WO2019165930A1 - 一种双环形旋翼球形舱飞机 - Google Patents

一种双环形旋翼球形舱飞机 Download PDF

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Publication number
WO2019165930A1
WO2019165930A1 PCT/CN2019/075744 CN2019075744W WO2019165930A1 WO 2019165930 A1 WO2019165930 A1 WO 2019165930A1 CN 2019075744 W CN2019075744 W CN 2019075744W WO 2019165930 A1 WO2019165930 A1 WO 2019165930A1
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WO
WIPO (PCT)
Prior art keywords
ring
rotor
protective cover
cabin
double
Prior art date
Application number
PCT/CN2019/075744
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English (en)
French (fr)
Inventor
史智勇
Original Assignee
史智勇
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Filing date
Publication date
Application filed by 史智勇 filed Critical 史智勇
Priority to EP19760625.4A priority Critical patent/EP3760540A4/en
Publication of WO2019165930A1 publication Critical patent/WO2019165930A1/zh
Priority to US17/006,411 priority patent/US11702190B2/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
    • B64C11/46—Arrangements of, or constructional features peculiar to, multiple propellers
    • B64C11/48—Units of two or more coaxial propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/12—Rotor drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/001—Flying saucers
    • 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
    • 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; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
    • B64D31/16—Power plant control systems; Arrangement of power plant control systems in aircraft for electric power plants
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/40—Weight reduction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/60—Efficient propulsion technologies, e.g. for aircraft

Definitions

  • the present invention relates to an aircraft, and more particularly to a double-ring rotor-balloon aircraft.
  • the invention overcomes the risk that the rotor blade of the aircraft is exposed, the risk of collision breakage, and the inconvenience of the aircraft, and provides a double-circular rotor-shaped spherical cabin aircraft, the rotor blades of the aircraft are hidden in the protective cover, and the rotation process does not occur.
  • the phenomenon of collision and breakage, and the short length of the rotor blade is beneficial to reduce the stringent requirements on the strength of the rotor blade and eliminates the need to change the rotor blade frequently.
  • the attitude of the aircraft is convenient and reliable during flight; the double-circular rotor-shaped spherical cabin aircraft greatly simplifies the transmission structure. Reduce the weight of the aircraft, reduce the maintenance intensity and cost, increase the power output radius, reduce the engine power requirements, greatly reduce the energy consumption, without the tail, the structure is simple and optimized.
  • a double-ring rotor-shaped spherical cabin aircraft including a spherical cabin, an upper protective cover, a lower protective cover, a rotor fixed ring, an upper rotor rotor, a lower rotor rotor, and a control system.
  • the protective cover, the lower protective cover, the upper rotor rotor and the lower rotor rotor are all annular, and the upper protective cover and the lower protective cover are provided with a ventilation grille, and the upper protective cover and the outer ring of the lower protective cover are connected together, and the rotor fixed ring is connected Connected between the upper protective cover and the inner ring of the lower protective cover, the rotor fixing ring rotates to install the posture ring, the spherical cabin is rotatably installed in the posture ring, and the two oppositely arranged adjustments are connected between the posture ring and the rotor fixing ring.
  • the joint axis, the spherical cabin and the posture ring are connected with two opposite joint shafts, the joint joint axis and the joint axis of the nacelle are perpendicular, and a joint joint axis and a cabin joint shaft are connected to the position adjustment motor;
  • Both the rotor rotor and the lower rotor rotor include a motion ring, a strong magnetic rotor, and a plurality of rotor blades uniformly connected to the motion ring.
  • the rotor wire is fixed on the rotor ring and the strong magnetic rotor is mounted.
  • the ring stator and the motion ring are rotatably mounted on the rotor fixing ring, and the gyroscope is mounted on the rotor fixing ring, and the posture adjusting motor, the exciting coil stator and the gyroscope are electrically connected with the control system.
  • the excitation coil stator and the strong magnetic rotor together form a brushless DC motor.
  • the control system energizes the excitation coil stator, and the strong magnetic rotor drives the motion ring to rotate together.
  • the rotation directions of the upper rotor and the lower rotor are always opposite, and the counter torque generated by the air cancels each other.
  • the aircraft can change direction.
  • the center of the spherical cabin is close to the lower end position, and the lower end of the spherical tank is lower than the lower protective cover.
  • the spherical cabin and the rotor retaining ring can be rotated at any angle.
  • the control system controls the operation of the two posture-adjusting motors to realize the rotation of the joint axis and the joint shaft of the cabin. Since the center of gravity of the spherical cabin is always vertically downward, the rotation of the joint axis and the joint shaft of the cabin makes the rotor fixed ring relative to the spherical cabin. Forming a certain angle of inclination, the aircraft can obtain a horizontal thrust, enabling the aircraft to fly in the direction of the dip.
  • the gyroscope transmits the detected dip signal and direction signal to the control system, and the control system issues commands to the two posture-adjusting motors according to the signal transmitted from the gyroscope to control the rotation speed and the rotation angle of the posture-adjusting motor.
  • the upper rotor rotor and the lower rotor rotor are placed between the upper protective cover and the lower protective cover.
  • the rotor blades are concealed and there is no collision and breakage during the rotation.
  • Both the upper rotor rotor and the lower rotor rotor are annular, and the length of the propeller blades is short, which is beneficial to reduce the stringent requirements on the strength of the propeller blades.
  • the propeller blades of the double-circular rotor-shaped spherical cabin aircraft are hidden in the protective cover, and there is no collision and breakage during the rotation, and the short length of the propeller blades is beneficial to reduce the severe requirements on the strength of the propeller blades during flight. Convenient and reliable.
  • the rotor fixing ring is provided with two annular mounting grooves, and the moving ring is provided with a suspension ring.
  • the inner ring of the suspension ring is provided with an adsorption ring, and a suspension gap is arranged between the suspension ring, the adsorption ring and the side wall of the installation groove.
  • a movable permanent magnet ring is mounted on the upper and lower surfaces of the suspension ring, and a fixed permanent magnet ring is mounted on the side wall of the mounting groove and the movable permanent magnet ring, and the opposite magnetic poles of the movable permanent magnet ring and the fixed permanent magnet ring are the same;
  • the rotor A plurality of electromagnetic blocks are uniformly arranged on the fixing ring, the electromagnetic block is radially oriented toward the adsorption ring and can be energized to attract the adsorption ring, and the displacement sensor disposed radially toward the adsorption ring is mounted on the rotor fixing ring near the electromagnetic block; the electromagnetic block and the displacement sensor Both are electrically connected to the control system.
  • the movable permanent magnet ring and the opposite surface of the fixed permanent magnet ring repel each other so that the suspension ring is in a suspended state; a gap is always maintained between the adsorption ring and the side wall of the mounting groove to ensure that the moving ring is always in a floating state during the rotation process.
  • the control system energizes the electromagnetic block coil so that the electromagnetic block attracts the adsorption ring, and the signal detected by the displacement sensor is sent to the control system, and the control system controls whether the coil of the electromagnetic block is energized and the magnitude of the current is applied according to the signal of the read displacement sensor.
  • the electromagnetic block of the maximum distance between the detected displacement sensor and the inner wall of the adsorption ring is energized at the same time, so that the electromagnetic block attracts the adsorption ring, and the displacement between the displacement sensor and the inner wall of the adsorption ring is shortened. distance.
  • the frequency at which the control system reads the displacement sensor signal and energizes a single electromagnetic block is set as needed so that the suspension loop is always in dynamic equilibrium.
  • a guard ring is arranged on the upper surface of the motion ring, and a plurality of anti-collision bearings are uniformly arranged on the outer wall of the rotor fixing ring, and an anti-collision gap is provided between the outer wall of the anti-collision bearing and the inner wall of the guard ring, and the radial spacing of the anti-collision gap is smaller than the adsorption.
  • the radial movement of the moving ring rotates slightly, and the anti-collision bearing supports the inner wall of the protective ring to prevent large deviation in the radial direction during the rotation of the rotor rotor, which can ensure the movement of the electromagnetic block in the event of failure.
  • the ring can also function normally.
  • a rotary bearing is mounted between the rotor retaining ring and the moving ring.
  • Rotary bearings are used to realize the rotary connection between the rotor retaining ring and the moving ring, and the moving ring runs smoothly and reliably.
  • control system is powered by a battery, and the battery and control system are both mounted in a spherical compartment. Powered by batteries, it is more environmentally friendly.
  • the lower end of the rotor retaining ring is connected to a plurality of uniformly disposed landing gears.
  • the landing gear is set up to facilitate takeoff and landing of the aircraft.
  • the upper surface of the lower protective cover is provided with a positioning convex ring near the outer edge, and the outer edge of the lower surface of the upper protective cover is provided with a cover ring, and the positioning convex ring and the cover ring are fitted and inserted together, and the lower end of the cover ring is supported.
  • the upper protective cover and the lower protective cover are more smoothly and reliably connected by the fitting and fitting of the cover ring and the positioning convex ring.
  • the ferromagnetic rotor comprises a rotor ring and a permanent magnet magnetic tile.
  • the rotor ring is uniformly provided with a plurality of connecting grooves, and a permanent magnet magnetic tile is mounted in the connecting groove, and the inner surfaces of the adjacent two permanent magnet magnetic tiles are opposite in magnetism.
  • the excitation coil stator comprises a stator ring and a plurality of excitation coils, each permanent magnet magnetic tile corresponding to an excitation coil, the excitation coil is mounted on the stator ring, a plurality of Hall sensors are mounted on the stator ring, and the Hall sensor is radially oriented toward the permanent magnet magnetic tile
  • the Hall sensor and the excitation coil are electrically connected to the control system.
  • the brushless DC motor constructed by such a structure is stable and reliable.
  • the beneficial effects of the present invention are as follows: (1) The propeller blades of the double-ring rotor-shaped spherical cabin aircraft are hidden in the protective cover, and the collision and breakage phenomenon does not occur during the rotation, and the length of the propeller blades is short, It is beneficial to reduce the stringent requirements on the strength of the propeller blades and eliminates the need to change the rotor blades frequently. The attitude is convenient and reliable during the flight; (2) The double-circular rotor spherical cabin aircraft greatly simplifies the transmission structure, reduces the weight of the aircraft, and reduces the maintenance strength and cost. The power output radius is increased, the engine power requirement is reduced, the energy consumption is greatly reduced, the tail fin is not required, and the structure is simple and optimized.
  • Figure 1 is a schematic view showing the structure of the present invention
  • Figure 2 is an exploded view of the present invention
  • FIG. 3 is a schematic diagram of the posture adjustment of the present invention.
  • Figure 4 is a partial cross-sectional view showing Embodiment 1 of the present invention.
  • Figure 5 is a schematic view showing the suspension of the suspension ring of Embodiment 1 of the present invention.
  • Figure 6 is a schematic diagram of a brushless DC motor of the present invention.
  • Embodiment 1 A double-ring rotor spherical cabin aircraft (see FIG. 1 to FIG. 6), including a spherical cabin 1, an upper protective cover 2, a lower protective cover 3, a rotor fixed ring 4, an upper rotor rotor 5, and a lower rotor
  • the rotor 6, the control system 7, the upper protective cover, the lower protective cover, the upper rotor rotor and the lower rotor rotor are all annular, and the upper protective cover and the lower protective cover are provided with a ventilation grille 8, an upper protective cover and a lower protective cover.
  • the outer rings are connected together, and the rotor fixing ring is connected between the upper protective cover and the inner ring of the lower protective cover, and the rotor fixing ring is rotated to install the posture ring 9, and the spherical cabin is rotatably installed in the posture ring, the posture ring and the rotor
  • Two oppositely arranged posture joint shafts 10 are connected between the fixed rings, and two oppositely arranged nacelle joint shafts 11 are connected between the spherical cabin and the posture ring, the alignment joint axis and the cabin joint axis axis are perpendicular, and a posture joint axis and A cabin joint shaft is connected to the position adjustment motor 12; a posture motor is mounted on the spherical cabin, and another posture motor is mounted on the rotor fixing ring.
  • the upper rotor rotor and the lower rotor rotor each include a motion ring 13, a strong magnetic rotor 14, and a plurality of rotor blades 15 uniformly connected to the motion ring.
  • the rotor support ring and the strong magnetic rotor are correspondingly mounted with the excitation coil stator 16, and the motion ring can be rotated.
  • Installed on the rotor fixing ring, the gyroscope 17 is mounted on the rotor fixing ring, and the posture adjusting motor, the exciting coil stator and the gyroscope are electrically connected with the control system.
  • the direction of rotation of the upper rotor rotor and the lower rotor rotor is always opposite.
  • the outer ends of the rotor blades on the same moving ring are connected together by a reinforcing ring 27 as a whole.
  • the arrangement of the reinforcing ring is beneficial to increase the structural strength of the rotor blade.
  • the control system is powered by battery 28, which is mounted in a spherical compartment.
  • the lower end of the rotor retaining ring is connected to a plurality of uniformly disposed landing gears 29.
  • the upper surface of the lower protective cover is provided with a positioning convex ring 30 near the outer edge, and the outer edge of the lower surface of the upper protective cover is provided with a cover ring 31, and the positioning convex ring and the cover ring are fitted and inserted together, and the lower end of the cover ring is supported under Protective cover on the upper surface.
  • the strong magnetic rotor comprises a rotor ring 32 and a permanent magnet magnetic tile 33.
  • the rotor ring is uniformly provided with a plurality of connecting grooves 34, and a permanent magnet magnetic tile is mounted in the connecting groove, and the inner surfaces of the adjacent two permanent magnet magnetic tiles are opposite in magnetism.
  • the excitation coil stator comprises a stator ring 35 and a plurality of excitation coils 36.
  • Each permanent magnet magnetic tile corresponds to an excitation coil, and the excitation coil is mounted on the stator ring.
  • Several Hall sensors 37 are mounted on the stator ring, and the Hall sensor is radially oriented toward the permanent magnet.
  • the magnetic tile is set, and the Hall sensor and the excitation coil are electrically connected to the control system.
  • the kinematic ring is provided with a downwardly extending extension ring 39 which is connected to the inner wall of the lower end of the extension ring.
  • the rotor fixing ring is provided with two annular mounting grooves 18, and the moving ring is provided with a suspension ring 19, and the adsorption ring 20 is mounted on the inner wall of the suspension ring, the adsorption ring is an iron ring, and the suspension ring, the adsorption ring and the side wall of the installation groove are arranged.
  • Each has a suspension gap, and a movable permanent magnet ring 21 is mounted on the upper and lower surfaces of the suspension ring, and a fixed permanent magnet ring 22, a movable permanent magnet ring and a fixed permanent magnet are mounted on the side wall of the installation groove and the movable permanent magnet ring.
  • the opposite poles of the ring have the same magnetic poles; the rotor retaining ring is uniformly arranged with a plurality of electromagnetic blocks 23, the electromagnetic blocks are radially oriented toward the adsorption ring and can be energized to attract the adsorption ring, and the radial fixing ring is mounted on the rotor fixing ring near the electromagnetic block.
  • the displacement sensor 24; the electromagnetic block and the displacement sensor are all electrically connected to the control system.
  • a guard ring 25 is disposed on the upper surface of the motion ring, and a plurality of anti-collision bearings 26 are uniformly disposed on the outer wall of the rotor ring.
  • eight anti-collision bearings are disposed, and an anti-collision is provided between the outer wall of the anti-collision bearing and the inner wall of the guard ring.
  • the clearance, the radial spacing of the anti-collision gap is smaller than the radial distance between the inner wall of the adsorption ring and the side wall of the mounting groove.
  • a mounting post is arranged on the rotor fixing ring and the anti-collision bearing, and the inner ring of the anti-collision bearing is tightly mounted on the mounting post.
  • An aluminum alloy induction ring 38 is mounted on the inner wall of the adsorption ring, the displacement sensor is radially oriented toward the aluminum alloy induction ring, and the displacement sensor is an eddy current displacement sensor.
  • the electromagnetic block has a U-shaped structure, and the two ends of the electromagnetic block respectively face the upper and lower sides of the aluminum alloy induction ring on the inner wall of the adsorption ring.
  • a positioning groove is arranged on the inner wall of the mounting groove corresponding to the fixed permanent magnet ring, and the fixed permanent magnet ring is fastened and installed in the positioning groove; the fastening ring is provided with a fastening groove corresponding to the movable permanent magnet ring, and the movable permanent magnet ring is fastened. Installed in the fastening groove.
  • the excitation coil stator and the strong magnetic rotor together form a brushless DC motor.
  • the control system energizes the excitation coil stator, and the strong magnetic rotor drives the motion ring to rotate together.
  • the rotation directions of the upper rotor and the lower rotor are always opposite, and the counter torque generated by the air cancels each other.
  • the aircraft can change direction.
  • the center of the spherical cabin is close to the lower end position, and the lower end of the spherical tank is lower than the lower protective cover.
  • the spherical cabin and the rotor retaining ring can be rotated at any angle.
  • the control system controls the operation of the two posture-adjusting motors to realize the rotation of the joint axis and the joint shaft of the cabin. Since the center of gravity of the spherical cabin is always vertically downward, the rotation of the joint axis and the joint shaft of the cabin makes the rotor fixed ring relative to the spherical cabin. Forming a certain angle of inclination, the aircraft can obtain a horizontal thrust, enabling the aircraft to fly in the direction of the dip.
  • the gyroscope transmits the detected dip signal and direction signal to the control system, and the control system issues commands to the two posture-adjusting motors according to the signal transmitted from the gyroscope to control the rotation speed and the rotation angle of the posture-adjusting motor.
  • the upper rotor rotor and the lower rotor rotor are placed between the upper protective cover and the lower protective cover, and the rotor blades are concealed and there is no collision and breakage during the rotation.
  • Both the upper rotor rotor and the lower rotor rotor are annular, and the length of the propeller blades is short, which is beneficial to reduce the stringent requirements on the strength of the propeller blades.
  • the movable permanent magnet ring and the opposite surface of the fixed permanent magnet ring repel each other so that the suspension ring is in a suspended state; a gap is always maintained between the adsorption ring and the side wall of the mounting groove to ensure that the moving ring is always in a floating state during the rotation process.
  • the control system energizes the electromagnetic block coil so that the electromagnetic block attracts the adsorption ring, and the signal detected by the displacement sensor is sent to the control system, and the control system controls whether the coil of the electromagnetic block is energized and the magnitude of the current is applied according to the signal of the read displacement sensor.
  • the electromagnetic block of the maximum distance between the detected displacement sensor and the inner wall of the adsorption ring is energized at the same time, so that the electromagnetic block attracts the adsorption ring, and the displacement between the displacement sensor and the inner wall of the adsorption ring is shortened. distance.
  • the frequency at which the control system reads the displacement sensor signal and energizes a single electromagnetic block is set as needed so that the suspension loop is always in dynamic equilibrium.
  • Embodiment 2 A double-ring rotor-shaped spherical-cabin aircraft having a structure similar to that of Embodiment 1, and the main difference is that a rotary bearing is installed between the rotor-fixing ring and the motion ring in this embodiment. Rotary bearings are used to realize the rotary connection between the rotor retaining ring and the moving ring, and the moving ring runs smoothly and reliably.
  • the other structure is the same as that of the first embodiment.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Magnetic Bearings And Hydrostatic Bearings (AREA)

Abstract

一种双环形旋翼球形舱飞机，包括球形舱（1）、上保护罩（2）、下保护罩（3）、旋翼固定环（4）、上旋翼转子（5）、下旋翼转子（6）、控制系统（7），旋翼固定环（4）连接在上保护罩（2）和下保护罩（3）的内圈之间，旋翼固定环（4）上转动安装调姿环（9），球形舱（1）转动安装在调姿环（9）内，调姿环（9）和旋翼固定环（4）之间连接两相对设置的调姿关节轴（10），球形舱（1）和调姿环（9）之间连接两相对设置的机舱关节轴（11），调姿关节轴（10）和机舱关节轴（11）轴线垂直，一调姿关节轴（10）以及一机舱关节轴（11）均传动连接调姿电机（12）；上旋翼转子（5）、下旋翼转子（6）可转动安装在旋翼固定环（4）上，旋翼固定环（4）上安装陀螺仪（17），调姿电机（12）、陀螺仪（17）均与控制系统（7）电连接；该双环形旋翼球形舱飞机解决了飞机旋翼叶片（15）裸露在外，存在碰撞折断的风险，而且飞机调姿不便的问题。

Description

一种双环形旋翼球形舱飞机 技术领域
本发明涉及一种飞行器，更具体地说，它涉及一种双环形旋翼球形舱飞机。
背景技术
随着国家把通用航空确定为支柱产业，人们对飞机的关注度越来越高。固定翼飞机需要跑道，普通直升飞机的旋翼裸露安全性不高，且因负荷扭矩大而配备大功率发动机，传动系统复杂且易引起机件疲劳要定期更换，飞机的维护费用高，这些都极大地限制了通用航空业的发展。目前，无人机发展很快，用于拍摄甚至运送快递，但是现在的很多无人机旋翼叶片裸露在外，存在碰撞折断的风险，而且无人机调姿不便又不能实现大载重能力。
发明内容
本发明克服了飞机旋翼叶片裸露在外，存在碰撞折断的风险，而且飞机调姿不便的不足，提供了一种双环形旋翼球形舱飞机，飞机旋翼叶片隐藏在保护罩内，转动过程中不会发生碰撞折断的现象，而且旋翼叶片长度短，有利于降低对旋翼叶片强度的严苛要求且无需经常更换旋翼叶片，飞机飞行过程中调姿方便可靠；双环形旋翼球形舱飞机大大简化了传动结构，减轻飞机自重，降低维护强度和费用，加大了动力输出半径，降低了对发动机功率的要求，极大地减少了能耗，无需尾翼，结构简单优化。
为了解决上述技术问题，本发明采用以下技术方案：一种双环形旋翼球形 舱飞机，包括球形舱、上保护罩、下保护罩、旋翼固定环、上旋翼转子、下旋翼转子、控制系统，上保护罩、下保护罩、上旋翼转子、下旋翼转子均呈环形，上保护罩、下保护罩上均设有通风格栅，上保护罩和下保护罩的外圈连接在一起，旋翼固定环连接在上保护罩和下保护罩的内圈之间，旋翼固定环上转动安装调姿环，球形舱转动安装在调姿环内，调姿环和旋翼固定环之间连接两相对设置的调姿关节轴，球形舱和调姿环之间连接两相对设置的机舱关节轴，调姿关节轴和机舱关节轴轴线垂直，一调姿关节轴以及一机舱关节轴均传动连接调姿电机；上旋翼转子、下旋翼转子均包括运动环、强磁转子、均布连接在运动环上的若干旋翼叶片，旋翼固定环上和强磁转子对应安装励磁线圈定子，运动环可转动安装在旋翼固定环上，旋翼固定环上安装陀螺仪，调姿电机、励磁线圈定子、陀螺仪均与控制系统电连接。
励磁线圈定子和强磁转子一起构成无刷直流电机，双环形旋翼球形舱飞机运行时，控制系统对励磁线圈定子通电，强磁转子带动运动环一起旋转。上旋翼转子、下旋翼转子转动方向始终相反，空气产生的反扭矩相互抵消，当改变其中一个旋翼转子的转速，飞机即能转变方向。球形舱中心靠近下端位置，球形舱下端低于下保护罩。通过一对调姿关节轴和一对机舱关节轴的设置，使球形舱和旋翼固定环之间能以任意角度转动。由控制系统控制两调姿电机的运转实现调姿关节轴和机舱关节轴的转动，由于球形舱重心始终竖直向下，调姿关节轴和机舱关节轴的转动使旋翼固定环相对于球形舱形成一定的倾角，飞机即可获得一个水平方向的推力，使飞机能够向倾角方向飞行。陀螺仪将检测到的倾角信号和方向信号传递到控制系统，控制系统根据陀螺仪传递来的信号对两个调姿电机发出指令，控制调姿电机的转速和转动角度。上旋翼转子、下旋翼转子均置于上保护罩和下保护罩之间，旋翼叶片隐藏式设置，转动过程中不会 发生碰撞折断的现象。上旋翼转子、下旋翼转子均呈环形，螺旋桨叶片长度短，有利于降低对螺旋桨叶片强度的严苛要求。这种双环形旋翼球形舱飞机的螺旋桨叶片隐藏在保护罩内，转动过程中不会发生碰撞折断的现象，而且螺旋桨叶片长度短，有利于降低对螺旋桨叶片强度的严苛要求，飞机飞行过程中调姿方便可靠。
作为优选，旋翼固定环上设有两环形的安装槽，运动环上均设有悬浮环，悬浮环内壁上安装吸附环，悬浮环、吸附环与安装槽侧壁之间均设有悬浮间隙，悬浮环上、下表面上均安装有活动永磁环，安装槽侧壁上和活动永磁环对应位置安装有固定永磁环，活动永磁环与固定永磁环的相对面磁极相同；旋翼固定环上均布安装若干电磁块，电磁块径向朝向吸附环且可通电吸引吸附环，旋翼固定环上靠近电磁块位置均安装有径向朝向吸附环设置的位移传感器；电磁块、位移传感器均与控制系统电连接。
活动永磁环与固定永磁环的相对面同极相斥，使悬浮环处于悬浮状态；吸附环和安装槽侧壁之间始终保持有间隙，确保运动环转动过程中始终处于悬浮状态。控制系统对电磁块线圈通电使电磁块吸引吸附环，位移传感器检测到的信号输送到控制系统，控制系统根据读取的位移传感器的信号对电磁块的线圈是否通电以及通电电流大小进行控制。电磁块错时通断，同一时段对检测到的位移传感器与吸附环内壁之间最大距离位置的电磁块进行通电，从而使该电磁块对吸附环进行吸引，缩短位移传感器与吸附环内壁之间的距离。控制系统读取位移传感器信号并对单个电磁块通电的频率根据需要进行设定，从而使悬浮环始终处于动态平衡状态。上旋翼转子、下旋翼转子转动过程中运动环始终处于悬浮状态，振动和噪音小，不需要润滑，无机械磨损，使用寿命长，维护费用低。
作为优选，运动环上表面上设有防护环，旋翼固定环外壁上均布安装若干防撞轴承，防撞轴承外壁与防护环内壁之间设有防撞间隙，防撞间隙径向间距小于吸附环内壁与安装槽侧壁之间的径向间距。
当电磁块出现故障时，运动环转动过程中径向出现细微偏移，防撞轴承对防护环内壁进行支撑，防止旋翼转子转动过程中径向出现较大偏差，能够保证电磁块出现故障时运动环也能正常运转。
另一种方案，旋翼固定环和运动环之间安装转动轴承。旋翼固定环和运动环之间采用转动轴承实现转动连接，运动环运转平稳可靠。
作为优选，控制系统由蓄电池供电，蓄电池和控制系统均安装在球形舱内。由蓄电池供电，更加环保。
作为优选，旋翼固定环下端连接若干均布设置的起落架。起落架的设置便于飞机的起飞和降落。
作为优选，下保护罩上表面靠近外边缘位置设有定位凸环，上保护罩下表面外边缘设有盖合环，定位凸环与盖合环适配插装在一起，盖合环下端支撑在下保护罩上表面上。上保护罩和下保护罩通过盖合环和定位凸环的适配插装，连接更加平稳可靠。
作为优选，强磁转子包括转子环、永磁体磁瓦，转子环上均布设有若干连接槽，连接槽中均安装一永磁体磁瓦，相邻两永磁体磁瓦内表面磁性相反。励磁线圈定子包括定子环、若干励磁线圈，每一永磁体磁瓦对应一励磁线圈，励磁线圈安装在定子环上，定子环上安装若干霍尔传感器，霍尔传感器径向朝向永磁体磁瓦设置，霍尔传感器、励磁线圈与控制系统电连接。这种结构设置构成的无刷直流电机运转平稳可靠。
与现有技术相比，本发明的有益效果是：(1)双环形旋翼球形舱飞机的螺旋桨 叶片隐藏在保护罩内，转动过程中不会发生碰撞折断的现象，而且螺旋桨叶片长度短，有利于降低对螺旋桨叶片强度的严苛要求且无需经常更换旋翼叶片，飞机飞行过程中调姿方便可靠；(2)双环形旋翼球形舱飞机大大简化了传动结构，减轻飞机自重，降低维护强度和费用，加大了动力输出半径，降低了对发动机功率的要求，极大地减少了能耗，无需尾翼，结构简单优化。
附图说明
图1是本发明的一种结构示意图；
图2是本发明的爆炸图；
图3是本发明的调姿原理图；
图4是本发明的实施例1的局部剖视图；
图5是本发明的实施例1的悬浮环的悬浮原理图；
图6是本发明的无刷直流电机的原理图；
图中：1、球形舱，2、上保护罩，3、下保护罩，4、旋翼固定环，5、上旋翼转子，6、下旋翼转子，7、控制系统，8、通风格栅，9、调姿环，10、调姿关节轴，11、机舱关节轴，12、调姿电机，13、运动环，14、强磁转子，15、旋翼叶片，16、励磁线圈定子，17、陀螺仪，18、安装槽，19、悬浮环，20、吸附环，21、活动永磁环，22、固定永磁环，23、电磁块，24、位移传感器，25、防护环，26、防撞轴承，27、加强环，28、蓄电池，29、起落架，30、定位凸环，31、盖合环，32、转子环，33、永磁体磁瓦，34、连接槽，35、定子环，36、励磁线圈，37、霍尔传感器，38、铝合金感应环，39、延伸环。
具体实施方式
下面通过具体实施例，并结合附图，对本发明的技术方案作进一步的具体描述：
实施例1：一种双环形旋翼球形舱飞机(参见附图1至附图6)，包括球形舱1、上保护罩2、下保护罩3、旋翼固定环4、上旋翼转子5、下旋翼转子6、控制系统7，上保护罩、下保护罩、上旋翼转子、下旋翼转子均呈环形，上保护罩、下保护罩上均设有通风格栅8，上保护罩和下保护罩的外圈连接在一起，旋翼固定环连接在上保护罩和下保护罩的内圈之间，旋翼固定环上转动安装调姿环9，球形舱转动安装在调姿环内，调姿环和旋翼固定环之间连接两相对设置的调姿关节轴10，球形舱和调姿环之间连接两相对设置的机舱关节轴11，调姿关节轴和机舱关节轴轴线垂直，一调姿关节轴以及一机舱关节轴均传动连接调姿电机12；一调姿电机安装在球形舱上，另一调姿电机安装在旋翼固定环上。上旋翼转子、下旋翼转子均包括运动环13、强磁转子14、均布连接在运动环上的若干旋翼叶片15，旋翼固定环上和强磁转子对应安装励磁线圈定子16，运动环可转动安装在旋翼固定环上，旋翼固定环上安装陀螺仪17，调姿电机、励磁线圈定子、陀螺仪均与控制系统电连接。上旋翼转子、下旋翼转子转动方向始终相反。同一运动环上的旋翼叶片外端通过加强环27连接成一个整体。加强环的设置有利于提高旋翼叶片的结构强度。控制系统由蓄电池28供电，蓄电池和控制系统均安装在球形舱内。旋翼固定环下端连接若干均布设置的起落架29。下保护罩上表面靠近外边缘位置设有定位凸环30，上保护罩下表面外边缘设有盖合环31，定位凸环与盖合环适配插装在一起，盖合环下端支撑在下保护罩上表面上。强磁转子包括转子环32、永磁体磁瓦33，转子环上均布设有若干连接槽34，连接槽中均安装一永磁体磁瓦，相邻两永磁体磁瓦内表面磁性相反。励 磁线圈定子包括定子环35、若干励磁线圈36，每一永磁体磁瓦对应一励磁线圈，励磁线圈安装在定子环上，定子环上安装若干霍尔传感器37，霍尔传感器径向朝向永磁体磁瓦设置，霍尔传感器、励磁线圈与控制系统电连接。运动环上设有向下延伸的延伸环39，强磁转子连接在延伸环下端内壁上。
旋翼固定环上设有两环形的安装槽18，运动环上均设有悬浮环19，悬浮环内壁上安装吸附环20，吸附环为铁环，悬浮环、吸附环与安装槽侧壁之间均设有悬浮间隙，悬浮环上、下表面上均安装有活动永磁环21，安装槽侧壁上和活动永磁环对应位置安装有固定永磁环22，活动永磁环与固定永磁环的相对面磁极相同；旋翼固定环上均布安装若干电磁块23，电磁块径向朝向吸附环且可通电吸引吸附环，旋翼固定环上靠近电磁块位置均安装有径向朝向吸附环设置的位移传感器24；电磁块、位移传感器均与控制系统电连接。运动环上表面上设有防护环25，旋翼固定环外壁上均布安装若干防撞轴承26，本实施例中防撞轴承设置八个，防撞轴承外壁与防护环内壁之间设有防撞间隙，防撞间隙径向间距小于吸附环内壁与安装槽侧壁之间的径向间距。旋翼固定环上和防撞轴承对应设有安装柱，防撞轴承内圈紧密安装在安装柱上。吸附环内壁上安装铝合金感应环38，位移传感器径向朝向铝合金感应环，位移传感器为电涡流位移传感器。电磁块呈U形结构，电磁块的两端分别朝向吸附环内壁上铝合金感应环的上下两侧。安装槽内壁上与固定永磁环对应位置设有定位槽，固定永磁环紧固安装在定位槽中；悬浮环上与活动永磁环对应位置设有紧固槽，活动永磁环紧固安装在紧固槽中。
励磁线圈定子和强磁转子一起构成无刷直流电机，双环形旋翼球形舱飞机运行时，控制系统对励磁线圈定子通电，强磁转子带动运动环一起旋转。上旋翼转子、下旋翼转子转动方向始终相反，空气产生的反扭矩相互抵消，当改变 其中一个旋翼转子的转速，飞机即能转变方向。球形舱中心靠近下端位置，球形舱下端低于下保护罩。通过一对调姿关节轴和一对机舱关节轴的设置，使球形舱和旋翼固定环之间能以任意角度转动。由控制系统控制两调姿电机的运转实现调姿关节轴和机舱关节轴的转动，由于球形舱重心始终竖直向下，调姿关节轴和机舱关节轴的转动使旋翼固定环相对于球形舱形成一定的倾角，飞机即可获得一个水平方向的推力，使飞机能够向倾角方向飞行。陀螺仪将检测到的倾角信号和方向信号传递到控制系统，控制系统根据陀螺仪传递来的信号对两个调姿电机发出指令，控制调姿电机的转速和转动角度。上旋翼转子、下旋翼转子均置于上保护罩和下保护罩之间，旋翼叶片隐藏式设置，转动过程中不会发生碰撞折断的现象。上旋翼转子、下旋翼转子均呈环形，螺旋桨叶片长度短，有利于降低对螺旋桨叶片强度的严苛要求。活动永磁环与固定永磁环的相对面同极相斥，使悬浮环处于悬浮状态；吸附环和安装槽侧壁之间始终保持有间隙，确保运动环转动过程中始终处于悬浮状态。控制系统对电磁块线圈通电使电磁块吸引吸附环，位移传感器检测到的信号输送到控制系统，控制系统根据读取的位移传感器的信号对电磁块的线圈是否通电以及通电电流大小进行控制。电磁块错时通断，同一时段对检测到的位移传感器与吸附环内壁之间最大距离位置的电磁块进行通电，从而使该电磁块对吸附环进行吸引，缩短位移传感器与吸附环内壁之间的距离。控制系统读取位移传感器信号并对单个电磁块通电的频率根据需要进行设定，从而使悬浮环始终处于动态平衡状态。上旋翼转子、下旋翼转子转动过程中运动环始终处于悬浮状态，振动和噪音小，不需要润滑，无机械磨损，使用寿命长，维护费用低。
实施例2：一种双环形旋翼球形舱飞机，其结构与实施例1相似，主要不同点在于本实施例中旋翼固定环和运动环之间安装转动轴承。旋翼固定环和运 动环之间采用转动轴承实现转动连接，运动环运转平稳可靠。其它结构与实施例1相同。
以上所述的实施例只是本发明较佳的方案，并非对本发明作任何形式上的限制，在不超出权利要求所记载的技术方案的前提下还有其它的变体及改型。

Claims (9)

  1. 一种双环形旋翼球形舱飞机，其特征是，包括球形舱、上保护罩、下保护罩、旋翼固定环、上旋翼转子、下旋翼转子、控制系统，上保护罩、下保护罩、上旋翼转子、下旋翼转子均呈环形，上保护罩、下保护罩上均设有通风格栅，上保护罩和下保护罩的外圈连接在一起，旋翼固定环连接在上保护罩和下保护罩的内圈之间，旋翼固定环上转动安装调姿环，球形舱转动安装在调姿环内，调姿环和旋翼固定环之间连接两相对设置的调姿关节轴，球形舱和调姿环之间连接两相对设置的机舱关节轴，调姿关节轴和机舱关节轴轴线垂直，一调姿关节轴以及一机舱关节轴均传动连接调姿电机；上旋翼转子、下旋翼转子均包括运动环、强磁转子、均布连接在运动环上的若干旋翼叶片，旋翼固定环上和强磁转子对应安装励磁线圈定子，运动环可转动安装在旋翼固定环上，旋翼固定环上安装陀螺仪，调姿电机、励磁线圈定子、陀螺仪均与控制系统电连接。
  2. 根据权利要求1所述的一种双环形旋翼球形舱飞机，其特征是，旋翼固定环上设有两环形的安装槽，运动环上均设有悬浮环，悬浮环内壁上安装吸附环，悬浮环、吸附环与安装槽侧壁之间均设有悬浮间隙，悬浮环上、下表面上均安装有活动永磁环，安装槽侧壁上和活动永磁环对应位置安装有固定永磁环，活动永磁环与固定永磁环的相对面磁极相同；旋翼固定环上均布安装若干电磁块，电磁块径向朝向吸附环且可通电吸引吸附环，旋翼固定环上靠近电磁块位置均安装有径向朝向吸附环设置的位移传感器；电磁块、位移传感器均与控制系统电连接。
  3. 根据权利要求2所述的一种双环形旋翼球形舱飞机，其特征是，运动环上表面上设有防护环，旋翼固定环外壁上均布安装若干防撞轴承，防撞轴承外壁与防护环内壁之间设有防撞间隙，防撞间隙径向间距小于吸附环内壁与安装槽侧壁之间的径向间距。
  4. 根据权利要求1所述的一种双环形旋翼球形舱飞机，其特征是，旋翼固定环和运动环之间安装转动轴承。
  5. 根据权利要求1所述的一种双环形旋翼球形舱飞机，其特征是，控制系统由蓄电池供电，蓄电池和控制系统均安装在球形舱内。
  6. 根据权利要求1所述的一种双环形旋翼球形舱飞机，其特征是，旋翼固定环下端连接若干均布设置的起落架。
  7. 根据权利要求1至6任意一项所述的一种双环形旋翼球形舱飞机，其特征是，下保护罩上表面靠近外边缘位置设有定位凸环，上保护罩下表面外边缘设有盖合环，定位凸环与盖合环适配插装在一起，盖合环下端支撑在下保护罩上表面上。
  8. 根据权利要求1至6任意一项所述的一种双环形旋翼球形舱飞机，其特征是，强磁转子包括转子环、永磁体磁瓦，转子环上均布设有若干连接槽，连接槽中均安装一永磁体磁瓦，相邻两永磁体磁瓦内表面磁性相反。
  9. 根据权利要求8所述的一种双环形旋翼球形舱飞机，其特征是，励磁线圈定子包括定子环、若干励磁线圈，每一永磁体磁瓦对应一励磁线圈，励磁线圈安装在定子环上，定子环上安装若干霍尔传感器，霍尔传感器径向朝向永磁体磁瓦设置，霍尔传感器、励磁线圈与控制系统电连接。
PCT/CN2019/075744 2018-02-28 2019-02-21 一种双环形旋翼球形舱飞机 WO2019165930A1 (zh)

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