WO2017114244A1 - 一种单轴飞行器 - Google Patents

一种单轴飞行器 Download PDF

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Publication number
WO2017114244A1
WO2017114244A1 PCT/CN2016/111145 CN2016111145W WO2017114244A1 WO 2017114244 A1 WO2017114244 A1 WO 2017114244A1 CN 2016111145 W CN2016111145 W CN 2016111145W WO 2017114244 A1 WO2017114244 A1 WO 2017114244A1
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WIPO (PCT)
Prior art keywords
wing
aircraft
axis
driving device
electromagnetic motor
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PCT/CN2016/111145
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English (en)
French (fr)
Inventor
蔡忠育
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歌尔科技有限公司
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Publication date
Application filed by 歌尔科技有限公司 filed Critical 歌尔科技有限公司
Priority to JP2018534570A priority Critical patent/JP6501978B2/ja
Priority to KR1020187018057A priority patent/KR101964027B1/ko
Priority to US16/066,178 priority patent/US10336434B2/en
Publication of WO2017114244A1 publication Critical patent/WO2017114244A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/46—Blades
    • B64C27/467—Aerodynamic features
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C9/00—Adjustable control surfaces or members, e.g. rudders
    • B64C9/02—Mounting or supporting thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C9/00—Adjustable control surfaces or members, e.g. rudders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/24—Transmitting means
    • B64C13/38—Transmitting means with power amplification
    • B64C13/50—Transmitting means with power amplification using electrical energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B64C27/10—Helicopters with two or more rotors arranged coaxially
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/06—Aircraft not otherwise provided for having disc- or ring-shaped wings
    • B64C39/062—Aircraft not otherwise provided for having disc- or ring-shaped wings having annular wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
    • B64D27/02—Aircraft characterised by the type or position of power plant
    • B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
    • B64C2027/8263—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft comprising in addition rudders, tails, fins, or the like
    • B64C2027/8272—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft comprising in addition rudders, tails, fins, or the like comprising fins, or movable rudders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/70—Constructional aspects of the UAV body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/24—Coaxial rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U40/00—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration

Definitions

  • the invention relates to the technical field of aircraft design, and in particular to a single-axis aircraft.
  • the existing consumption type aircraft capable of taking off and landing in a straight line can be mainly divided into two types: a multi-axis multi-propeller aircraft and a single-shaft multi-propeller aircraft.
  • the single-shaft multi-propeller aircraft realizes the control of the flight attitude of the aircraft by the following two methods. :
  • the present invention provides a single-axis aircraft to solve the problem that the existing single-shaft multi-blade aircraft has a complicated structure, is difficult to control the angle of the propeller, and has a monotonous appearance shape.
  • the embodiment of the invention provides a single-axis aircraft, comprising: a propeller 1 and an aircraft main body 2, the aircraft main body 2 is streamlined, and a driving motor is arranged inside, and the driving motor is used for driving the propeller 1 to rotate, and providing the propeller 1 with rising power.
  • the uniaxial aircraft further includes a wing driving device 3 constituting a part of the aircraft body 2;
  • the central position of the wing driving device 3 is provided with an annular wing 4 extending from the wing driving device 3, and the annular wing 4 is horizontally movable under the driving of the wing driving device 3;
  • the single-axis aircraft maintains the current flight posture when the annular wing 4 extends the same area of the wind resistance in all directions of the outer circumference of the wing driving device 3;
  • the single-axis aircraft changes the current flying posture.
  • the wing driving device 3 comprises: a cylindrical magnetic ring 31, an electromagnetic motor 32, an upper cover 33 and a lower cover 34, and the annular wing 4 is integrally formed with the outer wall of the cylindrical magnetic ring 31;
  • the cylindrical magnetic ring 31 is sleeved on the outer circumference of the electromagnetic motor 32, and the heights of the two are the same and have a certain ring pitch;
  • the electromagnetic motor 32 is fixed between the upper cover 33 and the lower cover 34, and a space for extending the annular wing 4 is reserved between the upper cover 33 and the lower cover 34, and a part of the annular wing 4 is formed by the upper cover 33 and the lower cover 34.
  • the gap protrudes outside the aircraft body 2;
  • the magnetic field of the electromagnetic motor 32 is evenly distributed and repels the polarity of the cylindrical magnetic ring 31, and the axis of the cylindrical magnetic ring 31 coincides with the axis of the electromagnetic motor 32;
  • the working current in a certain direction of the electromagnetic motor 32 changes the magnetic field shape of the electromagnetic motor 32, and the cylindrical magnetic ring 31 is offset by the magnetic field of the electromagnetic motor 32, and the annular wing 4 is driven to horizontally. Move in direction.
  • the upper cover 33 and the lower cover 34 have the same structure, both of which include: a threaded seat 35 at a central position and a support post 36 located around the threaded seat 35;
  • Both ends of the electromagnetic motor 32 have a threaded head 321 that cooperates with the threaded seat 35.
  • the upper cover 33 and the lower cover 34 are engaged and fixed by the threaded head 321 at both ends of the electromagnetic motor 52 in cooperation with the threaded seat 35.
  • the aircraft body 2 comprises: a nose 21, a fuselage 22, a tail 23;
  • the wing driving device 3 is disposed between the handpiece 21 and the body 22, or the wing driving device 3 is disposed between the body 22 and the tail 23.
  • control circuit board and a battery are disposed in the body 22;
  • the control circuit board is configured to control operation of the single-axis aircraft
  • the battery is used to power the control circuit board, the drive motor and the wing drive 3.
  • a distance measuring module is disposed in the tail 23;
  • the ranging module is connected to the control circuit board through the flexible circuit board, and is used for measuring the real-time flying height of the single-axis aircraft, and transmitting the measured flying height information to the control circuit board;
  • a control circuit board for controlling the rotational speed of the drive motor based on the received flight height information.
  • the single-axis aircraft further includes a balance bar 5;
  • the balance bar 5 is located at the front end of the propeller 1 for maintaining stability when the single-axis aircraft is hovering in the air.
  • the single-axis aircraft further includes a support frame 6;
  • the support frame 6 is disposed outside the tail 23 for mounting the carrier 7.
  • the beneficial effects of the embodiments of the present invention are as follows: 1.
  • the wing driving device drives the annular wing to extend when the single-axis aircraft needs to maintain the current flying posture.
  • the wind resistance area of each part of the main body of the aircraft is the same, ensuring that the single-axis aircraft has a uniform downward force to maintain the current flight posture; when the single-axis aircraft needs to change the flight posture, the wing driving device drives the annular wing to move in a certain direction.
  • Flight posture The control principle is simple and easy to implement; 2. When it is necessary to change the current flight posture of the single-axis aircraft, it is only necessary to change the working current of the electromagnetic motor in a certain direction of the wing driving device to realize the change of the flight posture, that is, the operation of the present invention. The method is simple and convenient; 3.
  • the single-axis aircraft of the present invention is composed of only two parts of a propeller and a streamlined aircraft body as a whole, and has the characteristics of simple structure and beautiful appearance.
  • FIG. 1 is a schematic diagram showing the principle of changing a flight posture of a single-axis aircraft provided by the embodiment
  • FIG. 2 is a schematic view showing the appearance of a single-axis aircraft provided in the embodiment
  • Figure 3 is an exploded view of the wing driving device provided by the embodiment
  • Figure 4 is a schematic structural view of the upper cover of the wing driving device of Figure 3;
  • Figure 5 is a schematic cross-sectional view of the wing driving device of Figure 3;
  • 6a is a schematic view showing the magnetic field shape of the electromagnetic motor when the cylindrical magnetic ring of the wing driving device of FIG. 3 coincides with the axis of the electromagnetic motor;
  • 6b is a schematic view showing the magnetic field shape of the electromagnetic motor when the axis of the cylindrical magnetic ring of the wing driving device of FIG. 3 is shifted to the left relative to the electromagnetic motor;
  • 7a is a schematic view showing the wind resistance area of the annular wing when the cylindrical magnetic ring of the wing driving device and the axis of the electromagnetic motor are coincident;
  • 7b is a schematic view showing the wind resistance area of the annular wing when the axis of the cylindrical magnetic ring of the wing driving device is offset to the left relative to the electromagnetic motor according to the embodiment;
  • Figure 7c is a schematic view showing the wind resistance area of the annular wing when the axis of the cylindrical magnetic ring of the wing driving device is offset to the right with respect to the electromagnetic motor;
  • propeller In the figure: 1, propeller; 2, aircraft body; 21, nose, 22 fuselage; 23, tail; 3, wing drive; 31, cylindrical magnetic ring; 32, electromagnetic motor; 321, threaded head; , upper cover; 34, lower cover; 35, threaded seat; 36, support column; 4, annular wing; 5, balance bar; 6, support frame; 7, vehicle.
  • the overall design idea of the present invention is: referring to FIG. 1, using the principle of changing the wind resistance of the wing, the wing driving device is introduced into the main body of the single-axis aircraft, as shown in the left figure of FIG. 1, the wing is normally extended from the main body of the single-axis aircraft.
  • the wind resistance area of each part is the same in all directions.
  • the wind wing will cause wind resistance, but the wind resistance area is small and equal, the downward propulsion force of the single-axis aircraft is uniform; as shown in the right figure of Figure 1, when the wing is in a certain direction Movement, relative direction of income in the main body of the uniaxial aircraft, The direction of the wind resistance of the main body of the single-axis aircraft is relatively increased, which causes the downward propulsion force of the single-axis aircraft to be uneven, thereby changing the angle of the fuselage and realizing the control of the flight posture of the single-axis aircraft.
  • the single-axis aircraft includes: a propeller 1 and an aircraft main body 2.
  • the aircraft main body 2 is streamlined, and a driving motor is disposed inside, and the driving motor is used. Rotating the propeller 1 to provide the aircraft body 2 with rising power.
  • the single-axis aircraft further includes a wing driving device 3 constituting a part of the aircraft body 2;
  • the central position of the wing driving device 3 is provided with an annular wing 4 extending from the wing driving device 3, and the annular wing 4 is horizontally movable under the driving of the wing driving device 3;
  • the single-axis aircraft maintains the current flight posture when the annular wing 4 extends the same area of the wind resistance in all directions of the outer circumference of the wing driving device 3;
  • the single-axis aircraft changes the current flying posture.
  • the wing driving device drives the annular wing to extend the wind resistance of each part of the main body of the aircraft.
  • the same area ensures that the single-axis aircraft has a uniform downward force to maintain the current flight attitude; when the single-axis aircraft needs to change the flight posture, the wing drive device drives the annular wing to move in a certain direction, by extending in a certain direction.
  • the wind resistance area of the main body of the single-axis aircraft is relatively increased, causing the downward propulsion force of the single-axis aircraft to be uneven, thereby changing the angle of the fuselage, thereby changing the current flight posture.
  • the wing driving device 3 comprises: a cylindrical magnetic ring 31, an electromagnetic motor 32, an upper cover 33 and a lower cover 34, an annular wing 4 and a cylindrical shape
  • the outer wall of the magnetic ring 31 is integrally formed.
  • the cylindrical magnetic ring 31 is sleeved on the outer circumference of the electromagnetic motor 32, and the heights of the two are the same and have a certain ring pitch to facilitate the movement of the cylindrical magnetic ring 31 in a small range;
  • the electromagnetic motor 32 is fixed between the upper cover 33 and the lower cover 34, and a space for extending the annular wing 4 is reserved between the upper cover 33 and the lower cover 34, and a part of the annular wing 4 is formed by the upper cover 33 and the lower cover 34.
  • the gap protrudes outside the aircraft body 2;
  • the magnetic field of the electromagnetic motor 32 is evenly distributed and repels the polarity of the cylindrical magnetic ring 31, and the axis of the cylindrical magnetic ring 31 coincides with the axis of the electromagnetic motor 32; as shown in Fig. 6a
  • the magnetic properties of the outer surface of the electromagnetic motor 32 are the same as those of the inner surface of the cylindrical magnetic ring 31. Since the magnetic field distribution of the cylindrical magnetic ring 31 and the electromagnetic motor 32 is uniform, the cylindrical magnetic ring 31 is subjected to The repulsive forces in all directions are the same such that their axes coincide with the axis of the electromagnetic motor 32. As shown in FIG.
  • the working current of the electromagnetic motor 32 in a certain direction changes the magnetic field shape of the electromagnetic motor 32, and the cylindrical magnetic ring 31 is offset by the magnetic field of the electromagnetic motor 32, and the circular wing 4 is driven horizontally. mobile.
  • FIG. 6b if the driving of the annular wing 4 is moved to the left, the working current direction on the right side of the electromagnetic motor 32 can be changed, so that the magnetic pole on the right side of the electromagnetic motor 32 is changed, and the axis of the cylindrical magnetic ring 3 is attracted to the left. .
  • the direction of the operating current on the left side of the electromagnetic motor 32 can be changed, so that the magnetic pole on the left side of the electromagnetic motor 32 is changed, and the axis of the cylindrical magnetic ring 3 is attracted to the right.
  • FIG. 7c when the axis of the cylindrical magnetic ring 31 is shifted to the right with respect to the axis of the electromagnetic motor 32, the area of the wind resistance of the annular wing 4 extending to the right side of the aircraft body 2 is relatively increased, and the uniaxial aircraft is generated.
  • the wind resistance to the right shifts the aircraft body of the single-axis aircraft to the right.
  • the upper cover 33 and the lower cover 34 have the same structure, as shown in FIG. 4, the upper cover 33 and the lower cover 34 both include: a threaded seat 35 at a central position and a support post 36 located around the threaded seat 35;
  • both ends of the electromagnetic motor 32 have a threaded head 321 that cooperates with the threaded seat 35.
  • the upper cover 33 and the lower cover 34 are locked and fixed by the threaded head 321 at both ends of the electromagnetic motor 52.
  • the cylindrical magnetic ring 31 is defined in the vertical direction to prevent the cylindrical magnetic ring 31 from moving up and down.
  • the aircraft body 2 includes a nose 21, a fuselage 22, and a tail 23.
  • the wing driving device 3 in this embodiment may be disposed between the handpiece 21 and the body 22, or may be disposed between the body 22 and the tail 23.
  • a control circuit board and a battery are disposed in the body 22, the control circuit board is used to control the operation of the single-axis aircraft, and the battery is used to supply power to the control circuit board, the drive motor, and the wing drive device.
  • a distance measuring module is disposed in the tail 23, and the ranging module is connected to the control circuit board through the flexible circuit board, and is used for measuring the real-time flying height of the single-axis aircraft, and transmitting the measured flying height information to the control circuit board; the control circuit board The rotational speed of the drive motor is controlled based on the received flight height information.
  • the single-axis aircraft of the present embodiment further includes a balance bar 5 and a support frame 6, and the balance bar 5 is located at the front end of the propeller 1 for maintaining stability when the single-axis aircraft is hovering in the air;
  • the vehicle 7 is mounted on the outside of the tail 23, and the carrier 7 can be a mobile phone or a PAD.
  • the present invention provides a single-axis aircraft that has the following beneficial effects:
  • the wing drive device drives the annular wing to extend the wind resistance area of each part of the main body of the aircraft.
  • the wing driving device drives the annular wing to move in a certain direction, and the wind resistance area of the main body of the single-axis aircraft is relatively increased by a certain direction, thereby causing the downward propulsion force of the single-axis aircraft to be uneven, thereby changing
  • the angle of the fuselage is changed to change the current flight posture, that is, the flight attitude control principle of the single-axis aircraft of the present invention is simple and easy to implement;
  • the uniaxial aircraft of the present invention is generally composed of only two parts of a propeller and a streamlined aircraft body, and has the characteristics of simple structure and beautiful appearance.

Abstract

一种单轴飞行器，该单轴飞行器包括：螺旋桨（1）、飞行器主体（2）和构成飞行器主体（2）一部分的羽翼驱动装置（3），飞行器主体（2）为流线型，羽翼驱动装置（3）中部位置设置有伸出羽翼驱动装置的环形羽翼（4），环形羽翼（4）在羽翼驱动装置（3）驱动下可做水平方向的移动；在环形羽翼（4）伸出羽翼驱动装置（3）外圆周各个方向的风阻面积相同时，单轴飞行器保持当前飞行姿势；在环形羽翼（4）向某一方向移动增大该方向伸出羽翼驱动装置（3）的风阻面积，而相对方向收入羽翼驱动装置（3）内减少该相对方向的风阻面积时，单轴飞行器改变当前飞行姿势。该单轴飞行器具有结构简单、操控方便、外形美观的特点。

Description

一种单轴飞行器 技术领域
本发明涉及飞行器设计技术领域，特别涉及一种单轴飞行器。
发明背景
现有消费型、能够直线上下起降的飞行器主要可分为多轴多桨飞行器和单轴多桨飞行器两种类型，其中单轴多桨飞行器通过下述两种方式来实现飞行器飞行姿势的控制：
1、设置多组螺旋桨，改变螺旋桨的角度，使每组螺旋桨的角度不相同，通过改变每组螺旋桨产生向下的风向实现对飞行器飞行姿势的控制；此种结构的单轴多桨飞行器结构复杂，且不易控制螺旋桨角度，在消费型产品中较为少见。
2、设置尾翼结构，通过驱动尾翼螺旋桨来改变飞行姿势；此种结构的单轴多桨飞行器结构简单，市场上被广泛使用，但其外观形状单调。
发明内容
鉴于上述问题，本发明提供一种单轴飞行器以解决现有单轴多桨飞行器结构复杂、不易控制螺旋桨角度、外观形状单调的问题。
为达到上述目的，本发明的技术方案是这样实现的：
本发明实施例提供了一种单轴飞行器，包括：螺旋桨1和飞行器主体2，飞行器主体2为流线型，内部设置有驱动马达，驱动马达用于驱动螺旋桨1旋转，为飞行器主体2提供上升的动力；单轴飞行器还包括构成飞行器主体2一部分的羽翼驱动装置3；
羽翼驱动装置3中部位置设置有伸出羽翼驱动装置3的环形羽翼4，环形羽翼4在羽翼驱动装置3驱动下可做水平方向的移动；
在环形羽翼4伸出羽翼驱动装置3外圆周各个方向的风阻面积相同时，单轴飞行器保持当前飞行姿势；
在环形羽翼4向某一方向移动增大该方向伸出羽翼驱动装置3的风阻面积，而相对方向收入羽翼驱动装置3内减少该相对方向的风阻面积时，单轴飞行器改变当前飞行姿势。
优选地，羽翼驱动装置3包括：柱形磁环31、电磁马达32、上盖33和下盖34，环形羽翼4与柱形磁环31的外壁一体成型；
柱形磁环31环套在电磁马达32外周，二者高度相同且具有一定环间距；
电磁马达32固定在上盖33和下盖34之间，上盖33和下盖34之间预留有使环形羽翼4伸出的空隙，部分环形羽翼4通过上盖33和下盖34构成的空隙伸出到飞行器主体2外部；
在保持当前飞行姿势时，电磁马达32的磁场均匀分布并与柱形磁环31的极性相斥，且柱形磁环31的轴心与述电磁马达32的轴心重合；
在改变当前飞行姿势时，电磁马达32的某一方向的工作电流使电磁马达32的磁场形态改变，柱形磁环31在电磁马达32磁场的作用下轴心发生偏移，驱动环形羽翼4水平方向移动。
进一步优选地，上盖33和下盖34具有相同的结构，都包括：位于中心位置的螺纹座35和位于螺纹座35周围的支撑柱36；
电磁马达32的两端具有与螺纹座35配合的螺纹头321，上盖33和下盖34通过电磁马达52两端的螺纹头321与螺纹座35配合实现锁附固定。
优选地，飞行器主体2包括：机头21、机身22、机尾23；
羽翼驱动装置3设置在机头21和机身22之间，或者羽翼驱动装置3设置在机身22和机尾23之间。
进一步优选地，机身22内设置有控制电路板和电池；
所述控制电路板，用于控制所述单轴飞行器的运行；
所述电池，用于为控制电路板、驱动马达和羽翼驱动装置3供电。
优选地，机尾23内设置有测距模块；
测距模块通过柔性电路板与控制电路板连接，用于测量单轴飞行器的实时飞行高度，并将测量的飞行高度信息发送给控制电路板；
控制电路板，用于根据接收到的飞行高度信息控制驱动马达的转速。
优选地，单轴飞行器还包括平衡杆5；
平衡杆5位于螺旋桨1的前端，用于保持单轴飞行器空中悬停时的稳定度。
优选地，单轴飞行器还包括支撑架6；
支撑架6设置在机尾23的外部，用于搭载载具7。
本发明实施例的有益效果是：1、通过在单轴飞行器主体中导入羽翼驱动装置，基于羽翼改变风阻的原理，在单轴飞行器需要保持当前飞行姿势时，使羽翼驱动装置驱动环形羽翼伸出飞行器主体的部分各个方向的风阻面积相同，保证单轴飞行器向下推进力均匀，以维持当前的飞行姿势；在单轴飞行器需要改变飞行姿势时，使羽翼驱动装置驱动环形羽翼向某一方向运动，通过使某一方向伸出单轴飞行器主体的风阻面积相对增大，造成单轴飞行器向下推进力不均匀，进而改变机身角度，以改变当前的飞行姿势，即本发明单轴飞行器的飞行姿势 控制原理简单，且易于实现；2、在需要改变单轴飞行器当前的飞行姿势时，只需改变羽翼驱动装置中的电磁马达某方向的工作电流即可实现飞行姿势的改变，即本发明的操作方式简单方便；3、本发明的单轴飞行器整体上只由螺旋桨和流线型的飞行器主体两部分构成，具有结构简单、外观美观的特点。
附图简要说明
图1为本实施例提供的单轴飞行器改变飞行姿势的原理示意图；
图2为本实施例提供的单轴飞行器的外观示意图；
图3为本实施例提供的羽翼驱动装置爆炸图；
图4为图3中羽翼驱动装置的上盖结构示意图；
图5为图3中羽翼驱动装置剖面示意图；
图6a为图3中羽翼驱动装置的柱形磁环与电磁马达轴心重合时，电磁马达磁场形态示意图；
图6b为图3中羽翼驱动装置的柱形磁环的轴心相对电磁马达向左偏移时，电磁马达磁场形态示意图；
图7a为本实施例提供的羽翼驱动装置的柱形磁环与电磁马达轴心重合时，环形羽翼的风阻面积示意图；
图7b为本实施例提供的羽翼驱动装置的柱形磁环的轴心相对电磁马达向左偏移时，环形羽翼的风阻面积示意图；
图7c为本实施例提供的羽翼驱动装置的柱形磁环的轴心相对电磁马达向右偏移时，环形羽翼的风阻面积示意图；
图中：1、螺旋桨；2、飞行器主体；21、机头、22机身；23、机尾；3、羽翼驱动装置；31、柱形磁环；32、电磁马达；321、螺纹头；33、上盖；34、下盖；35、螺纹座；36、支撑柱；4、环形羽翼；5、平衡杆；6、支撑架；7、载具。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明实施方式作进一步地详细描述。
本发明的整体设计思想为：参考图1，利用羽翼改变风阻的原理，在单轴飞行器主体中导入羽翼驱动装置，如图1中的左图所示，正常情况下羽翼伸出单轴飞行器主体的部分各个方向的风阻面积相同，此时羽翼虽会造成风阻，但因风阻面积小且相等，单轴飞行器向下推进力均匀；如图1中的右图所示，当羽翼向某一方向运动，相对方向收入单轴飞行器主体内， 该方向伸出单轴飞行器主体的风阻面积相对增大，造成单轴飞行器向下推进力不均匀，进而改变机身角度，实现对单轴飞行器飞行姿势的控制。
图2为本实施例提供的单轴飞行器的外观示意图，如图2所示，该单轴飞行器，包括：螺旋桨1和飞行器主体2，飞行器主体2为流线型，内部设置有驱动马达，驱动马达用于驱动螺旋桨1旋转，为飞行器主体2提供上升的动力。
该单轴飞行器还包括构成飞行器主体2一部分的羽翼驱动装置3；
羽翼驱动装置3中部位置设置有伸出羽翼驱动装置3的环形羽翼4，环形羽翼4在羽翼驱动装置3驱动下可做水平方向的移动；
在环形羽翼4伸出羽翼驱动装置3外圆周各个方向的风阻面积相同时，单轴飞行器保持当前飞行姿势；
在环形羽翼4向某一方向移动增大该方向伸出羽翼驱动装置3的风阻面积，而相对方向收入羽翼驱动装置3内减少该相对方向的风阻面积时，单轴飞行器改变当前飞行姿势。
本实施例通过在单轴飞行器主体中导入羽翼驱动装置，基于羽翼改变风阻的原理，在单轴飞行器需要保持当前飞行姿势时，使羽翼驱动装置驱动环形羽翼伸出飞行器主体的部分各个方向的风阻面积相同，保证单轴飞行器向下推进力均匀，从而维持当前的飞行姿势；在单轴飞行器需要改变飞行姿势时，使羽翼驱动装置驱动环形羽翼向某一方向运动，通过使某一方向伸出单轴飞行器主体的风阻面积相对增大，造成单轴飞行器向下推进力不均匀，进而改变机身角度，从而改变当前的飞行姿势。
在本实施例的一个实现方案中，如图3至图5共同所示，羽翼驱动装置3包括：柱形磁环31、电磁马达32、上盖33和下盖34，环形羽翼4与柱形磁环31的外壁一体成型。
柱形磁环31环套在电磁马达32外周，二者高度相同且具有一定环间距，以便于柱形磁环31小范围内移动；
电磁马达32固定在上盖33和下盖34之间，上盖33和下盖34之间预留有使环形羽翼4伸出的空隙，部分环形羽翼4通过上盖33和下盖34构成的空隙伸出到飞行器主体2外部；
在保持当前飞行姿势时，电磁马达32的磁场均匀分布并与柱形磁环31的极性相斥，且柱形磁环31的轴心与电磁马达32的轴心重合；如图6a所示，电磁马达32处于正常工作时，电磁马达32外表面的磁性与柱形磁环31内表面的磁性相同，由于柱形磁环31和电磁马达32的磁场分布均匀，因而柱形磁环31受到的各个方向的排斥力相同，使得其轴心与电磁马达32的轴心重合。如图7a所示，在柱形磁环31与电磁马达32的轴心重合时，环形羽翼4伸出飞行器主体2的部分各个方向的风阻面积相同，单轴飞行器向下推进力均匀，从而单轴飞行器能够维持当前的飞行姿势。
在改变当前飞行姿势时，电磁马达32某一方向的工作电流使电磁马达32的磁场形态改变，柱形磁环31在电磁马达32磁场的作用下轴心发生偏移，驱动环形羽翼4水平方向移动。如图6b所示，若要驱动环形羽翼4向左移动，可以改变电磁马达32右侧的工作电流方向，使电磁马达32右侧的磁极改变，吸引柱形磁环3的轴心向左移动。如图7b所示，在柱形磁环31的轴心相对电磁马达32的轴心向左偏移时，环形羽翼4伸出飞行器主体2的左侧的风阻面积相对增大，单轴飞行器产生向左的风阻，使单轴飞行器的飞行器主体向左偏移，从而单轴飞行器能够改变当前的飞行姿势。
当单轴飞行器的飞行器主体需要向右偏移时，可以改变电磁马达32左侧的工作电流方向，使电磁马达32左侧的磁极改变，吸引柱形磁环3的轴心向右移动。如图7c所示，在柱形磁环31的轴心相对电磁马达32的轴心向右偏移时，环形羽翼4伸出飞行器主体2的右侧的风阻面积相对增大，单轴飞行器产生向右的风阻，使单轴飞行器的飞行器主体向右偏移。
其中，上盖33和下盖34具有相同的结构，如图4所示，上盖33和下盖34都包括：位于中心位置的螺纹座35和位于螺纹座35周围的支撑柱36；
如图5所示，电磁马达32的两端具有与螺纹座35配合的螺纹头321，上盖33和下盖34通过电磁马达52两端的螺纹头321与螺纹座35配合实现锁附固定，对柱形磁环31进行垂直方向的限定，避免柱形磁环31上下移动。
在本实施例的另一实现方案中，飞行器主体2包括：机头21、机身22、机尾23。
本实施例中的羽翼驱动装置3可以设置在机头21和机身22之间，也可以设置在机身22和机尾23之间。
机身22内设置有控制电路板和电池，控制电路板用于控制单轴飞行器的运行，电池用于为控制电路板、驱动马达和羽翼驱动装置供电。
机尾23内设置有测距模块，测距模块通过柔性电路板与控制电路板连接，用于测量单轴飞行器的实时飞行高度，并将测量的飞行高度信息发送给控制电路板；控制电路板根据接收到的飞行高度信息控制驱动马达的转速。
如图2所示，本实施例的单轴飞行器还包括平衡杆5和支撑架6，平衡杆5位于螺旋桨1的前端，用于保持单轴飞行器空中悬停时的稳定度；支撑架6设置在机尾23的外部，用于搭载载具7，载具7可以为手机、PAD等设备。
综上所述，本发明提供了一种单轴飞行器，该单轴飞行器具有下述有益效果：
1、通过在单轴飞行器主体中导入羽翼驱动装置，基于羽翼改变风阻的原理，在单轴飞行器需要保持当前飞行姿势时，使羽翼驱动装置驱动环形羽翼伸出飞行器主体的部分各个方向的风阻面积相同，保证单轴飞行器向下推进力均匀，以维持当前的飞行姿势；在单轴飞行器 需要改变飞行姿势时，使羽翼驱动装置驱动环形羽翼向某一方向运动，通过使某一方向伸出单轴飞行器主体的风阻面积相对增大，造成单轴飞行器向下推进力不均匀，进而改变机身角度，以改变当前的飞行姿势，即本发明单轴飞行器的飞行姿势控制原理简单，且易于实现；
2、在需要改变单轴飞行器当前的飞行姿势时，只需改变羽翼驱动装置中的电磁马达某方向的工作电流即可实现飞行姿势的改变，即本发明的操作方式简单方便；
3、本发明的单轴飞行器整体上只由螺旋桨和流线型的飞行器主体两部分构成，具有结构简单、外观美观的特点。
以上所述仅为本发明的较佳实施例而已，并非用于限定本发明的保护范围。凡在本发明的精神和原则之内所作的任何修改、等同替换、改进等，均包含在本发明的保护范围内。

Claims (8)

  1. 一种单轴飞行器，包括：螺旋桨(1)和飞行器主体(2)，所述飞行器主体(2)为流线型，内部设置有驱动马达，所述驱动马达用于驱动所述螺旋桨(1)旋转，为所述飞行器主体(2)提供上升的动力；其特征在于，所述单轴飞行器还包括构成所述飞行器主体(2)一部分的羽翼驱动装置(3)；
    所述羽翼驱动装置(3)中部位置设置有伸出所述羽翼驱动装置(3)的环形羽翼(4)，所述环形羽翼(4)在所述羽翼驱动装置(3)驱动下可做水平方向的移动；
    在所述环形羽翼(4)伸出所述羽翼驱动装置(3)外圆周各个方向的风阻面积相同时，所述单轴飞行器保持当前飞行姿势；
    在所述环形羽翼(4)向某一方向移动增大该方向伸出所述羽翼驱动装置(3)的风阻面积，而相对方向收入所述羽翼驱动装置(3)内减少该相对方向的风阻面积时，所述单轴飞行器改变当前飞行姿势。
  2. 根据权利要求1所述的单轴飞行器，其特征在于，所述羽翼驱动装置(3)包括：柱形磁环(31)、电磁马达(32)、上盖(33)和下盖(34)，所述环形羽翼(4)与所述柱形磁环(31)的外壁一体成型；
    所述柱形磁环(31)环套在所述电磁马达(32)外周，二者高度相同且具有一定环间距；
    所述电磁马达(32)固定在上盖(33)和下盖(34)之间，上盖(33)和下盖(34)之间预留有使环形羽翼(4)伸出的空隙，部分环形羽翼(4)通过上盖(33)和下盖(34)构成的空隙伸出到所述飞行器主体(2)外部；
    在保持当前飞行姿势时，所述电磁马达(32)的磁场均匀分布并与所述柱形磁环(31)的极性相斥，且所述柱形磁环(31)的轴心与所述电磁马达(32)的轴心重合；
    在改变当前飞行姿势时，改变所述电磁马达(32)的某一方向的工作电流使电磁马达(32)的磁场形态改变，所述柱形磁环(31)在所述电磁马达(32)磁场的作用下轴心发生偏移，驱动所述环形羽翼(4)水平方向移动。
  3. 根据权利要求2所述的单轴飞行器，其特征在于，所述上盖(33)和所述下盖(34)具有相同的结构，都包括：位于中心位置的螺纹座(35)和位于螺纹座(35)周围的支撑柱(36)；
    所述电磁马达(32)的两端具有与螺纹座(35)配合的螺纹头(321)，所述上盖(33)和所述下盖(34)通过电磁马达(52)两端的螺纹头(321)与螺纹座(35)配合实现锁附固定。
  4. 根据权利要求2或3所述的单轴飞行器，其特征在于，所述飞行器主体(2)依次包括：机头(21)、机身(22)、机尾(23)；
    所述羽翼驱动装置(3)设置在所述机头(21)和所述机身(22)之间，或者所述羽翼驱动装置(3)设置在所述机身(22)和所述机尾(23)之间。
  5. 根据权利要求4所述的单轴飞行器，其特征在于，所述机身(22)内设置有控制电路板和电池；
    所述控制电路板，用于控制所述单轴飞行器的运行；
    所述电池，用于为所述控制电路板、所述驱动马达和所述羽翼驱动装置(3)供电。
  6. 根据权利要求4所述的单轴飞行器，其特征在于，所述机尾(23)内设置有测距模块；
    所述测距模块通过柔性电路板与所述控制电路板连接，用于测量所述单轴飞行器的实时飞行高度，并将测量的飞行高度信息发送给所述控制电路板；
    所述控制电路板，用于根据接收到的飞行高度信息控制所述驱动马达的转速。
  7. 根据权利要求4所述的单轴飞行器，其特征在于，所述单轴飞行器还包括平衡杆(5)；
    所述平衡杆(5)位于所述螺旋桨(1)的前端，用于保持所述单轴飞行器空中悬停时的稳定度。
  8. 根据权利要求4所述的单轴飞行器，其特征在于，所述单轴飞行器还包括支撑架(6)；
    所述支撑架(6)设置在所述机尾(23)的外部，用于搭载载具(7)。
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