WO2017049422A1

WO2017049422A1 - Four-rotor aircraft with dynamical variations

Info

Publication number: WO2017049422A1
Application number: PCT/CN2015/000660
Authority: WO
Original assignee: 康坚
Priority date: 2015-09-24
Filing date: 2015-09-24
Publication date: 2017-03-30
Also published as: CN108025810A; CN108025810B; WO2017049806A1

Abstract

According to the present invention, the vertical take-off, forward and backward movement, rotation, and the turning left and right of an aircraft are adjusted by changing the rotation speeds of blades 2, 17, 23, 24 and the angle between an engine and the ground. Complicated total torque adjusting and cyclic variable pitch devices of a helicopter are removed by replacing the same with a newly invented total torque adjusting device; because the blade cannot be rotated by 360 degrees with a conventional total torque adjusting device. Since the waving of the blade is not required, a seesaw and a fully hinged structure for advancing and lagging are not required.

Description

Dynamically changing quadrotor aircraft

The software can be programmed to make the quadrotor take off and land vertically, rotate, turn left and right, and roll. It can be more flexible than a helicopter. But the biggest drawback of the four-rotor is that it is very slow. The aircraft shown in Figure 1 can be seen as a deformed quadrotor, which is also convenient for helicopter functions. But the speed is much faster.

Whether it is a helicopter with a paddle with a tail rotor and a coaxial reversing helicopter with two paddles, or a quadrotor, a paddle is considered as the research object, and the paddle is the plane in which the blade rotates. That is, when the rotor rotates, the rotor has two variables, one is the lift generated by the rotational speed of the rotor, and the other is the torque. Now I want to change my mind and think of two paddles that are in a plane, mutually constant speed, reverse, and different axes as a whole. Looking at the whole from the outside, there is only one parameter lift, and no torque, because the two blades produce the same amount of torque and the opposite direction. It can be called a lift unit.

Applying this feature to the helicopter greatly simplifies the mechanical structure, and the result of the helicopter modification is shown in Figure 1.

Figure 1 is a front view of the aircraft,

Figure 2 is a schematic view of the rotation of the engine,

Figure 3 is a schematic illustration of rotor total moment adjustment.

1 body,

2 paddles,

3 total moment adjustment mechanism,

4 long gears,

5 damping brakes,

6 rotating mechanism,

7 engine spindle,

8 wings,

9 wheels,

10 stepper motor in the rotating mechanism,

11 The engine is fixed at this point and the shaft is rotatable in the direction of the fuselage and fixed to the rotating mechanism.

12 rotor engine,

13 engine mount,

14 links,

15 ball screw,

16 sliders,

17 paddles

18 bevel gears on the long shaft,

19 bevel gears on the rotor,

20 hubs,

21 stepper motor shaft,

22 The stepper motor in the total moment adjustment mechanism.

23 paddles,

24 paddles.

Mounting the wing 8 symmetrically on both sides of the fuselage 1, mounting two rotating mechanisms 6 on the wing, and mounting the rotating mechanism 6 The wing engine 12 is provided with a hub 20 at the upper end of the engine main shaft 7, a paddle 2 is mounted on the hub 20, a bevel gear 19 is fixed on the paddle, and the bevel gear 19 is connected to the bevel gear 18, and the bevel gear 18 is fixed on one end of the long gear 4. The other end of the long gear 4 is connected to the output shaft 21 of the stepping motor 22. The long gear 4 passes through a hole in the middle of the main shaft 7. Install a damper brake device between the main shaft 7 and the hub.

In the rotating mechanism, the slider 16 on the ball screw of the stepping motor 10 is connected to the connecting rod 14, and the connecting rod 14 is connected to the motor base 13, and the motor base 13 fixes the engine 12.

After the above improvements, the vertical take-off and landing of the aircraft can be realized, forward and backward, left and right corners, and after the take-off is completed, it can be converted into a mode flight of the rotorcraft, and can also be changed into a fixed-wing mode flight.

2, by rotating the stepping motor 10, the slider 16 is moved to the left and right along the ball screw, and the motor seat can be driven to perform circular motion at 11 o'clock. This allows the blades on the engine to be rotated to the desired angle.

3, by rotating the stepping motor 22, the motor shaft 21 drives the long gear 4 to rotate, the long gear 4 drives the bevel gear 18, and the bevel gear 18 drives the bevel gear 19, and the blade 2 can rotate along the axial direction of the blade, which can be 360. Rotate freely within degrees.

Here's how to do it:

The first phase takes off: Figure 1 is a front view of the aircraft. The blade 2 and the blade 17 on the left side of the fuselage, because of the opposite direction of rotation, have the same rotational speed and do not generate torque. The right side of the fuselage and the left side do not generate torque. As long as the blade speed on both sides of the fuselage is adjusted, the balance between left and right can be achieved. The balance between the front and the back is to adjust the angle between the four blades and the ground: four blades (2, 17, 23, 24) are simultaneously adjusted synchronously, and the adjustment of the lift force is adjusted to a helicopter with the newly invented total moment adjustment mechanism 3. The mode is complete. This completely replaces the complex cycle variation and total moment adjustment mechanism of the current helicopter.

In addition, since the blades 2 and the blades 17 rotate in opposite directions and the rotational speed is the same, there is no difference in the force of the forward and backward blades of the helicopter, which may cause rolling moments, causing the helicopter to roll. In this way, the blade does not need to swing down the rotating surface, and there is no need for a seesaw and a pre-lag fully twisted mechanism.

The second stage accelerates the leveling: after the aircraft leaves the ground for a certain distance, the rotation mechanism adjusts the blade 17 and the blade 23 to tilt toward the head, and the blade 2 and the blade 24 remain, and the blade 17 continues to rotate. With the forward thrust of the blade 23, the aircraft can slowly accelerate, the blade 17 and the blade 23 are constantly tilted, the thrust is greater, and the speed of the aircraft is greater. The lift generated by the wing 8 is slowly increased, and the blade 2 and the blade 24 can be slowly decelerated to reduce energy consumption. Until the blade 2 and the blade 24 are stopped. The paddles 17 and the blades 23 are turned to the horizontal direction.

The third stage becomes the rotorcraft mode flight: the blade 2 and the blade 24 are adjusted to the rotorcraft mode by the total moment adjustment mechanism, and are separated from the engine, at which time the blades are free to rotate.

The fourth stage fixed-wing mode: At this time, the damper brake device can be activated to keep the blade 2 and the blade 24 fixed relative to the fuselage, the blade 17 and the blade 23 are unchanged, and the thrust is continued to be fixed. Wing mode.

If the aircraft needs to be retracted, after the take-off, it is only necessary to rotate the blade 17 and the blade 23 along the fuselage toward the tail by the rotating mechanism 6, and the aircraft has a backward thrust. This way the aircraft can be retreated.

Claims

A dynamically changing quadrotor is characterized by:

1, comprising two rotors 2 and rotors 17, rotors 23 and rotors 24 that are symmetrically mounted on opposite sides of the fuselage. The rotor 2 and the rotor 23 are in one direction of rotation, and the rotor 17 and the rotor 24 are in the opposite direction of rotation. The rotor can also be replaced by a propeller. If the propeller is replaced, the total moment adjustment mechanism 3 can be removed. The rotor can also be mounted with 8 symmetrical objects, four on the left and four on the right.

2, comprising installing a rotating mechanism 6 on each engine, comprising a stepping motor 19, a ball screw 15, a slider 16, a connecting rod 14, a motor seat 13, and an engine fixed at the point and along the axis A shaft 11 that is rotatable in the body and fixed to the rotating mechanism.

3. The total torque adjustment mechanism 3 includes a stepping motor 22, a motor shaft 21, a long gear 4, a bevel gear 18, and a bevel gear 19.

4, including damping brakes.