors of the left rear end rotor (101), the front end rotor (202) and the right rear end rotor (303) to tilt to the left, the tip rotating surfaces of the three rotors tilt to the left, the lifting forces of the three rotors tilt to the left, and the airframe rolls to the left; the cyclic pitch controller (4), the cyclic pitch controller (5) and the cyclic pitch controller (6) which operate the three rotors of the left rear end rotor (101), the front end rotor (202) and the right rear end rotor (303) are inclined to the right, the tip rotating surface of the three rotors is inclined to the right, the lift force of the three rotors is inclined to the right, so that the fuselage rolls to the right, and the roll operation is realized.

Claims

1. The utility model provides a three rotor helicopters of triangle form, near the focus sets up undercarriage under the fuselage, characterized by: the rotating centers of the three rotors are distributed in an isosceles triangle form, the front end of the approximately triangular fuselage is a triangular top corner part, the front end of the fuselage is provided with a small wing-shaped front end tower which plays a role of a vertical tail wing, the front end of the front end tower is provided with a front rotor, the left rear end of the approximately triangular fuselage is a triangular left bottom corner part, the left rear end of the fuselage is provided with a small wing-shaped left rear end tower which plays a role of a vertical tail wing, the left rear end tower is provided with a left rear end rotor, the left rear end tower is higher than the front end tower, the rotating surface of the left rear end rotor is higher than that of the front end rotor, the influence of front end rotor downwash airflow on the left rear end rotor during front flight is reduced, the right rear end of the approximately triangular fuselage is a triangular right bottom corner part, the right rear end of the fuselage is provided with a right rear end tower, the small wing-shaped tower plays a role of a vertical tail wing, the right rear end rotor is arranged on the right rear end tower, the small right rear-end tower is higher than the small front-end tower, the rotating surface of the right rear-end rotor is higher than the rotating surface of the front-end rotor, the influence of the downwash airflow of the front-end rotor on the right rear-end rotor is reduced when the aircraft flies forwards, the rotating surface of the right rear-end rotor is the same as the rotating surface of the left rear-end rotor, the blade of each rotor is connected with the rotor shaft through a blade shell, the blade shell is provided with a blade waving device consisting of a waving hinge, a swinging vibration hinge and a variable pitch hinge, a total pitch controller is arranged for controlling the lift force of the rotors, a periodic variable pitch controller is arranged for controlling the dump angle of the rotating surface of the tip of the rotor, so that the lift force direction of the rotors is changed, an engine is arranged, the three rotors are driven simultaneously through a transmission device, the rotating speeds of the three rotors are the same, the rotating directions of the front-end rotor and the left rear-end rotor are opposite, the rotating directions of the left rear-end rotor and the right rear-end rotor are the same, each, the front rotor adopts the number of the blades which is one time more than that of the left rear rotor or the right rear rotor, the sum of the number of the blades of the left rear rotor and the right rear rotor is equal to that of the blades of the front rotor, the rotating speeds of the three rotors are the same, the reaction torques of the left rear rotor and the right rear rotor are the same, the sum of the reaction torques of the left rear rotor and the right rear rotor is equal to that of the front rotor, and the directions are opposite, so the reaction torques of the three rotors are mutually offset, when the left rear rotor adopts two blades and the right rear rotor adopts two blades, the front rotor adopts four blades, when the blades are arranged, the rotating centers of the three rotors are arranged to form an isosceles right triangle, the vertex angle is 90 degrees, the length of the waist of the isosceles right triangle is less than the diameter of the rotors, and the length of the bottom of the isosceles right triangle is slightly greater than the diameter of the rotors, the rotary surface of the left rear-end rotor and the rotary surface horizontal projection part of the front-end rotor are overlapped, the rotary surface of the right rear-end rotor and the rotary surface horizontal projection part of the front-end rotor are overlapped, the space occupied by the rotors is reduced, the rotary surface of the right rear-end rotor and the rotary surface horizontal projection part of the left rear-end rotor are not overlapped, a rotor synchronizer is arranged to ensure that the initial installation phase difference of two adjacent blades of the left rear-end rotor and the front-end rotor is 45 degrees, the initial installation phase difference of two adjacent blades of the right rear-end rotor and the front-end rotor is 45 degrees, the rotor blades overlapped by the horizontal projection part are prevented from colliding with each other, the height required by a small tower is reduced, when the left rear-end rotor adopts three blades, the right rear-end rotor adopts three blades, the front-end rotor adopts six blades, when the blades are arranged, the rotary centers of the three rotors are arranged to, the length of isosceles triangle's waist is less than the diameter of rotor, the length of isosceles right triangle's end slightly is greater than the diameter of rotor, the rotating surface of left rear end rotor and the rotating surface horizontal projection part of front end rotor overlap, the rotating surface of right rear end rotor and the rotating surface horizontal projection part of front end rotor overlap, the space that the rotor took has been reduced, the rotating surface of right rear end rotor and the rotating surface horizontal projection of left rear end rotor do not overlap, set up rotor synchronizer and make two adjacent paddle initial erection phase differences 60 of left rear end rotor and front end rotor, two adjacent paddle initial erection phase differences 60 of right rear end rotor and front end rotor, prevent the rotor paddle mutual collision that the horizontal projection part overlaps, and reduce the height that the small tower needs, the focus sets up in the half high department of isosceles triangle.