CN212448070U

CN212448070U - Three-rotor helicopter with unequal chord lengths

Info

Publication number: CN212448070U
Application number: CN202021562948.3U
Authority: CN
Inventors: 江富余
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-07-31
Filing date: 2020-07-31
Publication date: 2021-02-02
Anticipated expiration: 2030-07-31

Abstract

A three-rotor helicopter with unequal chord lengths is characterized in that the rotating surfaces of three rotors are horizontally arranged and are at equal intervals, the three rotors are arranged in a longitudinal row mode, the rotating speeds of the three rotors are the same, the rotating directions of a first rotor and a third rotor are the same, the rotating directions of the first rotor and a second rotor are opposite, the chord length of the second rotor is twice the chord length of the first rotor, the total distances of the three rotors are the same, the reactive torques of the three rotors are basically offset, the three rotors are arranged in a transverse row mode, the rotating directions of the left rotor and the right rotor are the same, the rotating directions of the left rotor and the center rotor are opposite, the chord length of the center rotor is twice the chord length of the left rotor, the total distances of the three rotors are the same, the reactive torques of the three rotors are basically offset, the first rotor and the third rotor in the longitudinal row mode are used for controlling pitching and rolling, the second rotor is used for controlling the course, and the left rotor and the right rotor, the central rotor wing controls the course, and an undercarriage is arranged below the machine body and is applied to rescue, transportation and the like.

Description

Three-rotor helicopter with unequal chord lengths

Technical Field

The utility model relates to a do not rely on airport to adopt many rotors vertical lift, hover, the chord length that flies all around three rotor helicopters that vary.

Background

The single-rotor helicopter and the tandem double-rotor helicopter have the advantages that the pitching and the rolling of the single-rotor helicopter are controlled by the single rotor, the course is specially controlled by a tail propeller, the structure is simple, the operation is flexible, the counter torque of the rotor of the single-rotor helicopter needs the balance of the tail propeller vertical to a rotating surface, the propeller does not generate a lifting force in the vertical direction, and consumes a little power.

Disclosure of Invention

In order to save the power of balanced reaction torque, improve the manipulation characteristic of helicopter, the better manipulation characteristic of existing single rotor helicopter has the advantage that the reaction torque of tandem twin rotor helicopter's rotor offsets each other again, the utility model provides a three rotor helicopters that chord length varies realizes this target.

The utility model provides a technical scheme that its technical problem adopted is: three rotor adopts tandem or horizontal formula overall arrangement, the three rotor helicopters that the chord length of tandem overall arrangement varies, the fuselage top sets up the longeron, set up the first tower of wing section on the longeron front end cantilever, first tower plays the effect of vertical fin, set up first rotor on first tower, the center of longeron is above the focus, fuselage top above the focus sets up wing section second tower, the second tower plays the effect of vertical fin, set up second rotor on the second tower, set up wing section third tower on the longeron rear end cantilever, the third tower plays the effect of vertical fin, set up the third rotor on the third tower.

The interval that sets up three towelettes equals, and the third towelette is higher than the second towelette, and the second towelette is higher than first towelette, can reduce the rotor in front and wash the influence of air current to the rotor behind down.

The interval of three rotors on the three pylons equals, and this interval size is less than the diameter of rotor, makes first rotor rotating surface on the first pylon and the second rotor rotating surface on the second pylon have the part to overlap on the horizontal projection, and the second rotor rotating surface on the second pylon has the part to overlap with the third rotor rotating surface on the third pylon on the horizontal projection, has saved the occupation space of three rotors.

The rotating surface of each rotor wing is horizontally arranged.

The paddle of every rotor is connected with the rotor shaft through the propeller hub, and the propeller hub is furnished with the paddle that waves that wave hinge, shimmy hinge and displacement hinge are constituteed and waves the device, sets up the total pitch controller and controls the size of rotor lift, sets up the pouring angle of periodic displacement controller manipulation rotor blade point of rotation face to change the lift direction of rotor.

Set up the engine, drive three rotor simultaneously through transmission, make the rotational speed of three rotor the same, make turning to of first rotor and third rotor the same, make turning to of first rotor and second rotor opposite.

Or three engines are arranged to respectively drive the three rotors, and a linkage device is arranged to link the three engines, so that the rotating speeds of the three rotors are the same, the rotating directions of the first rotor and the third rotor are the same, and the rotating directions of the first rotor and the second rotor are opposite.

Each rotor wing is composed of blades with the same number, the first rotor wing and the third rotor wing are provided with blades with the same number and the same size, the second rotor wing is provided with blades with the same number and the same radius as those of the first rotor wing, but the chord length is different, and the chord length of the blades of the second rotor wing is equal to the sum of the chord lengths of the blades of the first rotor wing and the third rotor wing.

When first rotor, second rotor, third rotor adopt two paddles, the paddle radius of first rotor, second rotor, third rotor is R, and the paddle chord length of first rotor, third rotor is B, and the paddle chord length of second rotor is 2B.

When adopting this kind of paddle setting, set up rotor synchronizer and make, the adjacent paddle initial installation phase difference of first rotor and second rotor 90, the adjacent paddle initial installation phase difference 90 of second rotor and third rotor prevents rotor blade collision each other to reduce the height that the towelette needs.

When first rotor, second rotor, third rotor adopt three paddle, the paddle radius of first rotor, second rotor, third rotor is R, and the paddle chord length of first rotor, third rotor is B, and the paddle chord length of second rotor is 2B.

When adopting this kind of paddle setting, set up rotor synchronizer and make, the adjacent paddle initial installation phase difference 60 of first rotor and second rotor, the adjacent paddle initial installation phase difference 60 of second rotor and third rotor prevents rotor blade collision each other to reduce the height that the small tower needs.

When first rotor, second rotor, third rotor adopt four paddles, the paddle radius of first rotor, second rotor, third rotor is R, and the paddle chord length of first rotor, third rotor is B, and the paddle chord length of second rotor is 2B.

When adopting this kind of paddle setting, set up rotor synchronizer and make, the adjacent paddle initial installation phase difference 45 of first rotor and second rotor, the adjacent paddle initial installation phase difference 45 of second rotor and third rotor prevents rotor blade collision each other to reduce the height that the small tower needs.

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

The chord length that the range formula overall arrangement varies three rotor helicopter, the fuselage top sets up the crossbeam, sets up the left pylon of wing section on the crossbeam left end cantilever, and this wing section pylon plays the effect of vertical fin, sets up left rotor on the pylon of a left side, symmetrically, sets up wing section right side pylon on crossbeam right-hand member cantilever, and this wing section pylon plays the effect of vertical fin, sets up right rotor on the pylon of a right side, and left side pylon and right pylon size are the same, and left rotor is the same with right rotor size.

The center of the beam is above the center of gravity, the top of the machine body above the center of gravity is provided with a wing-shaped center tower, and the center tower is provided with a center rotor wing.

The distance from the left small tower to the central small tower and the distance from the right small tower to the central small tower are equal, the central small tower is arranged to be higher than the left small tower and the right small tower, the height of the central rotor wing is higher than the height of the left rotor wing and the right rotor wing, the heights of the left rotor wing and the right rotor wing are the same, and the influence of the central rotor wing wash air flow on the left rotor wing and the right rotor wing during forward flight can be reduced.

The distances from the left small tower to the central small tower and from the right small tower to the central small tower are equal, and the distance size is smaller than the diameter of the rotor, so that the rotary surface of the left rotor on the left small tower is partially overlapped with the rotary surface of the central rotor on the central small tower in the horizontal projection, and the rotary surface of the right rotor on the right small tower is partially overlapped with the rotary surface of the central rotor on the central small tower in the horizontal projection, thereby saving the occupied space of three rotors.

The rotating surface of each rotor wing is horizontally arranged.

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 left rotor and the right rotor are made to rotate in the same direction, and the rotating directions of the left rotor and the right rotor are opposite to those of the central rotor.

Or three engines are arranged to respectively drive the three rotors, and the three engines of the linkage device are linked to ensure that the rotating speeds of the three rotors are the same, and the left rotor and the right rotor rotate in the same direction but opposite to the direction of the central rotor.

Each rotor wing is composed of blades with the same number, the left rotor wing and the right rotor wing are composed of blades with the same number and the same size, the number and the radius of the blades adopted by the central rotor wing are the same as those of the blades adopted by the left rotor wing, but the chord lengths of the blades of the central rotor wing are different, and the chord length of the blades of the central rotor wing is equal to the sum of the chord lengths of the blades of the left rotor wing and the right rotor wing.

When the left rotor, the central rotor and the right rotor adopt two blades, the blade radiuses of the left rotor, the central rotor and the right rotor are R, the blade chord lengths of the left rotor and the right rotor are B, and the blade chord length of the central rotor is 2B.

When adopting this kind of paddle setting, set up rotor synchronizer and make, the adjacent paddle initial installation phase difference of left rotor and central rotor 90, the adjacent paddle initial installation phase difference 90 of right rotor and central rotor prevents rotor blade collision each other to reduce the height that the small tower needs.

When the left rotor, the central rotor and the right rotor adopt three blades, the blade radiuses of the left rotor, the central rotor and the right rotor are R, the blade chord lengths of the left rotor and the right rotor are B, and the blade chord length of the central rotor is 2B.

When adopting this kind of paddle setting, set up rotor synchronizer and make, the adjacent paddle initial installation phase difference 60 of left rotor and central rotor, the adjacent paddle initial installation phase difference 60 of right rotor and central rotor prevents rotor blade collision each other to reduce the height that the small tower needs.

When the left rotor, the central rotor and the right rotor adopt the blades, the radius of the blades of the left rotor, the central rotor and the right rotor is R, the chord length of the blades of the left rotor and the right rotor is B, and the chord length of the blades of the central rotor is 2B.

When adopting this kind of paddle setting, set up rotor synchronizer and make, the adjacent paddle initial installation phase difference 45 of left rotor and central rotor, the adjacent paddle initial installation phase difference 45 of right rotor and central rotor prevents rotor blade collision each other to reduce the height that the small tower needs.

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

The working principle of the three-rotor helicopter with unequal chord lengths is as follows: a tandem-type three-rotor helicopter with unequal chord lengths is provided, wherein a rotor with 3 blades is taken as an example for convenience of explanation, a first rotor and a third rotor rotate anticlockwise, a second rotor rotates clockwise, the first rotor adopts three blades, the third rotor adopts three blades, and the second rotor adopts three blades.

The rotor synchronizer enables the initial installation phase difference of adjacent blades of the first rotor and the second rotor to be always kept at 60 degrees, the initial installation phase difference of adjacent blades of the second rotor and the third rotor is always kept at 60 degrees, and therefore even if the distances between the three rotors are equal and smaller than the diameters of the rotors, the blades of the rotors cannot collide with each other.

Because the rotating speeds of the three rotors are the same, the diameters of the blades are the same, when the pitches are the same, the chord length of the blade of the first rotor is B, the chord length of the blade of the third rotor is B, and the chord length of the blade of the second rotor is 2B, the sum of the reactive torques of the first rotor and the third rotor in number is basically equal to the reactive torque of the second rotor, and the reactive torques of the three rotors are opposite in direction, so that the reactive torques of the three rotors are basically counteracted with each other.

The accelerator of an 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 tri-rotor helicopter with unequal chord lengths, the tri-rotor helicopter with unequal chord lengths vertically ascends.

And the throttle of an engine for driving the rotor wings is reduced, and when the total lift force is equal to the weight of the tri-rotor helicopter with unequal chord lengths, the tri-rotor helicopter with unequal chord lengths hovers.

And continuously reducing the throttle of an engine for driving the rotor wing, and when the total lift force is smaller than the weight of the tri-rotor helicopter with different chord lengths, vertically descending the tri-rotor helicopter with different chord lengths.

When a three-rotor helicopter with different chord lengths is in the air, a collective pitch and cyclic pitch controller of a first rotor is operated to incline forwards, a tip rotating surface of the first rotor is inclined forwards, the lift force of the first rotor is inclined forwards, meanwhile, a collective pitch and cyclic pitch controller of a third rotor is operated to incline forwards, a tip rotating surface of the third rotor is inclined forwards, the lift force of the third rotor is inclined forwards, and the first rotor and the third rotor jointly generate a forward-inclined moment which drives a fuselage to incline forwards; the collective pitch and cyclic pitch controller of the first rotor wing is operated to tilt backwards, the tip rotating surface of the first rotor wing tilts backwards, the lift force of the first rotor wing tilts backwards, meanwhile, the collective pitch and cyclic pitch controller of the third rotor wing is operated to tilt backwards, the tip rotating surface of the third rotor wing tilts backwards, the lift force of the third rotor wing tilts backwards, the first rotor wing and the third rotor wing jointly generate a backward tilting moment, and the moment drives the body to tilt backwards to realize pitching operation.

When a three-rotor helicopter with different chord lengths is in the air, a collective pitch and cyclic pitch controller of a first rotor is operated to tilt to the left, a tip rotating surface of the first rotor tilts to the left, a lift force of the first rotor tilts to the left, meanwhile, a collective pitch and cyclic pitch controller of a third rotor is operated to tilt to the left, a tip rotating surface of the third rotor tilts to the left, a lift force of the third rotor tilts to the left, the first rotor and the third rotor jointly generate a leftward tilting moment, and the moment drives a helicopter body to roll leftward; the total pitch and the periodic pitch controller of manipulating the first rotor incline to the right, the tip rotating surface of the first rotor inclines to the right, the lift force of the first rotor inclines to the right, simultaneously, the total pitch and the periodic pitch controller of manipulating the third rotor incline to the right, the tip rotating surface of the third rotor inclines to the right, the lift force of the third rotor inclines to the right, the first rotor and the third rotor jointly generate a right tilting moment, and the moment drives the fuselage to roll to the right, so that the roll manipulation is realized.

When the three-rotor helicopter with different chord lengths is in the air, the total distance of the second rotor and the total distance of the cyclic pitch controller are controlled to be increased, the lift force of the second rotor is increased, the reaction torque of the second rotor is greater than the sum of the reaction torques of the first rotor and the third rotor, and the reaction torque of the second rotor enables the three-rotor helicopter with different chord lengths to rotate anticlockwise, namely rotate leftwards; the total distance for operating the second rotor and the total distance of the cyclic pitch controller are reduced, the lift force of the second rotor is reduced, the reactive torque of the second rotor is smaller than the sum of the reactive torques of the first rotor and the third rotor, and the reactive torques of the first rotor and the third rotor cause the three-rotor helicopter with unequal chord lengths to rotate clockwise, namely to rotate to the right, so that course operation is realized.

When the three-rotor helicopter with different chord lengths is in the air, the helicopter body is controlled to bow forwards, meanwhile, an accelerator of an engine for driving the three rotors is increased, and the three-rotor helicopter with different chord lengths flies forwards; the helicopter body is controlled to tilt backwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the three-rotor helicopter with different chord lengths flies backwards; the helicopter body is controlled to bow forwards and turn left, meanwhile, an accelerator of an engine for driving the three rotors is increased, and the three-rotor helicopter with different chord lengths flies towards the left front; the helicopter body is controlled to bow forwards and turn to the right, the accelerator of an engine driving the three rotors is increased, and the three-rotor helicopter with different chord lengths flies to the right front; the helicopter body is controlled to roll leftwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the three-rotor helicopter with different chord lengths flies leftwards; the helicopter body is controlled to roll rightwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the three-rotor helicopter with different chord lengths flies rightwards.

The pitch and roll of the three-rotor helicopter with different chord lengths are controlled by the first rotor and the third rotor, and the course is controlled by the second rotor and the third rotor, which is similar to the control of a single-rotor helicopter (the single-rotor helicopter, the rotors control the pitch and roll, and the tail propeller controls the course).

The blade diameters of the three rotors are the same, the blade chord length of the first rotor is B, the blade chord length of the third rotor is B, and the blade chord length of the second rotor is 2B, so that the aspect ratio of the first rotor and the third rotor is larger than that of the second rotor, the resistance coefficient of the second rotor is slightly larger than that of the first rotor and the third rotor, the counter torque of the second rotor is slightly larger than the sum of the counter torques of the first rotor and the third rotor when the three rotors have the same rotating speed and the same propeller pitch, so that the chord length of the second rotor can be selected from 1.75B to 2B, the counter torques of the three rotors are basically offset, the incompletely offset counter torques can interfere course, and the course control of the second rotor overcomes interference.

In the course control process, vertical interference is generated, when the second rotor wing rotates clockwise and is controlled to rotate left, the lift force of the second rotor wing is increased to generate ascending interference, the lift force is reduced by reducing an accelerator to overcome the interference, or the total distance between the first rotor wing and the third rotor wing is controlled to be reduced in the same way, the lift force of the first rotor wing and the third rotor wing is reduced in the same way, the interference is overcome, and the left rotation speed is increased; because of the clockwise rotation of second rotor, when the operation turns to the right, the lift of second rotor reduces, produces the decline interference, makes the lift increase through increasing the throttle, overcomes the interference, or the increase that the collective pitch is the same of first rotor and third rotor is controlled simultaneously, and the increase that the lift of first rotor and third rotor is the same overcomes the interference to increase the speed of rotating right, realize stabilizing the course and control.

The three-rotor helicopter with the cross-type layout and unequal chord lengths takes the rotor with 3 blades as an example, the left rotor and the right rotor rotate anticlockwise, the central rotor rotates clockwise, the left rotor adopts three blades, the right rotor adopts three blades, and the central rotor adopts three blades.

Rotor synchronizer makes the adjacent paddle initial installation phase difference of left rotor and dextrorotation wing remain 60 throughout, makes the adjacent paddle initial installation phase difference of center rotor and dextrorotation wing remain 60 throughout, so even the interval of three rotors equals and is less than the diameter of rotor, the paddle of rotor also can not collide each other.

Because the rotating speeds of the three rotors are the same, the diameters of the blades are the same, the chord length of the blades of the left rotor is B, the chord length of the blades of the right rotor is B, and the chord length of the blades of the central rotor is 2B, the sum of the reactive torques of the left rotor and the right rotor in quantity is basically equal to the reactive torque of the central rotor, and the reactive torques of the three rotors are basically counteracted with each other in opposite directions.

When the three-rotor helicopter with different chord lengths is in the air, the collective pitch and cyclic pitch controller of the left rotor is operated to incline forwards, the tip rotating surface of the left rotor is inclined forwards, the lift force of the left rotor is inclined forwards, meanwhile, the collective pitch and cyclic pitch controller of the right rotor is operated to incline forwards, the tip rotating surface of the right rotor is inclined forwards, the lift force of the right rotor is inclined forwards, and the left rotor and the right rotor jointly generate a forward-inclined torque which drives the helicopter body to pitch forwards; the total pitch and cyclic pitch controller of the left rotor wing is operated to tilt backwards, the tip rotating surface of the left rotor wing tilts backwards, the lift force of the left rotor wing tilts backwards, meanwhile, the total pitch and cyclic pitch controller of the right rotor wing is operated to tilt backwards, the tip rotating surface of the right rotor wing tilts backwards, the lift force of the right rotor wing tilts backwards, the left rotor wing and the right rotor wing jointly generate a backward tilting moment, and the moment drives the fuselage to tilt backwards to realize pitching operation.

When the three-rotor helicopter with different chord lengths is in the air, the total pitch and cyclic pitch controller of the left rotor is operated to tilt to the left, the tip rotating surface of the left rotor tilts to the left, the lift force of the left rotor tilts to the left, meanwhile, the total pitch and cyclic pitch controller of the right rotor is operated to tilt to the left, the tip rotating surface of the right rotor tilts to the left, the lift force of the right rotor tilts to the left, the left rotor and the right rotor jointly generate a leftward tilting moment, and the moment drives the helicopter body to roll leftward; the total pitch and the periodic pitch controller of the left rotor are controlled to incline rightwards, the tip rotating surface of the left rotor inclines rightwards, the lift force of the left rotor inclines rightwards, and meanwhile, the total pitch and the periodic pitch controller of the right rotor are controlled to incline rightwards, the tip rotating surface of the right rotor inclines rightwards, the lift force of the right rotor inclines rightwards, the left rotor and the right rotor jointly generate right-inclined torque, and the torque drives the fuselage to roll rightwards, so that the roll control is realized.

When the tri-rotor helicopter with different chord lengths is in the air, the total distance of the center rotor and the total distance of the cyclic pitch controller are controlled to be increased, the lift force of the center rotor is increased, the reaction torque of the center rotor is greater than the sum of the reaction torques of the left rotor and the right rotor, and the reaction torque enables the tri-rotor helicopter with different chord lengths to rotate anticlockwise, namely rotate leftwards due to the clockwise rotation of the center rotor; the total distance of the central rotor and the total distance of the periodic variable pitch controller are controlled to be reduced, the lift force of the central rotor is reduced, the reactive torque of the central rotor is smaller than the sum of the reactive torques of the left rotor and the right rotor, and the reactive torques of the left rotor and the right rotor cause the tri-rotor helicopter with different chord lengths to rotate clockwise, namely to rotate to the right, so that course control is realized.

The pitching and rolling of the three-rotor helicopter with different chord lengths are controlled by a left rotor and a right rotor, and the course is controlled by a center rotor and is similar to the control of a single-rotor helicopter (the course is controlled by the single-rotor helicopter, the rotors control the pitching and rolling, and the tail propeller).

The diameters of blades of the three rotors are the same, the chord length of the blade of the left rotor is B, the chord length of the blade of the right rotor is B, and the chord length of the blade of the central rotor is 2B, so the aspect ratio of the left rotor and the right rotor is greater than that of the central rotor, the resistance coefficient of the central rotor is slightly greater than that of the left rotor and the right rotor, and the counter torque of the central rotor is slightly greater than the sum of the counter torques of the left rotor and the right rotor when the rotating speeds of the three rotors are the same and the pitches are the same, so the chord length of the central rotor can be selected from 1.75B to 2B, the counter torques of the three rotors are basically offset, the incompletely offset counter torques can interfere course, and the course control of the central rotor overcomes interference.

In the course control process, generating vertical interference, because the central rotor rotates clockwise, when the control turns left, the lift force of the central rotor is increased, generating ascending interference, reducing the lift force by reducing the accelerator, overcoming the interference, or simultaneously controlling the total distance of the left rotor and the right rotor to be the same, reducing the lift force of the left rotor and the right rotor to be the same, overcoming the interference, and increasing the left rotation speed; because the central rotor rotates clockwise, when the left rotor rotates to the right, the lift force of the central rotor is reduced, descending interference is generated, the lift force is increased by increasing the accelerator, the interference is overcome, or the total distance of the left rotor and the right rotor is controlled to be the same, the lift force of the left rotor and the right rotor is increased the same, the interference is overcome, the right rotation speed is increased, and the course stabilizing operation is realized.

The pitch, roll and course control process does not need to control the periodic pitch controller of the second rotor or the central rotor, the periodic pitch controller of the second rotor or the central rotor can be controlled to assist in controlling pitch and roll in high speed and sudden crosswind, the periodic pitch controller of the second rotor or the central rotor can be omitted in low speed and low load application occasions, the total pitch controller of the second rotor or the central rotor is reserved, the paddle disk structure of the second rotor or the central rotor can be simplified, and weight is reduced.

The longitudinal arrangement allows a large range of longitudinal variation of the center of gravity, and the influence of the longitudinal variation of the center of gravity can be overcome by operating the collective pitch differential of the first rotor and the third rotor; the transverse arrangement has a large range of allowed transverse change of the gravity center, and the influence of the transverse change of the gravity center can be overcome by operating the total distance differential of the left rotor and the right rotor.

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 basically offset, and the power consumption for overcoming the reaction torque is reduced; the three rotors are adopted, the course control is executed by a special second rotor or a center rotor, the pitching and rolling control is executed by a first rotor and a third rotor or a left rotor and a right rotor, the control is similar to that of a single-rotor helicopter, the rotating surfaces of the rotors are partially overlapped on a horizontal projection, the occupied space of a tandem three-rotor helicopter is saved, the longitudinal variation range of the center of gravity allowed by the layout of the tandem is large, the tandem three-rotor helicopter is suitable for flying in a narrow place and flying at a high speed, the transverse variation range of the center of gravity allowed by the layout of the tandem is large, and the tandem three-rotor helicopter is suitable for low-speed flying and occasions needing large-range operation.

Drawings

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

Fig. 1 is a three-view of the structure of the three-rotor tandem layout of the three-rotor helicopter with different chord lengths, wherein each rotor adopts two blades.

Fig. 2 is a three-view of the structure of the three-rotor tandem layout of the three-rotor helicopter with different chord lengths, wherein each rotor adopts three blades.

Figure 3 is the three views of the structure of the three-rotor tandem layout of the three-rotor helicopter with different chord lengths of the utility model, wherein each rotor adopts four blades.

Figure 4 is a three-view of the structure of the present invention with two paddles for each rotor of a three-rotor cross-section layout of a three-rotor helicopter with unequal chord lengths.

Figure 5 is a three-view of the structure of the tri-rotor cross-row layout of the tri-rotor helicopter with different chord lengths of the present invention, wherein each rotor adopts three blades.

Figure 6 is a three-view diagram of the structure of the present invention with four paddles for each rotor of a three-rotor cross-section layout of a three-rotor helicopter with unequal chord lengths.

Fig. 7 is a three-view diagram of the structure of the third rotor tandem layout second rotor non-cyclic variable-pitch controller of the three-rotor helicopter with different chord lengths.

Fig. 8 is a three-view diagram of the structure of the three-rotor transverse layout central rotor wing non-periodic variable pitch controller of the three-rotor helicopter with different chord lengths.

In the figure 1, the collective pitch and cyclic pitch controller of the first rotor, 2, the collective pitch and cyclic pitch controller of the second rotor, 3, the collective pitch and cyclic pitch controller of the third rotor, 4, the collective pitch and cyclic pitch controller of the left rotor, 5, the collective pitch and cyclic pitch controller of the center rotor, 6, the collective pitch and cyclic pitch controller of the right rotor, 7, the first small tower, 8, the second small tower, 9, the third small tower, 10, the longitudinal beam, 11, the fuselage, 12, the landing gear, 13, the left small tower, 14, the center small tower, 15, the right small tower, 16, the beam, 17, the collective pitch controller of the second rotor, 18, the collective pitch controller of the center rotor, 19, the longitudinal direction of the fuselage, 101, the first rotor with two blades, 102, the second rotor with two blades, 103, the third rotor with two blades, 111. a first rotor with three blades, 112, a second rotor with three blades, 113, a third rotor with three blades, 121, a first rotor with four blades, 122, a second rotor with four blades, 123, a third rotor with four blades, 201, a left rotor with two blades, 202, a center rotor with two blades, 203, a right rotor with two blades, 211, a left rotor with three blades, 212, a center rotor with three blades, 213, a right rotor with three blades, 221, a left rotor with four blades, 222, a center rotor with four blades, 223, a right rotor with four blades, p, center of gravity, n, rotor counter-clockwise, S, rotor clockwise.

Detailed Description

In the embodiment shown in fig. 1, three rotors are arranged in a tandem arrangement, the rotors are composed of two blades, a longitudinal beam 10 is arranged at the top of a fuselage 11, a first wing-shaped tower 7 is arranged on a cantilever at the front end of the longitudinal beam 10, the first tower 7 plays a role of a vertical tail wing, a first rotor 101 is arranged on the first tower 7, the center of the longitudinal beam 10 is above a gravity center P, a second wing-shaped tower 8 is arranged at the top of the fuselage 11 above the gravity center P, the second tower 8 plays a role of a vertical tail wing, a second rotor 102 is arranged on the second tower 8, a third wing-shaped tower 9 is arranged on a cantilever at the rear end of the longitudinal beam 10, the third tower 9 plays a role of a vertical tail wing, and a third rotor 103 is arranged on the third tower 9.

The interval that sets up three towelettes equals, and third towelette 9 is higher than second towelette 8, and second towelette 8 is higher than first towelette 7, can reduce the influence of rotor downwash air current behind to the rotor in front.

The distances among the three rotors on the three small towers are equal, and the distances are smaller than the diameters of the rotors, so that the rotating surface of the first rotor 101 on the first small tower 7 is partially overlapped with the rotating surface of the second rotor 102 on the second small tower 8 in horizontal projection, and the rotating surface of the second rotor 102 on the second small tower 8 is partially overlapped with the rotating surface of the third rotor 103 on the third small tower 9 in horizontal projection, thereby saving the occupied space of the three rotors.

The rotating surface of each rotor wing is horizontally arranged.

The blades of the first rotor 101 are connected with the rotor shaft through a hub, the hub is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, and a total pitch and periodic variable pitch controller 1 is arranged to control the lift force and the direction of the first rotor 101.

The blades of the second rotor 102 are connected to the rotor shaft via a hub, which is equipped with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a pitch hinge, and a collective pitch and cyclic pitch controller 2 is provided to control the magnitude and direction of lift of the second rotor 102.

The third rotor 103 has its blades connected to the rotor shaft via hub, the hub is equipped with blade flapping device comprising flapping hinge, shimmy hinge and pitch hinge, and the total pitch and periodic pitch controller 3 is set to control the lift force and direction of the third rotor 103.

The engine is arranged, and the three rotors are driven simultaneously through the transmission device, so that the rotating speeds of the three rotors are the same, the rotating directions of the first rotor 101 and the third rotor 103 are the same, and the rotating directions of the first rotor 101 and the second rotor 102 are opposite.

The first rotor 101 and the third rotor 103 rotate counter-clockwise N and the second rotor 102 rotates clockwise S, see the bottom view of fig. 1.

Each rotor is composed of two blades, the first rotor 101 and the third rotor 103 are provided with the same number of blades with the same size, the second rotor 102 is provided with the same number of blades with the same radius as the first rotor 101, but with different chord lengths, the radius of each blade of the first rotor 101, the radius of each blade of the second rotor 102 and the radius of each blade of the third rotor 103 are R, the chord length of each blade of the first rotor 101 and the third rotor 103 is B, and the chord length of each blade of the second rotor 102 is 2B.

The rotor synchronization device is arranged to ensure that the initial installation phase difference of the adjacent blades of the first rotor 101 and the second rotor 102 is 90 degrees, the initial installation phase difference of the adjacent blades of the second rotor 102 and the third rotor 103 is 90 degrees, so that the rotor blades are prevented from colliding with each other, even if the distances between the three rotors are equal and smaller than the diameters of the rotors, the blades of the rotors do not collide with each other, and the height required by a small tower is reduced.

An undercarriage 12 is provided under the fuselage 11 near the centre of gravity P.

Since the three rotors have the same rotating speed and the same blade diameter, and when the blade pitch is the same, the chord length of the first rotor 101 is B, the chord length of the third rotor 103 is B, and the chord length of the second rotor 102 is 2B, the sum of the reactive torques of the first rotor 101 and the third rotor 103 is substantially equal to the reactive torque of the second rotor 102 in number, but opposite in direction, the reactive torques of the three rotors substantially cancel each other.

When a three-rotor helicopter with different chord lengths is in the air, the collective pitch and cyclic pitch controller 1 of the first rotor 101 is operated to incline forwards, the tip rotating surface of the first rotor 101 inclines forwards, the lift force of the first rotor 101 inclines forwards, meanwhile, the collective pitch and cyclic pitch controller 3 of the third rotor 103 is operated to incline forwards, the tip rotating surface of the third rotor 103 inclines forwards, the lift force of the third rotor 103 inclines forwards, and the first rotor 101 and the third rotor 103 jointly generate a forward-tilting moment which drives the fuselage 11 to tilt forwards; the collective and cyclic controller 1 of the first rotor 101 is operated to tilt backward, the tip rotation surface of the first rotor 101 is tilted backward, the lift force of the first rotor 101 is tilted backward, meanwhile, the collective and cyclic controller 3 of the third rotor 103 is operated to tilt backward, the tip rotation surface of the third rotor 103 is tilted backward, the lift force of the third rotor 103 is tilted backward, and the first rotor 101 and the third rotor 103 jointly generate a backward tilting moment which drives the body 11 to tilt backward, thereby realizing the pitching operation.

When the three-rotor helicopter with different chord lengths is in the air, the collective pitch and cyclic pitch controller 1 of the first rotor 101 is operated to tilt to the left, the tip rotating surface of the first rotor 101 tilts to the left, the lift force of the first rotor 101 tilts to the left, meanwhile, the collective pitch and cyclic pitch controller 3 of the third rotor 103 is operated to tilt to the left, the tip rotating surface of the third rotor 103 tilts to the left, the lift force of the third rotor 103 tilts to the left, and the first rotor 101 and the third rotor 103 jointly generate a leftward tilting moment which drives the fuselage 11 to roll leftward; the collective pitch and cyclic pitch controller 1 for operating the first rotor 101 is inclined to the right, the tip rotating surface of the first rotor 101 is inclined to the right, the lift force of the first rotor 101 is inclined to the right, and simultaneously, the collective pitch and cyclic pitch controller 3 for operating the third rotor 103 is inclined to the right, the tip rotating surface of the third rotor 103 is inclined to the right, the lift force of the third rotor 103 is inclined to the right, the first rotor 101 and the third rotor 103 jointly generate a rightward inclination moment, and the moment drives the fuselage 11 to roll to the right, so that the roll operation is realized.

When the three-rotor helicopter with unequal chord lengths is in the air, the total distance of the second rotor 102 and the total distance of the cyclic controller 2 are operated to be increased, the lift force of the second rotor 102 is increased, the reaction torque of the second rotor 102 is larger than the sum of the reaction torques of the first rotor 101 and the third rotor 103, and the reaction torque of the second rotor 102 makes the three-rotor helicopter with unequal chord lengths rotate anticlockwise N, namely rotate left due to the clockwise rotation S of the second rotor 102 as seen in the lowest diagram of FIG. 1; the total distance for operating the second rotor 102 and the total distance of the cyclic controller 2 are reduced, the lift force of the second rotor 102 is reduced, the reaction torque of the second rotor 102 is smaller than the sum of the reaction torques of the first rotor 101 and the third rotor 103, and the reaction torques of the first rotor 101 and the third rotor 103 cause the tripper with unequal chord lengths to rotate clockwise S, namely to rotate to the right due to the counterclockwise rotation N of the first rotor 101 and the third rotor 103, so that the course control is realized.

In the course control process, vertical interference is generated, when the second rotor wing 102 rotates clockwise and the control turns left, the lift force of the second rotor wing 102 is increased to generate ascending interference, the lift force is reduced by reducing the accelerator to overcome the interference, when the control turns right, the lift force of the second rotor wing 102 is reduced to generate descending interference, the lift force is increased by increasing the accelerator to overcome the interference, and the stable course control is realized.

When the three-rotor helicopter with different chord lengths is in the air, the fuselage 11 is controlled to bow forwards, meanwhile, an accelerator of an engine for driving the three rotors is increased, and the three-rotor helicopter with different chord lengths flies forwards; the helicopter body 11 is controlled to tilt backwards, an accelerator of an engine driving the three rotors is increased, and the three-rotor helicopter with different chord lengths flies backwards; the helicopter body 11 is controlled to bow forwards and turn left, meanwhile, an accelerator of an engine for driving the three rotors is increased, and the three-rotor helicopter with different chord lengths flies towards the left front; the helicopter body 11 is controlled to bow forwards and turn to the right, an accelerator of an engine for driving the three rotors is increased, and the three-rotor helicopter with different chord lengths flies to the right front; the helicopter body 11 is controlled to roll leftwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the three-rotor helicopter with different chord lengths flies leftwards; the control fuselage 11 rolls to the right, and simultaneously, the accelerator of the engine driving the three rotors is increased, so that the three-rotor helicopter with different chord lengths flies to the right.

In the embodiment shown in fig. 2, three rotors are arranged in a tandem arrangement, the rotors comprise three blades, a longitudinal beam 10 is arranged at the top of a fuselage 11, a first wing-type tower 7 is arranged on a cantilever at the front end of the longitudinal beam 10, the first tower 7 serves as a vertical tail wing, a first rotor 111 is arranged on the first tower 7, the center of the longitudinal beam 10 is above a gravity center P, a second wing-type tower 8 is arranged at the top of the fuselage 11 above the gravity center P, the second tower 8 serves as a vertical tail wing, a second rotor 112 is arranged on the second tower 8, a third wing-type tower 9 is arranged on a cantilever at the rear end of the longitudinal beam 10, the third tower 9 serves as a vertical tail wing, and a third rotor 113 is arranged on the third tower 9.

The distances among the three rotors on the three small towers are equal, and the distances are smaller than the diameters of the rotors, so that the rotating surface of the first rotor 111 on the first small tower 7 is partially overlapped with the rotating surface of the second rotor 112 on the second small tower 8 on the horizontal projection, and the rotating surface of the second rotor 112 on the second small tower 8 is partially overlapped with the rotating surface of the third rotor 113 on the third small tower 9 on the horizontal projection, thereby saving the occupied space of the three rotors.

The rotating surface of each rotor wing is horizontally arranged.

The blades of the first rotor 111 are connected with the rotor shaft through a hub, the hub is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, and a total pitch and periodic variable pitch controller 1 is arranged to control the lift force and the direction of the first rotor 111.

The blades of the second rotor 112 are connected to the rotor shaft via a hub, which is equipped with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a pitch hinge, and a collective pitch and cyclic pitch controller 2 is provided to control the magnitude and direction of the lift of the second rotor 112.

The third rotor 113 blade is connected to the rotor hub via the hub, the hub is equipped with the blade flap device composed of flap hinge, shimmy hinge and pitch hinge, the total pitch and periodic pitch controller 3 is set to control the lift force and direction of the third rotor 113.

Three engines are provided to drive the three rotors, respectively, and a linkage system is provided to link the three engines so that the three rotors rotate at the same speed, the first rotor 111 and the third rotor 113 rotate in the same direction, and the first rotor 111 and the second rotor 112 rotate in opposite directions.

Each rotor is composed of three blades, the number and the size of the blades of the first rotor 111 and the third rotor 113 are the same, the number and the radius of the blades of the second rotor 112 are the same as those of the blades of the first rotor 111, but the chord lengths are different, the radius of the blades of the first rotor 111, the radius of the blades of the second rotor 112 and the radius of the blades of the third rotor 113 are R, the chord length of the blades of the first rotor 111 and the chord length of the blades of the third rotor 113 are B, and the chord length of the blades of the second rotor 112 is 2B.

The first rotor 111 and the third rotor 113 rotate clockwise S and the second rotor 112 rotates counterclockwise N, see the bottom view of fig. 2.

The rotor synchronizer is arranged to enable the initial installation phase difference between adjacent blades of the first rotor 111 and the second rotor 112 to be always kept at 60 degrees, and the initial installation phase difference between adjacent blades of the second rotor 112 and the third rotor 113 to be always kept at 60 degrees, so that even if the distances between the three rotors are equal and smaller than the diameters of the rotors, the blades of the rotors cannot collide with each other, and the height required by the small tower is reduced.

Since the three rotors have the same rotating speed and the same blade diameter, and when the pitch is the same, the chord length of the first rotor 111 is B, the chord length of the third rotor 113 is B, and the chord length of the second rotor 112 is 2B, the sum of the reactive torques of the first rotor 111 and the third rotor 113 is substantially equal to the reactive torque of the second rotor 112 in number, but opposite in direction, so that the reactive torques of the three rotors substantially cancel each other.

When a three-rotor helicopter with different chord lengths is in the air, the collective pitch and cyclic pitch controller 1 of the first rotor 111 is operated to incline forwards, the tip rotating plane of the first rotor 111 is inclined forwards, the lift force of the first rotor 111 is inclined forwards, meanwhile, the collective pitch and cyclic pitch controller 3 of the third rotor 113 is operated to incline forwards, the tip rotating plane of the third rotor 113 is inclined forwards, the lift force of the third rotor 113 is inclined forwards, and the first rotor 111 and the third rotor 113 jointly generate a forward-tilting moment which drives the fuselage 11 to tilt forwards; the collective and cyclic controller 1 of the first rotor 111 is operated to tilt backward, the tip rotation surface of the first rotor 111 is tilted backward, the lift force of the first rotor 111 is tilted backward, meanwhile, the collective and cyclic controller 3 of the third rotor 113 is operated to tilt backward, the tip rotation surface of the third rotor 113 is tilted backward, the lift force of the third rotor 113 is tilted backward, and the first rotor 111 and the third rotor 113 jointly generate a backward tilting moment which drives the body 11 to tilt backward, thereby realizing the pitching operation.

When the three-rotor helicopter with different chord lengths is in the air, the collective pitch and cyclic pitch controller 1 of the first rotor 111 is operated to tilt to the left, the tip rotating plane of the first rotor 111 is tilted to the left, the lift force of the first rotor 111 is tilted to the left, meanwhile, the collective pitch and cyclic pitch controller 3 of the third rotor 113 is operated to tilt to the left, the tip rotating plane of the third rotor 113 is tilted to the left, the lift force of the third rotor 113 is tilted to the left, and the first rotor 111 and the third rotor 113 jointly generate a leftward tilting moment which drives the fuselage 11 to roll leftward; the collective pitch and cyclic pitch controller 1 for operating the first rotor 111 is tilted to the right, the tip rotating surface of the first rotor 111 is tilted to the right, the lift force of the first rotor 111 is tilted to the right, and simultaneously, the collective pitch and cyclic pitch controller 3 for operating the third rotor 113 is tilted to the right, the tip rotating surface of the third rotor 113 is tilted to the right, the lift force of the third rotor 113 is tilted to the right, and the first rotor 111 and the third rotor 113 jointly generate a tilting moment to the right, which drives the fuselage 11 to roll to the right, thereby realizing the roll operation.

When the three-rotor helicopter with unequal chord lengths is in the air, the total distance of the second rotor 112 and the total distance of the cyclic controller 2 are operated to increase, the lift force of the second rotor 112 is increased, the reaction torque of the second rotor 112 is greater than the sum of the reaction torques of the first rotor 111 and the third rotor 113, and the reaction torque of the second rotor 112 makes the three-rotor helicopter with unequal chord lengths rotate clockwise S, namely rotate to the right due to the anticlockwise rotation N of the second rotor 112 as seen in the lowest drawing of FIG. 2; the collective pitch of the second rotor 112 and the collective pitch of the cyclic controller 2 are controlled to decrease, the lift of the second rotor 112 decreases, the reactive torque of the second rotor 112 is smaller than the sum of the reactive torques of the first rotor 111 and the third rotor 113, and the reactive torques of the first rotor 111 and the third rotor 113 cause the unequal chord length tri-rotor helicopter to rotate counterclockwise by N, that is, to rotate left, due to the clockwise rotation S of the first rotor 111 and the third rotor 113, thereby realizing course control.

In the course control process, vertical interference is generated, when the second rotor wing 112 rotates anticlockwise and the control turns to the right, the lift force of the second rotor wing 112 is increased to generate ascending interference, the lift force is reduced by reducing the accelerator to overcome the interference, when the control turns to the left, the lift force of the second rotor wing 112 is reduced to generate descending interference, the lift force is increased by increasing the accelerator to overcome the interference, and the stable course control is realized.

In the embodiment shown in fig. 3, three rotors are arranged in a tandem arrangement, the rotors are composed of four blades, a longitudinal beam 10 is arranged at the top of a fuselage 11, a first wing-type tower 7 is arranged on a cantilever at the front end of the longitudinal beam 10, the first tower 7 functions as a vertical tail wing, a first rotor 121 is arranged on the first tower 7, the center of the longitudinal beam 10 is above a gravity center P, a second wing-type tower 8 is arranged at the top of the fuselage 11 above the gravity center P, the second tower 8 functions as a vertical tail wing, a second rotor 122 is arranged on the second tower 8, a third wing-type tower 9 is arranged on a cantilever at the rear end of the longitudinal beam 10, the third tower 9 functions as a vertical tail wing, and a third rotor 113 is arranged on the third tower 9.

The distances among the three rotors on the three small towers are equal, and the distances are smaller than the diameters of the rotors, so that the rotating surface of the first rotor 121 on the first small tower 7 is partially overlapped with the rotating surface of the second rotor 122 on the second small tower 8 in horizontal projection, and the rotating surface of the second rotor 122 on the second small tower 8 is partially overlapped with the rotating surface of the third rotor 123 on the third small tower 9 in horizontal projection, thereby saving the occupied space of the three rotors.

The rotating surface of each rotor wing is horizontally arranged.

The blades of the first rotor 121 are connected to the rotor shaft via a hub, the hub is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a pitch-variable hinge, and the total pitch and periodic pitch controller 1 is arranged to control the lift force and direction of the first rotor 121.

The blades of the second rotor 122 are connected to the rotor shaft via a hub, which is equipped with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a pitch hinge, and a collective pitch and cyclic pitch controller 2 is provided to manipulate the magnitude and direction of lift of the second rotor 122.

The third rotor 123 has its blades connected to the rotor shaft via a hub, which is equipped with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a pitch hinge, and a collective pitch and cyclic pitch controller 3 is provided to control the magnitude and direction of lift of the third rotor 123.

Three engines are arranged to respectively drive the three rotors, and a linkage device is arranged to enable the three engines to be linked, so that the rotating speeds of the three rotors are the same, the rotating directions of the first rotor 121 and the third rotor 123 are the same, and the rotating directions of the first rotor 121 and the second rotor 122 are opposite.

Each rotor is composed of four blades, the first rotor 121 and the third rotor 123 are provided with the same number of blades and the same size, the second rotor 122 is provided with the same number and the same radius of blades as the first rotor 121, but different chord lengths, the radius of the blades of the first rotor 121, the second rotor 122 and the third rotor 123 is R, the chord length of the blades of the first rotor 121 and the third rotor 123 is B, and the chord length of the blades of the second rotor 122 is 2B.

First rotor 121 and third rotor 123 rotate clockwise S and second rotor 122 rotates counter-clockwise N, see the bottom view of fig. 3.

The rotor synchronization device is arranged to enable the initial installation phase difference between adjacent blades of the first rotor 121 and the second rotor 122 to be always 45 degrees, the initial installation phase difference between adjacent blades of the second rotor 122 and the third rotor 123 to be always 45 degrees, even if the distances between the three rotors are equal and smaller than the diameters of the rotors, the blades of the rotors cannot collide with each other, and the height required by the small towers is reduced.

Since the three rotors have the same rotating speed and the same blade diameter, and when the pitch is the same, the chord length of the first rotor 121 is B, the chord length of the third rotor 123 is B, and the chord length of the second rotor 122 is 2B, the sum of the reactive torques of the first rotor 121 and the third rotor 123 is substantially equal to the reactive torque of the second rotor 122 in number, but opposite in direction, the reactive torques of the three rotors substantially cancel each other.

When a three-rotor helicopter with different chord lengths is in the air, the collective pitch and cyclic pitch controller 1 of the first rotor 121 is operated to incline forwards, the tip rotating surface of the first rotor 121 is inclined forwards, the lift force of the first rotor 121 is inclined forwards, meanwhile, the collective pitch and cyclic pitch controller 3 of the third rotor 123 is operated to incline forwards, the tip rotating surface of the third rotor 123 is inclined forwards, the lift force of the third rotor 123 is inclined forwards, and the first rotor 121 and the third rotor 123 jointly generate a forward-tilting moment which drives the fuselage 11 to tilt forwards; the collective and cyclic controller 1 for the first rotor 121 is operated to tilt backward, the tip rotation surface of the first rotor 121 is tilted backward, the lift force of the first rotor 121 is tilted backward, and the collective and cyclic controller 3 for the third rotor 123 is operated to tilt backward, the tip rotation surface of the third rotor 123 is tilted backward, the lift force of the third rotor 123 is tilted backward, and the first rotor 121 and the third rotor 123 together generate a backward tilt moment that drives the body 11 to tilt backward, thereby realizing a pitching operation.

When the three-rotor helicopter with different chord lengths is in the air, the collective pitch and cyclic pitch controller 1 of the first rotor 121 is operated to tilt to the left, the tip rotating surface of the first rotor 121 tilts to the left, the lift force of the first rotor 121 tilts to the left, meanwhile, the collective pitch and cyclic pitch controller 3 of the third rotor 123 is operated to tilt to the left, the tip rotating surface of the third rotor 123 tilts to the left, the lift force of the third rotor 123 tilts to the left, and the first rotor 121 and the third rotor 123 jointly generate a leftward tilting moment which drives the fuselage 11 to roll leftward; the collective pitch and cyclic pitch controller 1 for operating the first rotor 121 is tilted to the right, the tip rotating surface of the first rotor 121 is tilted to the right, the lift force of the first rotor 121 is tilted to the right, and the collective pitch and cyclic pitch controller 3 for operating the third rotor 123 is tilted to the right, the tip rotating surface of the third rotor 123 is tilted to the right, the lift force of the third rotor 123 is tilted to the right, and the first rotor 121 and the third rotor 123 jointly generate a tilting moment to the right, which drives the fuselage 11 to roll to the right, thereby realizing the roll operation.

When the three-rotor helicopter with unequal chord lengths is in the air, the total distance of the second rotor 122 and the total distance of the cyclic controller 2 are operated to be increased, the lift force of the second rotor 122 is increased, the reaction torque of the second rotor 122 is larger than the sum of the reaction torques of the first rotor 121 and the third rotor 123, and the reaction torque of the second rotor 122 makes the three-rotor helicopter with unequal chord lengths rotate clockwise S, namely rotate to the right due to the fact that the second rotor 122 rotates anticlockwise N, referring to the lowest drawing in FIG. 3; the collective pitch of second rotor 122 and the collective pitch of cyclic controller 2 are controlled to decrease, the lift of second rotor 122 decreases, the reactive torque of second rotor 122 is less than the sum of the reactive torques of first rotor 121 and third rotor 123, and the reactive torques of first rotor 121 and third rotor 123 cause the unequal chord length tri-rotor helicopter to rotate counterclockwise N, i.e., to the left, due to clockwise rotation S of first rotor 121 and third rotor 123, thereby achieving course control.

In the course control process, vertical interference is generated, because the second rotor 122 rotates anticlockwise, when the control turns to the right, the lift force of the second rotor 112 is increased, ascending interference is generated, meanwhile, the total distance of the first rotor 121 and the third rotor 123 is controlled to be reduced in the same way, the lift force of the first rotor 121 and the third rotor 123 is reduced in the same way, the interference is overcome, and the right rotation speed is increased; because the second rotor 122 rotates anticlockwise, when the operation turns left, the lift force of the second rotor 122 is reduced, descending interference is generated, meanwhile, the total distance of the first rotor 121 and the third rotor 122 is operated to be the same, the lift force of the first rotor 121 and the third rotor 123 is operated to be the same, the interference is overcome, the left rotation speed is increased, and stable course operation is realized.

In the embodiment shown in fig. 4, three rotors are arranged in a transverse arrangement, a cross beam 16 is arranged at the top of a fuselage 11, a left wing-shaped tower 13 is arranged on a left end cantilever of the cross beam 16 and plays a role of a vertical tail wing, a left rotor 201 is arranged on the left tower 13, symmetrically, a right wing-shaped tower 15 is arranged on a right end cantilever of the cross beam 16 and plays a role of a vertical tail wing, a right rotor 203 is arranged on the right tower 15, the left tower 13 and the right tower 15 are the same in size, and the left rotor 201 and the right rotor 203 are the same in size.

The center of the crossbeam 16 is above the center of gravity P, the top of the fuselage 11 above the center of gravity P is provided with a wing-shaped central tower 14, and the central rotor 202 is arranged on the central tower 14.

The distances from the left small tower 13 to the central small tower 14 and from the right small tower 15 to the central small tower 14 are equal, the central small tower 14 is higher than the left small tower 13 and the right small tower 15, the left small tower 13 and the right small tower 15 are the same in height, the central rotor 202 is higher than the left rotor 201 and the right rotor 203, and the left rotor 201 and the right rotor 203 are the same in height, so that the influence of the downwash airflow of the central rotor 202 on the left rotor 201 and the right rotor 203 during forward flight can be reduced.

Distances from the left small tower 13 to the central small tower 14 and from the right small tower 15 to the central small tower 14 are equal, and the distances are smaller than the diameters of the rotors, so that the rotating surface of the left rotor 201 on the left small tower 13 is partially overlapped with the rotating surface of the central rotor 202 on the central small tower 14 on the horizontal projection, and the rotating surface of the right rotor 203 on the right small tower 15 is partially overlapped with the rotating surface of the central rotor 202 on the central small tower 14 on the horizontal projection, thereby saving the occupied space of three rotors.

The rotating surface of each rotor wing is horizontally arranged.

The blades of the left rotor 201 are connected with the rotor shaft through a hub, the hub is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, and the total pitch and periodic variable pitch controller 4 is arranged to control the lift force and the direction of the left rotor 201.

The blades of the central rotor 202 are connected with the rotor shaft through a hub, the hub is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, and a total pitch and periodic variable pitch controller 5 is arranged to control the lift force and the direction of the central rotor 202.

The blades of the right rotor 203 are connected with the rotor shaft through a hub, the hub is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, and a total pitch and periodic variable pitch controller 6 is arranged to control the lift force and the direction of the right rotor 203.

The engine is arranged to drive the three rotors simultaneously through the transmission, so that the three rotors rotate at the same speed, and the left rotor 201 and the right rotor 203 rotate in the same direction but in the opposite direction to the direction of the central rotor 202.

The left rotor 201 and the right rotor 203 rotate clockwise S and the central rotor 202 rotates counter-clockwise N, see the bottom drawing of fig. 4. .

Each rotor wing is composed of two blades with the same number, the left rotor wing 201 and the right rotor wing 203 are blades with the same number and the same size, the number and the radius of the blades adopted by the central rotor wing 202 are the same as those of the blades adopted by the left rotor wing 201, the radii of the blades are the same, but the chord lengths of the blades of the central rotor wing 202 are different, and the chord length of the blades of the central rotor wing 202 is equal to the sum of the chord lengths 203 of the blades of the left rotor wing 201 and.

The left rotor 201, the center rotor 202 and the right rotor 203 are composed of two blades, the radius of each of the left rotor 201, the center rotor 202 and the right rotor 203 is R, the chord length of each of the left rotor 201 and the right rotor 203 is B, and the chord length of each of the center rotor 202 is 2B.

The rotor synchronizer is arranged to ensure that the initial installation phase difference between the adjacent blades of the left rotor 201 and the central rotor 202 is 90 degrees, and the initial installation phase difference between the adjacent blades of the right rotor 203 and the central rotor 202 is 90 degrees, so that the rotor blades are prevented from colliding with each other, and the height required by a small tower is reduced.

Since the three rotors have the same rotation speed, the same blade diameter, and the same pitch, the chord length of the left-hand rotor 201 is B, the chord length of the right-hand rotor 203 is B, and the chord length of the center rotor 202 is 2B, the sum of the reactive torques of the left-hand rotor 201 and the right-hand rotor 203 is substantially equal to the reactive torque of the center rotor 202 in number, but opposite directions, and the reactive torques of the three rotors substantially cancel each other.

When the three-rotor helicopter with unequal chord lengths is in the air, the collective pitch and cyclic pitch controller 4 for operating the left rotor 201 tilts forward, the tip rotating surface of the left rotor 201 tilts forward, the lift force of the left rotor 201 tilts forward, meanwhile, the collective pitch and cyclic pitch controller 6 for operating the right rotor 203 tilts forward, the tip rotating surface of the right rotor 203 tilts forward, the lift force of the right rotor 203 tilts forward, and the left rotor 201 and the right rotor 203 jointly generate a forward tilting moment which drives the fuselage 11 to tilt forward; the collective pitch and cyclic pitch controller 4 of the left rotor 201 is operated to tilt backwards, the tip rotating surface of the left rotor 201 tilts backwards, the lifting force of the left rotor 201 tilts backwards, meanwhile, the collective pitch and cyclic pitch controller 6 of the right rotor 203 is operated to tilt backwards, the tip rotating surface of the right rotor 203 tilts backwards, the lifting force of the right rotor 203 tilts backwards, the left rotor 201 and the right rotor 203 jointly generate a backward tilting moment, and the moment drives the fuselage 11 to tilt backwards to realize pitching operation.

When the three-rotor helicopter with different chord lengths is in the air, the collective pitch and cyclic pitch controller 4 of the left rotor 201 is operated to incline to the left, the tip rotating surface of the left rotor 201 inclines to the left, the lift force of the left rotor 201 inclines to the left, meanwhile, the collective pitch and cyclic pitch controller 6 of the right rotor 203 is operated to incline to the left, the tip rotating surface of the right rotor 203 inclines to the left, the lift force of the right rotor 203 inclines to the left, and the left rotor 201 and the right rotor 203 jointly generate a leftward tilting moment which drives the fuselage 11 to roll leftward; the collective pitch and cyclic pitch controller 4 for operating the left rotor 201 is inclined to the right, the tip rotating surface of the left rotor 201 is inclined to the right, the lift force of the left rotor 201 is inclined to the right, the collective pitch and cyclic pitch controller 6 for operating the right rotor 203 is inclined to the right, the tip rotating surface of the right rotor 203 is inclined to the right, the lift force of the right rotor 203 is inclined to the right, the left rotor 201 and the right rotor 203 jointly generate a rightward inclination moment, and the moment drives the fuselage 11 to roll rightward, thereby realizing the roll operation.

When the three-rotor helicopter with unequal chord lengths is in the air, the total distance of the center rotor 202 and the total distance of the cyclic pitch controller 5 are controlled to be increased, the lift force of the center rotor 202 is increased, the reactive torque of the center rotor 202 is greater than the sum of the reactive torques of the left rotor 201 and the right rotor 203, and the reactive torque enables the three-rotor helicopter with unequal chord lengths to rotate clockwise S, namely to rotate right due to the fact that the center rotor 202 rotates anticlockwise N as seen in the lowest diagram of FIG. 4; the total pitch of the central rotor 202 and the total pitch of the cyclic controller 5 are controlled to be reduced, the lift force of the central rotor 202 is reduced, the reactive torque of the central rotor 202 is smaller than the sum of the reactive torques of the left rotor 201 and the right rotor 203, and the reactive torques of the left rotor 201 and the right rotor 203 cause the tri-rotor helicopter with different chord lengths to rotate anticlockwise, namely rotate to the left, so that course control is realized.

In the course control process, vertical interference is generated, when the central rotor 202 rotates anticlockwise and the control turns to the right, the lift force of the central rotor 202 is increased to generate ascending interference, the lift force is reduced by reducing the accelerator to overcome the interference, when the control turns to the left, the lift force of the central rotor 202 is reduced to generate descending interference, the lift force is increased by increasing the accelerator to overcome the interference, and stable course control is realized.

In the embodiment shown in fig. 5, three rotors are arranged in a transverse arrangement, a cross beam 16 is arranged at the top of a fuselage 11, a left wing-shaped tower 13 is arranged on a left end cantilever of the cross beam 16 and plays a role of a vertical tail wing, a left rotor 211 is arranged on the left tower 13, symmetrically, a right wing-shaped tower 15 is arranged on a right end cantilever of the cross beam 16 and plays a role of a vertical tail wing, a right rotor 213 is arranged on the right tower 15, the left tower 13 and the right tower 15 are the same in size, and the left rotor 211 and the right rotor 213 are the same in size.

The center of the crossbeam 16 is above the center of gravity P, the top of the fuselage 11 is provided with an airfoil-shaped central tower 14 above the center of gravity P, and the central rotor 212 is arranged on the central tower 14.

Distances from the left small tower 13 to the central small tower 14 and from the right small tower 15 to the central small tower 14 are equal, the central small tower 14 is higher than the left small tower 13 and the right small tower 15, the left small tower 13 and the right small tower 15 are the same in height, the central rotor 212 is higher than the left rotary wing 211 and the right rotary wing 213 in height, and the left rotary wing 211 and the right rotary wing 213 are the same in height, so that the influence of downwash airflow of the central rotor 212 on the left rotary wing 211 and the right rotary wing 213 in forward flight can be reduced.

Distances from the left small tower 13 to the central small tower 14 and from the right small tower 15 to the central small tower 14 are equal, and the distance is smaller than the diameter of the rotor, so that the rotating surface of the left rotor 211 on the left small tower 13 is partially overlapped with the rotating surface of the central rotor 212 on the central small tower 14 on the horizontal projection, and the rotating surface of the right rotor 213 on the right small tower 15 is partially overlapped with the rotating surface of the central rotor 212 on the central small tower 14 on the horizontal projection, thereby saving the occupied space of three rotors.

The rotating surface of each rotor wing is horizontally arranged.

The blades of the left rotor 211 are connected with the rotor shaft through a hub, the hub is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, and a total pitch and periodic variable pitch controller 4 is arranged to control the lift force and the direction of the left rotor 211.

The blades of the central rotor 212 are connected with the rotor shaft through a hub, the hub is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, and a total pitch and periodic variable pitch controller 5 is arranged to control the lift force and the direction of the central rotor 212.

The blades of the right rotor 213 are connected with the rotor shaft through a hub, the hub is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, and a total pitch and periodic variable pitch controller 6 is arranged to control the lift force and the direction of the right rotor 213.

Three motors are provided to drive the three rotors, respectively, and a linkage is provided to link the three motors so that the three rotors rotate at the same speed and so that the left rotor 211 and the right rotor 213 turn in the same direction but in the opposite direction to the center rotor 212.

The left rotor 211 and the right rotor 213 rotate clockwise S and the central rotor 212 rotates counter-clockwise N, see the bottom drawing of fig. 5.

Each rotor is composed of three blades with the same number, the left rotor 211 and the right rotor 213 are blades with the same number and size, the central rotor 212 is provided with the same number and radius of the blades and the left rotor 211 is provided with the same number and radius of the blades, but the chord lengths are different, and the chord length of the blades of the central rotor 212 is equal to the sum of the chord lengths 213 of the blades of the left rotor 211 and the right rotor.

The left rotor 211, the center rotor 212 and the right rotor 213 are composed of three blades, the radius of each of the left rotor 211, the center rotor 212 and the right rotor 213 is R, the chord length of each of the left rotor 211 and the right rotor 213 is B, and the chord length of each of the center rotor 212 is 2B.

The rotor synchronization device is arranged to ensure that the initial installation phase difference of the adjacent blades of the left rotor 211 and the central rotor 212 is 60 degrees, and the initial installation phase difference of the adjacent blades of the right rotor 213 and the central rotor 212 is 60 degrees, so that the rotor blades are prevented from colliding with each other, and the height required by a small tower is reduced.

Since the three rotors have the same rotational speed, the same blade diameter, and the same pitch, the chord length of the left rotor 211 is B, the chord length of the right rotor 213 is B, and the chord length of the center rotor 212 is 2B, the sum of the reactive torques of the left rotor 211 and the right rotor 213 is substantially equal in number to the reactive torque of the center rotor 212, but opposite in direction, and therefore the reactive torques of the three rotors substantially cancel each other.

When the three-rotor helicopter with unequal chord lengths is in the air, the collective pitch and cyclic pitch controller 4 for operating the left rotor 211 inclines forwards, the tip rotating surface of the left rotor 211 inclines forwards, the lift force of the left rotor 211 inclines forwards, meanwhile, the collective pitch and cyclic pitch controller 6 for operating the right rotor 213 inclines forwards, the tip rotating surface of the right rotor 213 inclines forwards, the lift force of the right rotor 213 inclines forwards, and the left rotor 211 and the right rotor 213 jointly generate a forward-tilting moment which drives the fuselage 11 to tilt forwards; the collective pitch and cyclic pitch controller 4 for operating the left rotor 211 is tilted backwards, the tip rotating surface of the left rotor 211 is tilted backwards, the lift force of the left rotor 211 is tilted backwards, meanwhile, the collective pitch and cyclic pitch controller 6 for operating the right rotor 213 is tilted backwards, the tip rotating surface of the right rotor 213 is tilted backwards, the lift force of the right rotor 213 is tilted backwards, the left rotor 211 and the right rotor 213 jointly generate a backward tilting moment, and the moment drives the fuselage 11 to tilt backwards, so that the pitching operation is realized.

When the three-rotor helicopter with different chord lengths is in the air, the collective pitch and cyclic pitch controller 4 of the left rotor 211 is operated to tilt to the left, the tip rotating surface of the left rotor 211 tilts to the left, the lift force of the left rotor 211 tilts to the left, meanwhile, the collective pitch and cyclic pitch controller 6 of the right rotor 213 is operated to tilt to the left, the tip rotating surface of the right rotor 213 tilts to the left, the lift force of the right rotor 213 tilts to the left, and the left rotor 211 and the right rotor 213 jointly generate a leftward tilting moment which drives the fuselage 11 to roll leftward; the collective pitch and cyclic pitch controller 4 for operating the left rotor 211 is inclined to the right, the tip rotating surface of the left rotor 211 is inclined to the right, the lift force of the left rotor 211 is inclined to the right, and the collective pitch and cyclic pitch controller 6 for operating the right rotor 213 is inclined to the right, the tip rotating surface of the right rotor 213 is inclined to the right, the lift force of the right rotor 213 is inclined to the right, and the left rotor 211 and the right rotor 213 jointly generate a rightward tilting moment that drives the fuselage 11 to roll rightward, thereby realizing a roll operation.

When the three-rotor helicopter with unequal chord lengths is in the air, the total distance of the center rotor 212 and the total distance of the cyclic pitch controller 5 are controlled to be increased, the lift force of the center rotor 212 is increased, the reaction torque of the center rotor 212 is larger than the sum of the reaction torques of the left rotor 211 and the right rotor 213, and the reaction torque enables the three-rotor helicopter with unequal chord lengths to rotate clockwise S, namely to rotate right due to the fact that the center rotor 212 rotates anticlockwise N, referring to the lowest drawing in FIG. 5; the total distance of the central rotor 212 and the total distance of the cyclic pitch controller 5 are controlled to be reduced, the lift force of the central rotor 212 is reduced, the reactive torque of the central rotor 212 is smaller than the sum of the reactive torques of the left rotor 211 and the right rotor 213, and the reactive torques of the left rotor 211 and the right rotor 213 cause the tri-rotor helicopter with different chord lengths to rotate anticlockwise, namely rotate to the left, so that the course control is realized.

In the course control process, vertical interference is generated, when the central rotor wing 212 rotates anticlockwise and is controlled to rotate to the right, the lift force of the central rotor wing 212 is increased to generate ascending interference, the lift force is reduced by reducing an accelerator to overcome the interference, when the central rotor wing is controlled to rotate to the left, the lift force of the central rotor wing 212 is reduced to generate descending interference, the lift force is increased by increasing the accelerator to overcome the interference, and stable course control is realized.

In the embodiment shown in fig. 6, three rotors are arranged in a transverse arrangement, a cross beam 16 is arranged at the top of a fuselage 11, a wing-shaped left tower 13 is arranged on a left end cantilever of the cross beam 16 and plays a role of a vertical tail wing, a left rotor 221 is arranged on the left tower 13, symmetrically, a wing-shaped right tower 15 is arranged on a right end cantilever of the cross beam 16 and plays a role of a vertical tail wing, a right rotor 223 is arranged on the right tower 15, the left tower 13 and the right tower 15 are the same in size, and the left rotor 221 and the right rotor 223 are the same in size.

The center of the beam 16 is above the center of gravity P, the top of the fuselage 11 is provided with a wing-shaped central tower 14 above the center of gravity P, and the central rotor 222 is arranged on the central tower 14.

The distances from the left small tower 13 to the central small tower 14 and from the right small tower 15 to the central small tower 14 are equal, the central small tower 14 is higher than the left small tower 13 and the right small tower 15, the left small tower 13 and the right small tower 15 are the same in height, the central rotor wing 222 is higher than the left rotor wing 221 and the right rotor wing 223 in height, and the left rotor wing 221 and the right rotor wing 223 are the same in height, so that the influence of downwash airflow of the central rotor wing 222 on the left rotor wing 221 and the right rotor wing 223 in forward flight can be reduced.

Distances from the left small tower 13 to the central small tower 14 and from the right small tower 15 to the central small tower 14 are equal, and the distances are smaller than the diameters of the rotors, so that the rotating surface of the left rotor 221 on the left small tower 13 is partially overlapped with the rotating surface of the central rotor 222 on the central small tower 14 in horizontal projection, and the rotating surface of the right rotor 223 on the right small tower 15 is partially overlapped with the rotating surface of the central rotor 222 on the central small tower 14 in horizontal projection, thereby saving the occupied space of three rotors.

The rotating surface of each rotor wing is horizontally arranged.

The blades of the left rotor 221 are connected with the rotor shaft through a hub, the hub is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, and a total pitch and periodic variable pitch controller 4 is arranged to control the lift force and the direction of the left rotor 221.

The blades of the central rotor 222 are connected to the rotor shaft via a hub, which is equipped with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a pitch hinge, and a collective pitch and cyclic pitch controller 5 is provided to control the magnitude and direction of the lift of the central rotor 222.

The blades of the right rotor 223 are connected with the rotor shaft through a hub, the hub is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, and a total pitch and periodic variable pitch controller 6 is arranged to control the lift force and the direction of the right rotor 223.

Three motors are provided to drive the three rotors, respectively, and a linkage is provided to link the three motors so that the three rotors rotate at the same speed and so that the left-hand wing 221 and the right-hand wing 223 turn in the same direction but in the opposite direction to the center rotor 222.

The left rotor 221 and the right rotor 223 rotate clockwise S and the center rotor 222 rotates counter-clockwise N, see the bottom view of fig. 6.

Each rotor wing is composed of four blades with the same number, the left-handed wing 221 and the right-handed wing 223 are blades with the same number and the same size, the central rotor wing 222 is provided with the same number and the same radius of the blades as the left-handed wing 221, but the chord lengths of the blades of the central rotor wing 222 are different, and the chord length of the blades of the central rotor wing 222 is equal to the sum of the chord lengths 223 of the blades of the left-handed wing 221 and the right-handed wing.

The left rotor 221, the central rotor 222 and the right rotor 223 are composed of four blades, the radius of each of the left rotor 221, the central rotor 222 and the right rotor 223 is R, the chord length of each of the left rotor 221 and the right rotor 223 is B, and the chord length of each of the central rotor 222 is 2B.

The rotor synchronization device is arranged to ensure that the initial installation phase difference of the adjacent blades of the left rotary wing 221 and the central rotor 222 is 45 degrees, and the initial installation phase difference of the adjacent blades of the right rotary wing 223 and the central rotor 222 is 45 degrees, so that the rotor blades are prevented from colliding with each other, and the height required by a small tower is reduced.

Since the three rotors have the same rotation speed, the same blade diameter, and the same pitch, the chord length of the left rotor 221 is B, the chord length of the right rotor 223 is B, and the chord length of the center rotor 222 is 2B, the sum of the reactive torques of the left rotor 221 and the right rotor 223 is substantially equal to the reactive torque of the center rotor 222 in number, but the directions are opposite to each other, so that the reactive torques of the three rotors substantially cancel each other.

When the three-rotor helicopter with different chord lengths is in the air, the collective pitch and cyclic pitch controller 4 for operating the left rotor 221 inclines forwards, the tip rotating surface of the left rotor 221 inclines forwards, the lift force of the left rotor 221 inclines forwards, meanwhile, the collective pitch and cyclic pitch controller 6 for operating the right rotor 223 inclines forwards, the tip rotating surface of the right rotor 223 inclines forwards, the lift force of the right rotor 223 inclines forwards, and the left rotor 221 and the right rotor 223 jointly generate a forward-tilting moment which drives the fuselage 11 to tilt forwards; the collective and cyclic pitch controller 4 for operating the left rotor 221 tilts backwards, the tip rotating surface of the left rotor 221 tilts backwards, the lift force of the left rotor 221 tilts backwards, meanwhile, the collective and cyclic pitch controller 6 for operating the right rotor 223 tilts backwards, the tip rotating surface of the right rotor 223 tilts backwards, the lift force of the right rotor 223 tilts backwards, the left rotor 221 and the right rotor 223 jointly generate a backward tilting moment, and the moment drives the fuselage 11 to tilt backwards to realize pitching operation.

When the three-rotor helicopter with different chord lengths is in the air, the collective pitch and cyclic pitch controller 4 of the left rotor 221 is operated to tilt to the left, the tip rotating surface of the left rotor 221 tilts to the left, the lift force of the left rotor 221 tilts to the left, meanwhile, the collective pitch and cyclic pitch controller 6 of the right rotor 223 is operated to tilt to the left, the tip rotating surface of the right rotor 223 tilts to the left, the lift force of the right rotor 223 tilts to the left, and the left rotor 221 and the right rotor 223 jointly generate a leftward tilting moment which drives the fuselage 11 to roll leftward; the collective pitch and cyclic pitch controller 4 for operating the left rotor 221 is inclined rightward, the tip rotating surface of the left rotor 221 is inclined rightward, the lift force of the left rotor 221 is inclined rightward, and the collective pitch and cyclic pitch controller 6 for operating the right rotor 223 is inclined rightward, the tip rotating surface of the right rotor 223 is inclined rightward, the lift force of the right rotor 223 is inclined rightward, and the left rotor 221 and the right rotor 223 jointly generate a rightward inclination moment, which drives the fuselage 11 to roll rightward, thereby realizing a roll operation.

When the three-rotor helicopter with unequal chord lengths is in the air, the total distance of the central rotor 222 and the total distance of the cyclic pitch controller 5 are controlled to be increased, the lift force of the central rotor 222 is increased, the counter torque of the central rotor 222 is greater than the sum of the counter torques of the left rotor 221 and the right rotor 223, and the counter torque enables the three-rotor helicopter with unequal chord lengths to rotate clockwise S, namely to rotate right due to the fact that the central rotor 222 rotates anticlockwise N as seen in the lowest diagram of FIG. 6; the total distance of the central rotor wing 222 and the total distance of the cyclic controller 5 are controlled to be reduced, the lift force of the central rotor wing 222 is reduced, the reactive torque of the central rotor wing 222 is smaller than the sum of the reactive torques of the left rotor wing 221 and the right rotor wing 223, and the reactive torques of the left rotor wing 221 and the right rotor wing 223 enable the tri-rotor helicopter with different chord lengths to rotate anticlockwise, namely rotate to the left, so that course control is realized.

In the course control process, the interference in the vertical direction is generated, because the central rotor wing 222 rotates anticlockwise, when the control rotates rightwards, the lift force of the central rotor wing 222 is increased, the ascending interference is generated, meanwhile, the total distance of the left rotor wing 221 and the right rotor wing 223 is controlled to be reduced in the same way, the lift force of the left rotor wing 221 and the right rotor wing 223 is reduced in the same way, the interference is overcome, and the right rotating speed is increased; because the central rotor wing 222 rotates anticlockwise, when the left rotor wing is operated to rotate leftwards, the lift force of the central rotor wing 222 is reduced, descending interference is generated, meanwhile, the total distance between the left rotor wing 221 and the right rotor wing 223 is operated to be increased, the lift force of the left rotor wing 221 and the right rotor wing 223 is operated to be increased, the interference is overcome, the left rotating speed is increased, and stable course operation is realized.

In the embodiment shown in fig. 7, three rotors are arranged in tandem, the rotors are composed of three blades, a longitudinal beam 10 is arranged at the top of a fuselage 11, a first wing-type tower 7 is arranged on a cantilever at the front end of the longitudinal beam 10, the first tower 7 functions as a vertical tail wing, a first rotor 111 is arranged on the first tower 7, the center of the longitudinal beam 10 is above a gravity center P, a second wing-type tower 8 is arranged at the top of the fuselage 11 above the gravity center P, the second tower 8 functions as a vertical tail wing, a second rotor 112 is arranged on the second tower 8, a third wing-type tower 9 is arranged on a cantilever at the rear end of the longitudinal beam 10, the third tower 9 functions as a vertical tail wing, and a third rotor 113 is arranged on the third tower 9.

The space between the three rotors on the three small towers is equal, and the size of the space is smaller than the diameter of the rotor, so that the rotating surface of the first rotor 111 on the first small tower 7 is partially overlapped with the rotating surface of the second rotor 112 on the second small tower 8 on the horizontal projection, and the rotating surface of the second rotor 112 on the second small tower 8 is partially overlapped with the rotating surface of the third rotor 113 on the third small tower 9 on the horizontal projection, thereby saving the occupied space of the three rotors.

The rotating surface of each rotor wing is horizontally arranged.

The blades of the second rotor 112 are connected to the rotor hub via a hub, the hub is equipped with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a pitch-variable hinge, and a collective pitch controller 17 is arranged to control the lift force of the second rotor 112.

The first rotor 111 and the third rotor 113 rotate clockwise S and the second rotor 112 rotates counterclockwise N, see the bottom view of fig. 7.

When the three-rotor helicopter with unequal chord lengths is in the air, the total pitch of the total pitch controller 17 for operating the second rotor 112 is increased, the lift force of the second rotor 112 is increased, the reaction torque of the second rotor 112 is larger than the sum of the reaction torques of the first rotor 111 and the third rotor 113, and the reaction torque of the second rotor 112 causes the three-rotor helicopter with unequal chord lengths to rotate clockwise S, namely to rotate to the right, due to the counterclockwise rotation N of the second rotor 112, see the lowest drawing in fig. 7; the collective pitch of the collective pitch controller 17 for operating the second rotor 112 is reduced, the lift force of the second rotor 112 is reduced, the reactive torque of the second rotor 112 is smaller than the sum of the reactive torques of the first rotor 111 and the third rotor 113, and the reactive torques of the first rotor 111 and the third rotor 113 cause the unequal chord length tri-rotor helicopter to rotate counterclockwise N, that is, to rotate left, due to the clockwise rotation S of the first rotor 111 and the third rotor 113, thereby realizing the course steering.

In the embodiment shown in fig. 8, three rotors are arranged in a transverse arrangement, a cross beam 16 is arranged at the top of a fuselage 11, a left wing-shaped tower 13 is arranged on a left end cantilever of the cross beam 16 and plays a role of a vertical tail wing, a left rotor 211 is arranged on the left tower 13, symmetrically, a right wing-shaped tower 15 is arranged on a right end cantilever of the cross beam 16 and plays a role of a vertical tail wing, a right rotor 213 is arranged on the right tower 15, the left tower 13 and the right tower 15 are the same in size, and the left rotor 211 and the right rotor 213 are the same in size.

The rotating surface of each rotor wing is horizontally arranged.

The blades of the central rotor 212 are connected to the rotor shaft via a hub, which is equipped with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a pitch hinge, and a collective pitch controller 18 is provided to manipulate the lift of the central rotor 212.

The left rotor 211 and the right rotor 213 rotate clockwise S and the central rotor 212 rotates counter-clockwise N, see the bottom drawing of fig. 8.

Each rotor is composed of three blades with the same number, the left rotor 211 and the right rotor 213 are blades with the same number and the same size, the number and the radius of the blades adopted by the central rotor 212 are the same as those of the blades adopted by the left rotor 211, the radii of the blades are the same, but the chord lengths of the blades of the central rotor 212 are different, and the chord length of the blades of the central rotor 212 is equal to the sum of the chord lengths 212 of the blades of the left rotor 211 and the right rotor.

When the three-rotor helicopter with different chord lengths is in the air, the total distance of the total distance controller 18 for operating the central rotor 212 is increased, the lift force of the central rotor 212 is increased, the reaction torque of the central rotor 212 is greater than the sum of the reaction torques of the left rotor 211 and the right rotor 213, and the reaction torque enables the three-rotor helicopter with different chord lengths to rotate clockwise S, namely to rotate to the right, because the central rotor 212 rotates anticlockwise N; the collective pitch of the collective pitch controller 18 for operating the central rotor 212 is reduced, the lift force of the central rotor 212 is reduced, the reactive torque of the central rotor 212 is smaller than the sum of the reactive torques of the left rotor 211 and the right rotor 213, and the reactive torques of the left rotor 211 and the right rotor 213 cause the tri-rotor helicopter with unequal chord lengths to rotate anticlockwise, namely rotate to the left, so that the course control is realized.

Claims

1. A three-rotor helicopter with unequal chord lengths is characterized in that when three rotors are arranged in a longitudinal manner, a longitudinal beam is arranged at the top of a helicopter body, a first wing-shaped tower is arranged on a cantilever at the front end of the longitudinal beam and plays a role of a vertical tail wing, a first rotor wing is arranged on the first tower, the center of the longitudinal beam is positioned above the gravity center, a second wing-shaped tower is arranged at the top of the helicopter body above the gravity center and plays a role of a vertical tail wing, a second rotor wing is arranged on the second tower, a third wing-shaped tower is arranged on a cantilever at the rear end of the longitudinal beam and plays a role of a vertical tail wing, a third rotor wing is arranged on the third tower, the three towers are arranged at equal intervals, the third tower is higher than the second tower and higher than the first tower, the influence of the washing air flow of the front rotor wing on the rear rotor wing can be reduced, the intervals of the three rotor wings on the three towers are equal, and the interval size is smaller than the diameter of the rotor, the first rotor rotating surface on the first small tower is partially overlapped with the second rotor rotating surface on the second small tower in the horizontal projection, the second rotor rotating surface on the second small tower is partially overlapped with the third rotor rotating surface on the third small tower in the horizontal projection, the occupied space of the three rotors is saved, the rotating surface of each rotor is horizontally arranged, the blade of each rotor is connected with the rotor shaft through a hub, the hub is provided with a blade flapping device consisting of a flapping hinge, a pendulum vibration hinge and a variable pitch hinge, a total pitch controller is arranged for controlling the lift force of the rotors, a periodical variable pitch controller is arranged for controlling the dump angle of the rotor tip rotating surface, thereby changing the lift direction of the rotors, 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 first rotor and the third rotor are the same, and the rotating directions of the first rotor and the second rotor are opposite, or three engines are arranged to respectively drive the three rotors, the linkage device is arranged to make the three engines linked, the rotating speeds of the three rotors are the same, the rotating directions of the first rotor and the third rotor are the same, the rotating directions of the first rotor and the second rotor are opposite, each rotor is composed of blades with the same number, the first rotor and the third rotor are provided with blades with the same number and the same size, the second rotor is provided with blades with the same number and the same radius as those of the first rotor but different chord lengths, the chord length of the blade of the second rotor is equal to the sum of the chord lengths of the blades of the first rotor and the third rotor, when the first rotor, the second rotor and the third rotor are provided with two blades, the radius of the blade of the first rotor, the second rotor and the third rotor is R, and the chord length of the blade of the first rotor and the third rotor is B, the chord length of the blade of the second rotor wing is 2B, when the blade setting is adopted, the rotor wing synchronization device is arranged to ensure that the initial installation phase difference of the adjacent blades of the first rotor wing and the second rotor wing is 90 degrees, the initial installation phase difference of the adjacent blades of the second rotor wing and the third rotor wing is 90 degrees, the rotor wing blades are prevented from colliding with each other, and the height required by a small tower is reduced, when the first rotor wing, the second rotor wing and the third rotor wing are provided with three blades, the blade radius of the first rotor wing, the second rotor wing and the third rotor wing is R, the chord length of the blade of the first rotor wing and the third rotor wing is B, the chord length of the blade of the second rotor wing is 2B, when the blade setting is adopted, the rotor wing synchronization device is arranged to ensure that the initial installation phase difference of the adjacent blades of the first rotor wing and the second rotor wing is 60 degrees, the initial installation phase difference of, when the blade arrangement is adopted, a rotor synchronizing device is arranged to ensure that the initial installation phase difference of adjacent blades of the first rotor and the second rotor is 45 degrees, the initial installation phase difference of adjacent blades of the second rotor and the third rotor is 45 degrees, the mutual collision of the rotor blades is prevented, the height required by the small tower is reduced, an undercarriage is arranged under the machine body close to the gravity center, when the three rotors adopt a transverse arrangement, the top of the machine body is provided with a cross beam, a left small wing-shaped tower is arranged on a cantilever at the left end of the cross beam, the small wing-shaped tower plays a role of a vertical tail wing, and a left rotor is arranged on the left small tower, symmetrically, a right small wing-shaped tower is arranged on a cantilever at the right end of a crossbeam, the right small wing-shaped tower plays the role of a vertical empennage, a right rotor wing is arranged on the right small tower, the left small tower and the right small tower are the same in size, the left rotor wing and the right rotor wing are the same in size, the center of the crossbeam is arranged above the gravity center, a small wing-shaped center tower is arranged at the top of a machine body above the gravity center, a center rotor wing is arranged on the small center tower, the distances from the left small tower to the center small tower and from the right small tower to the center small tower are equal, the height of the center rotor wing is higher than that of the left rotor wing and the right rotor wing, the heights of the left rotor wing and the right rotor wing are the same, the influence of the washing air flow of the center rotor wing on the left rotor wing and the right rotor wing during forward flight can be reduced, the distances from the left small tower to the center small tower and from the right small tower to the center small tower are equal, the size of the interval is smaller than the diameter of the, the rotating face of the right rotor on the right small tower is partially overlapped with the rotating face of the central rotor on the central small tower on the horizontal projection, the occupied space of three rotors is saved, the rotating face of each rotor is horizontally arranged, the blade of each rotor is connected with the rotor shaft through a hub, the hub is provided with a blade flapping device consisting of a flapping hinge, a shimmy 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 face of the rotor tip, so that the lift force direction of the rotors is changed, an engine is arranged, the three rotors are simultaneously driven through a transmission device, the rotating speeds of the three rotors are the same, the rotating directions of the left rotor and the right rotor are the same, and are opposite to the rotating direction of the central rotor, or three engines are arranged for respectively driving the three rotors, and a linkage device is arranged for linking the three engines, so that the, the left rotor and the right rotor are enabled to rotate in the same direction but opposite to the direction of the central rotor, each rotor is composed of blades with the same quantity, the left rotor and the right rotor are respectively composed of blades with the same quantity and size, the central rotor is composed of blades with the same quantity and radius as the left rotor, but different chord lengths, the chord length of the blade of the central rotor is equal to the sum of the chord lengths of the blades of the left rotor and the right rotor, when the left rotor, the central rotor and the right rotor are composed of two blades, the radius of the blade of the left rotor, the radius of the blade of the central rotor and the radius of the blade of the right rotor are R, the chord length of the blade of the left rotor and the chord of the blade of the right rotor are B, the chord length of the blade of the central rotor is 2B, when the blade is arranged, the rotor synchronization device is arranged, the phase difference between the initial installation of the blades of the left rotor and the central rotor is, and reducing the height required by the small tower, when the left rotor, the central rotor and the right rotor adopt three blades, the blade radiuses of the left rotor, the central rotor and the right rotor are R, the blade chord lengths of the left rotor and the right rotor are B, and the blade chord length of the central rotor is 2B, when the blade setting is adopted, the rotor synchronizing device is arranged to ensure that the initial installation phase difference of the adjacent blades of the left rotor and the central rotor is 60 degrees, the initial installation phase difference of the adjacent blades of the right rotor and the central rotor is 60 degrees, the mutual collision of the rotor blades is prevented, and the height required by the small tower is reduced, when the left rotor, the central rotor and the right rotor adopt one blade, the blade radiuses of the left rotor, the central rotor and the right rotor are R, the blade chord lengths of the left rotor and the right rotor are B, and the blade chord length of the central rotor is 2B, when the blade setting is adopted, the rotor synchronizing device is arranged to ensure that the initial installation phase difference of, the rotor blade that prevents is 45 with the adjacent paddle initial installation phase difference of center rotor to the right rotor to reduce the height that the small tower needs, be close to near the focus under the fuselage and set up undercarriage, characterized by: the three rotors have the same rotating speed, the total distances of the three rotors are the same, the reactive torques of the three rotors are basically offset mutually, when the three rotors are in a tandem arrangement, the number, the radius and the chord length of the blades of the first rotor and the third rotor are the same, the number and the radius of the blades of the second rotor and the first rotor are the same, the chord length of the blades of the second rotor is 2 times that of the blades of the first rotor, the turning directions of the first rotor and the third rotor are the same, the turning directions of the second rotor and the first rotor are opposite, when the three rotors are in a cross arrangement, the number, the radius and the chord length of the blades of the left rotor and the right rotor are the same, the number and the radius of the blades of the center rotor and the radius of the left rotor are the same, the chord length of the blades of the center rotor is 2 times that of the left rotor, the.

2. The unequal chord length tri-rotor helicopter of claim 1 further comprising: the chord length of the central rotor is selected to be 1.75 to 2 times the chord length of the left rotor, or the chord length of the second rotor is selected to be 1.75 to 2 times the chord length of the first rotor.

3. The unequal chord length tri-rotor helicopter of claim 1 further comprising: the blades of the second rotor and the central rotor are connected with the rotor shaft through a hub, the hub is provided with a blade flapping device consisting of a flapping hinge, a shimmy hinge and a variable pitch hinge, and a total pitch controller is arranged to control the lift force of the rotor.

4. The unequal chord length tri-rotor helicopter of claim 1 further comprising: the second or central rotor is responsible for steering the heading, and the first and third rotors or left and right rotors are responsible for steering pitch and roll.