TWI661980B - Twin-rotor aircraft - Google Patents

Abstract

A dual-rotor aircraft includes a fuselage mechanism, a swing seat mechanism, a two-rotor mechanism, and two driving mechanisms. The swing mechanism includes two swing seats, and two pivot units pivotably connected to the fuselage mechanism around the first axis, respectively. Each pivot unit has a section along the first axis. The extension lever is pivotally arranged on the body mechanism and is inserted into each of the swing bases, and a fixed lever is inserted and fixed in the transmission lever and each of the swing bases so that the two are linked to each other. The rotor mechanisms are respectively mounted on the swing seats. Each driving mechanism can be controlled and operated to drive the respective pivot unit to drive the respective swing seat to swing. The fixed rod is inserted into the pendulum seat and the transmission lever at the same time, so as to increase the linkage between the two and improve the position accuracy of the pendulum seat during operation.

Description

Twin-rotor aircraft

The invention relates to an aircraft, in particular to an aircraft with double rotors.

In the field of aircraft, there are many types of flight modes. Rotorcraft such as helicopters have the function of vertical take-off and landing. Compared with fixed-wing aircraft, which requires a longer take-off preparation runway, the advantages of rotorcraft are Take off within a small space. Therefore, small rotorcrafts are often used in unmanned aerial cameras.

With the advancement of science and technology, there are also many variations of rotorcrafts. Currently, a dual-rotor aircraft includes a fuselage and two rotors located on the left and right sides of the fuselage. Each rotor includes a A pendulum seat tilted forward and backward by the fuselage, a driving motor mounted on the pendulum seat, and a blade mounted on the pendulum seat and rotatable by the driving motor. When the dual-rotor aircraft takes off, the rotation axis of the blades will be perpendicular to the horizontal plane first, and the fuselage will take the vertical take-off by the rotation of the rotors. After the double-rotor aircraft takes off to a certain height, the pendulums will swing forward relative to the fuselage, and the rotation axis of the blades will be rotated and tilted to a position parallel to the horizontal plane. At this time, the power and speed of the bi-rotor flying along the horizontal plane can be improved by the rotation of the blades. This type of bi-rotor is also called a tilt rotor.

Because the smoothness and accuracy of the swings determine the maneuverability of the double-rotor aircraft, the structural design of how the swings are tilted is very important. In the design of a general light model aircraft or aerial camera, the double-rotor aircraft also includes a pivot unit, each swing seat has a shaft hole with a specific geometric opening, and the pivot unit includes two The shafts arranged through the shaft holes and two power motors that drive the shafts to rotate are matched with each other. When each shaft rotates, it can drive the respective swing seat to swing. However, the degree of engagement between the shafts and the shaft holes will cause wear due to long-term use, which will cause a gap between the two, which will cause deviations in the tilting angle of the swing seats. Therefore, how to improve the stability and linkage of the combination between these pendulums and these shafts is an urgent problem to be solved.

It is therefore an object of the present invention to provide a double-rotor aircraft capable of overcoming at least the disadvantages of the prior art.

Therefore, the dual-rotor aircraft of the present invention includes a fuselage mechanism, a swing mechanism, two rotor mechanisms, two driving mechanisms, and a control mechanism. The swing mechanism includes two swing seats respectively located on the left and right sides of the fuselage mechanism, and two pivots pivotably connected to the fuselage mechanism around the first axis extending left and right respectively. A pivot unit, each pivot unit having a transmission rod extending along the first axis and pivoted to the fuselage mechanism and inserted in a respective pendulum seat, and a plug-in fixed to the transmission rod and a respective one A fixed rod in the swing seat that links the two to each other. The rotor mechanisms are respectively installed on the swing bases, and can be swiveled around the first axis by the swing bases. The driving mechanisms are installed on the fuselage mechanism and are respectively connected to the pivot units. Each driving mechanism can be controlled to operate to drive the respective pivot unit to drive the respective swing seat to swing. The control mechanism is installed on the fuselage mechanism, and includes a gyroscope capable of detecting a tilt angle of the fuselage mechanism and outputting a detection signal, and a control device capable of correspondingly controlling the operation of the driving mechanisms according to the detection signal. Controller.

The effect of the present invention is that the fixed rod is inserted into the pendulum seat and the transmission rod at the same time to increase the linkage between the two, which can improve the accuracy of the tilting position of the pendulum mechanism during operation and allow the The service life of the swing mechanism is improved.

Before the present invention is described in detail, it should be noted that in the following description, similar elements are represented by the same numbers.

Referring to FIGS. 1 and 2, a first embodiment of a dual-rotor aircraft according to the present invention includes a fuselage mechanism 1, a swing mechanism 2, two driving mechanisms 3, two rotor mechanisms 4, and a control mechanism 5.

The fuselage mechanism 1 includes a carrier 11, an elongated rod-shaped extension 12 protruding outward from the carrier 11 from left to right, and two bases 13 respectively mounted on left and right ends of the extension 12. The carrier 11 can be loaded with related components such as the control mechanism 5 and a battery (not shown). The bases 13 define a first axis L1 extending in the left-right direction. Each base 13 has a bottom mounting portion 131 located at the bottom and sleeved on the extension body 12. A first extension arm portion 132 and a second extension arm portion 133 extending upward on the left and right sides of the first extension arm portion 132, the first extension arm portion 132 is located on one side of the second extension arm portion 133 adjacent to the carrier 11 and has a The first rotation hole 134 penetrates the first axis L1 from left to right. The second extension arm portion 133 is located on one side of the first extension arm portion 132 away from the carrier 11 and has a second rotation hole 135 penetrating left and right along the first axis L1.

The swing base mechanism 2 includes two swing bases 21 and two pivot units 22 pivoting the swing bases 21 on the bases 13 respectively.

Referring to FIG. 2, FIG. 3, and FIG. 4, each swing seat 21 is located between the first extension arm portion 132 and the second extension arm portion 133 of the base 13 respectively, and is respectively connected to the pivot unit. 22 is pivoted on the first extension arm portion 132 and the second extension arm portion 133 along the first axis L1. Each swing base 21 has a top wall 211 and a surrounding wall 212 that is disposed around the periphery of the top wall 211 and extends downward. The surrounding wall 212 has a first side wall section 213 adjacent to the first extension arm portion 132, a second side wall section 214 adjacent to the second extension arm portion 133, a first side surface 215 on the top side, and A second side 216 is located on the bottom side.

The first side wall segment 213 defines a second axis L2 extending up and down and orthogonal to the first axis L1, and has a non-circular main pivot hole 217 penetrating left and right along the first axis L1. A side wall section 213 also has a latching plane 218 extending along the first axis L1 and defining a part of the hole edge of the main pivot hole 217.

In addition, the first side wall section 213 also has a fixed perforation 20 extending through the first side surface 215 and the second side surface 216 along the second axis L2 and communicating with the main pivot hole 217 up and down. The fixed perforation 20 has a first hole segment 201 extending downward from the first side surface 215 and having internal threads, a second hole segment 202 extending upward from the second side surface 216, and an upper and lower extension communicating with the A central hole section 203 between the first hole section 201 and the second hole section 202 facing opposite ends and communicating with the main pivot hole 217. The diameter of the central hole segment 203 is smaller than the diameter of the first hole segment 201 and larger than the diameter of the second hole segment 202. The fixed perforation 20 also has a limiting shoulder 204 defined by the cooperation between the central hole section 203 and the second hole section 202.

The second side wall segment 214 has an auxiliary pivot hole 219 penetrating left and right along the first axis L1.

Each pivot unit 22 pivots the respective swing base 21 on the respective base 13 so as to be able to swing back and forth, and has a transmission rod 221, a pivot rod 222, two bearings 223, and a fixed A lever 224, and an anti-loosening member 225.

The transmission rod 221 has a rod body 226 extending along the first axis L1 and pivoted on the first rotation hole 134 of the base 13 and the main pivot hole 217 of the pendulum seat 21, and is coaxially fixed to The first gear 227 of the rod body 226 has a tangent plane 228 that is limited to abut against the latching plane 218 so that it cannot rotate relative to the swing seat 21, and a tangential plane 228 radially from the tangent plane 228 A shaft perforation 229 extending through and communicating with the central hole section 203 of the fixed perforation 20 has a lower hole diameter than that of the central hole section 203.

The pivot lever 222 extends along the first axis L1 and is pivotally disposed in the second rotation hole 135 of the base 13 and the auxiliary pivot hole 219 of the swing base 21.

The bearings 223 are respectively embedded in the first rotation hole 134 and the second rotation hole 135, and are respectively rotatably passed through the transmission rod 221 and the pivot rod 222. The bearings 223 can reduce abrasion between the transmission rod 221 and the pivot rod 222 and the base 13 during rotation, so as to extend the service life of the transmission rod 221 and the pivot rod 222.

The fixing rod 224 is inserted into the fixing hole 20 from top to bottom along the second axis L2, and is inserted through the shaft hole 229 of the transmission rod 221. The diameter of the fixed rod 224 is substantially the same as the diameter of the central hole segment 203 and is larger than the diameter of the second hole segment 202. After the fixing rod 224 is inserted into the fixing perforation 20, it will be placed in the central hole section 203 by the abutment limit of the limiting shoulder 204, so that the swing seat 21 and the transmission rod 221 will be mutually adjacent. Phase interconnection.

The anti-loosening member 225 has external threads and is screwed into the first hole section 201 of the fixing hole 20 from top to bottom along the second axis L2. The anti-loosening member 225 can be used to limit the fixing rod 224 in the central hole section 203 without slipping out.

It should be noted that in other variations of the first embodiment, the extending direction of the second axis L2 does not extend upward or downward as a limitation, and may also extend in the front-rear direction. At this time, the fixed perforation 20 extends in the front-rear direction, and the fixed rod 224 is inserted into the fixed perforation 20 in the front-rear direction. This design can also achieve the effect of interconnecting the transmission rod 221 and the swing base 21. . In addition, the structural design of the first hole segment 201 having a larger diameter than the central hole segment 203 can make the fixing rod 224 smoother in the insertion process, and can prevent the fixing rod 224 from being stuck in the first hole due to the difference in tolerance design. Risk of being inside a hole section 201 without being able to fully enter the central hole section 203.

In addition, the manufacturing process of the transmission rod 221 needs to cut out the cutting plane 228 and drill the shaft perforation 229. In order to maintain the structural strength of the transmission rod 221 itself, it is necessary to minimize the shaft perforation 229 Hole, and to simplify the manufacturing process, it is also necessary to avoid forming internal threads in the shaft hole 229, so the anti-loosening member 225 is used to lock the screw into the first hole section 201 to design the fixed rod with a smaller outer diameter. 224 is fixed in the shaft hole 229 to improve the reliability and service life of the structure.

Referring to FIG. 1, FIG. 2, and FIG. 3, the driving mechanisms 3 are mounted on the extension body 12 at left and right intervals, and are respectively adjacent to the swing mechanism 2. Each driving mechanism 3 includes a second gear 31 that meshes with the first gear 227 of the pivot unit 22 and a servo motor 32 for driving the second gear 31 to rotate. After the second gear 31 is driven to rotate by the servo motor 32, each of the transmission rods 221 can be driven to rotate in a coordinated manner, thereby driving each of the pendulum seats 21 to swing back and forth about the first axis L1. In other variations of the first embodiment, the transmission mechanism between the driving mechanism 3 and the transmission rod 221 may also use other transmission structures such as a sprocket or a transmission belt, and does not use the first gear 227 and The design of the second gear 31 meshing with each other is limited.

The rotor mechanisms 4 are respectively installed on the top wall 211 of the swing bases 21 and can swing back and forth with the swing bases 21 about the first axis L1. Each rotor mechanism 4 includes a rotary motor 41 provided on the respective swing base 21 and a rotary blade 42 which can be driven by the rotary motor 41 to rotate about a third axis L3. In the illustration of the example, the third axes L3 all extend up and down and are perpendicular to the horizontal plane, but when the pendulums 21 are driven to swing, the third axes L3 also follow the pendulums 21 And followed by tilt.

The control mechanism 5 is mounted on the carrier 11 and includes a gyroscope 51 that can detect a tilt angle of the fuselage mechanism 1 and output a detection signal, and a servo motor that can correspondingly control the servo motor according to the detection signal. 32 的 控制 52。 32 of the controller 52. The controller 52 has a control key 521. The setting purpose of the control key 521 will be described later.

When the first embodiment of the twin-rotor aircraft of the present invention takes off, the third axis L3 of the rotor mechanism 4 is perpendicular to the horizontal plane, and the rotating blades 42 are driven to rotate by the rotating motors 41, so that the The twin rotor aircraft took off vertically on the spot. When the bi-rotor is raised to a certain height, the controller 52 can be controlled by the user by remote control, and the servo motors 32 are controlled to drive the swing mechanism 2 to swing forward or backward, and The third axes L3 are tilted to be parallel to the horizontal plane (as shown in FIG. 5, only one of the swing seat 21 and one of the rotor mechanism 4 are shown in FIG. 5). In this state, the rotating blades 42 can provide power for horizontal movement when rotating, so that the double-rotor aircraft can move faster in the horizontal direction and have better maneuverability. Of course, during the operation of the double-rotor aircraft, the tilting angle of the third axis L3 can be between perpendicular to the horizontal plane and parallel to the horizontal plane. In this state, the rotating blades 42 can not be provided during rotation. In addition to the power in the horizontal direction, it can also provide the lifting force in the vertical direction to maintain the height of the double-rotor aircraft.

When the double-rotor aircraft is about to land, the user can remotely control the controller 52 and drive the pendulums 21 to swing so that the third axis L3 of the rotating blades 42 is perpendicular to the horizontal plane again. The double-rotor The aircraft can then land vertically.

Each swing mechanism 2 is provided with a plurality of fixing rods in addition to interconnecting the swing seat 21 and the transmission lever 221 through the latching plane 218 of the swing seat 21 and the tangent plane 228 of the transmission lever 221. 224 to strengthen the linkage relationship between the two, in addition to increasing the stability of the pendulum mechanism 2, can also reduce the wear between the carding plane 218 and the tangent plane 228, and allows the pendulum mechanism 2 to correspond to The position of the servo motor 32 after rotation is more accurate. In addition, when the fixing rod 224 is worn due to long-term use, the user may first remove the locking screw of the anti-loosening member 225, and then take an elongated tool such as a flat drill from the swing seat 21 The second side 216 extends into the second hole section 202 of the fixed perforation 20 and abuts against the fixed rod 224 to move it away from the fixed perforation 20 along the first axis L1, and the user can replace it. The new fixed rod 224.

It is added that when the bi-rotor needs to be adjusted before take-off, the bi-rotor can be placed on the ground. If the bi-rotor is in a non-horizontal state, for example, on a slope, the fuselage mechanism 1 will move forward and backward. tilt. At this time, the user can press the control key 521 of the controller 52, and when the controller 52 detects that the control key 521 is operated, it will detect the tilt angle of the body mechanism 1 according to the gyroscope 51 The detection signal sent controls the servo motors 32 and maintains the third axis L3 of the rotating blades 42 perpendicular to the horizontal plane. This design allows the user to use another spirit level to measure whether the pendulum 21 is horizontal and adjust it, so that the third axis L3 is adjusted to be perpendicular to the horizontal plane, that is, the double-rotor aircraft is in a Level adjustment can still be performed in the state, which is quite convenient in application.

Referring to FIG. 6 and FIG. 7, the structure of a second embodiment of the dual-rotor aircraft of the present invention is substantially the same as the first embodiment. The difference is that the structure of the fuselage mechanism 1 is different. The fuselage mechanism 1 further includes a fixed wing 14 disposed on the extension body 12 and a control wing unit 15 disposed on the rear side of the fixed wing 14, and the carrier (not shown) of the fuselage mechanism 1 is Embedded in the fixed wing 14. When the twin-rotor is flying horizontally at a certain height, the fixed wing 14 can generate a lifting effect on the twin-rotor through the pressure difference caused by different wind speeds above and below, and the control wing unit 15 can It is used to improve the stability of the twin rotor aircraft during flight. Of course, in other variations of this second embodiment, the structure of the fixed wing 14 can also adopt other designs. For example, the fixed wing 14 has a spoiler that can swing up and down to adjust the pressure difference between the upper and lower sides. (Not shown), which can make the maneuverability of the twin-rotor aircraft during horizontal flight better.

To sum up, through the swing mechanism 2 in addition to the positioning of each swing seat 21 and the tangent plane 228 of the transmission rod 221 to achieve the linkage positioning between the two, but also through the The fixed rod 224 is simultaneously inserted with a structural design connecting the swing seat 21 and the transmission rod 221, which can increase the linkage between the swing seat 21 and the transmission rod 221, and can improve the accuracy of the position of the swing mechanism 2 during operation. The detachable design of the fixing rod 224 allows the service life of the swing mechanism 2 to be improved. In addition, the gyroscope 51 of the control mechanism 5 can detect the tilt state of the fuselage mechanism 1, and the controller 52 can control the servo motors 32 according to the detection signal provided by the gyroscope 51, so that The double-rotor aircraft can be adjusted even if it is located on a non-horizontal surface, so it can indeed achieve the purpose of the invention.

However, the above are only examples of the present invention. When the scope of implementation of the present invention cannot be limited by this, any simple equivalent changes and modifications made according to the scope of the patent application and the contents of the patent specification of the present invention are still Within the scope of the invention patent.

 1 ... Body mechanism 11 ... 11 Carrier 12 ... 12 Extension 13 ... Base 131 ... Bottom mounting section 132 ... First extension arm 133 ... Second extension arm 134 ... First rotation hole 135 ... Second rotation hole 14 ... Fixed wing 15 ... Control wing unit 2 ... Swing mechanism 20 ... Fixed perforation 201 ... First hole section 202 ... · Second hole section 203 ···· Central hole section 204 ··· Limiting shoulder 21 ···· Swing seat 211 ···· Top wall 212 ··· Surrounding wall 213 ... First sidewall segment 214 ... Second sidewall segment 215 ... First side 216 ... Second side 217 ... Main pivot hole  218 ···· Abutment plane 22 ····· Pivot unit 221 ··· Transmission rod 222 ··· Pivot rod 223 ··· Bearing 224 ···· Fixing rod 225 ... Loosening prevention piece 226 ... Rod body 227 ... First gear 228 ... Cut plane 229 ... Perforation of the shaft body 3 ... ···· Drive mechanism 31 ····· 2nd gear 32 ···· Servo motor 4 ··· Rotor mechanism 41 ····· Rotary motor 42 ····· Rotating blades 5 ····· Control mechanism 51 ····· Gyroscope 52 ··· Controller 521 ··· Control key L1 · ····· First axis L2 ···· 2nd axis L3 ····· 3rd axis

Other features and effects of the present invention will be clearly presented in the embodiment with reference to the drawings, in which: FIG. 1 is a perspective view of a first embodiment of a double-rotor aircraft of the present invention; FIG. 2 is an incomplete part An exploded perspective view illustrating the assembly relationship of a fuselage mechanism, a pendulum seat, a pivot unit, and a driving mechanism of the first embodiment; FIG. 3 is an incomplete front sectional view illustrating the first embodiment A state of a rotor mechanism, the pendulum seat, and the pivot unit when installed, and a fixing rod and an anti-loosening member of the pivot unit are not inserted into a fixed perforation of the pendulum seat; FIG. A complete front partial cross-sectional view illustrating the state when the pendulum seat and the pivot unit of the first embodiment are installed; FIG. 5 is an incomplete perspective view illustrating the pendulum seat and the pivot shaft of the first embodiment The unit, the fuselage mechanism, and the driving mechanism when they are installed, and the pendulum is tilted forward relative to the fuselage mechanism; FIG. 6 is a perspective view of a second embodiment of the double-rotor aircraft of the present invention; and FIG. 7 is a side view of the second embodiment .

Claims (9)

A double-rotor aircraft includes: a fuselage mechanism; a pendulum mechanism, including two pendulums respectively located on the left and right sides of the fuselage mechanism, and two pendulums which can extend around the left and right sides respectively. The first axis is pivotally pivotally connected to the pivot unit of the fuselage mechanism, and each pendulum defines a second axis orthogonal to the first axis and has a first axis spaced apart from each other along the second axis. A side surface and a second side surface, and a fixed perforation extending through the first side surface and the second side surface along the second axis, and each pivot unit has an extension extending along the first axis and pivoted to the fuselage mechanism and A transmission rod inserted in each of the swing bases and a fixed rod inserted in and fixed to the transmission rod and each of the swing bases so that the two are linked to each other, the transmission rod has a along the second axis Extend and communicate with the shaft perforation of the fixed perforation, the fixed rod is inserted between the fixed perforation and the shaft perforation; two rotor mechanisms are respectively installed on the swing seats and can be linked by the swing seats Swing around the first axis; two A driving mechanism, which is installed on the fuselage mechanism and is respectively connected to the pivot units; each driving mechanism can be controlled to operate to drive a respective pivot unit to drive a respective swing seat; and a control mechanism , Installed on the fuselage mechanism, and includes a gyroscope capable of detecting the tilt angle of the fuselage mechanism and outputting a detection signal, and a controller capable of correspondingly controlling the operation of the driving mechanisms according to the detection signal . The dual-rotor aircraft according to claim 1, wherein the fixed perforation has a first hole segment extending out of the first side, a second hole segment extending out of the second side, and a communication with the first hole A hole segment, the second hole segment, and a central hole segment with a perforation of the shaft larger than the second hole segment, and a limit shoulder defined by the cooperation of the center hole segment and the second hole segment at the interface The fixing rod is inserted into the fixing perforation and the shaft perforation from the first side, and is located in the central hole section against the limiting shoulder. The dual-rotor aircraft according to claim 2, wherein each pivot unit further has an anti-loosening member for locking the fixing rod in the first hole section and limiting the fixing rod in the central hole section. The dual-rotor aircraft according to claim 1, wherein the pendulum base further has a main pivot hole for the transmission rod to pass through and communicate with the fixed perforation, and a latching plane facing the main pivot hole. The transmission lever has a tangent plane whose limit position abuts against the latching plane so that it cannot rotate relative to the swing seat. The twin-rotor aircraft according to claim 4, wherein the fuselage mechanism includes two left and right spaced bases for the swing mounts, respectively, each base has a bottom mounting portion, and the left and right spaced from the A first extension arm portion and a second extension arm portion which extend upwards and are respectively located on the left and right sides of the respective swing bases, and the transmission rod passes through the first extension arm along the first axis. And the pendulum seat, each pivot unit further has a pivot rod passing through the second extension arm and the pendulum seat along the first axis. The twin-rotor aircraft according to claim 5, wherein each pivot unit further has two embedded in the first extension arm portion and the second extension arm portion, respectively, and is respectively provided for the transmission rod and the pivot shaft. A bearing through which the rod is rotatable. The dual-rotor aircraft according to claim 1, wherein each rotor mechanism includes a rotary motor and a rotary blade that can be driven by the rotary motor to rotate about a third axis, and the controller has a control key, The controller can control the driving mechanisms according to the detection signal when the control key is operated, and drive the pendulum to swing along the first axis and maintain the third axis of the rotating blades perpendicular to the horizontal plane. . The dual-rotor aircraft according to claim 1, wherein the fuselage mechanism includes a carrier, an extension protruding outward from the carrier from left to right, and two extensions respectively installed at the left and right ends of the extension and provided for the A base mounted on a swing base, and a fixed wing provided on the extension and used to provide lifting force during flight. The dual-rotor aircraft according to claim 8, wherein the fuselage mechanism further includes a control wing unit disposed on a rear side of the fixed wing.