WO2022143444A1 - 一种自旋翼飞行汽车 - Google Patents

一种自旋翼飞行汽车 Download PDF

Info

Publication number
WO2022143444A1
WO2022143444A1 PCT/CN2021/141084 CN2021141084W WO2022143444A1 WO 2022143444 A1 WO2022143444 A1 WO 2022143444A1 CN 2021141084 W CN2021141084 W CN 2021141084W WO 2022143444 A1 WO2022143444 A1 WO 2022143444A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotor
fuselage
flying car
module
spinning
Prior art date
Application number
PCT/CN2021/141084
Other languages
English (en)
French (fr)
Inventor
吴斌
王辉
吴倩蓉
Original Assignee
吴斌
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 吴斌 filed Critical 吴斌
Publication of WO2022143444A1 publication Critical patent/WO2022143444A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
    • B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/46—Blades
    • B64C27/473—Constructional features
    • B64C27/50—Blades foldable to facilitate stowage of aircraft
    • 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
    • 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

Definitions

  • the invention belongs to the field of flying cars, in particular to a self-rotating wing flying car.
  • Flying car is a dual-purpose vehicle that can fly in the air and travel on land.
  • the upsurge of developing flying cars around the world has been very high, and the technology is constantly improving, but the existing flying cars still have large size and mileage.
  • the shortcomings of short and poor safety; and most of the flying cars in the prior art are multi-rotor vehicles or flying cars combined with fixed-wing and multi-axis rotors, and there is no self-rotating flying car!
  • the present invention provides a self-rotating wing flying car.
  • a self-rotating flying car comprising:
  • the fuselage, the top of the fuselage is provided with a foldable rotor module; the tail of the fuselage is also provided with a propeller, a propeller drive device for driving the propeller to rotate, and a propeller power device;
  • a landing gear comprising a wheel, a wheel drive device for driving the wheel to rotate, and a wheel power device for providing power to the wheel drive device;
  • the rotor module In the spin-wing mode, the rotor module is not folded, and the propeller driving device drives the thrust paddle to rotate to push the flying car forward; in the car mode, the rotor module is folded, and the wheel driving device drives the wheels to rotate and drive The flying car moves forward.
  • the wheel power device includes a battery pack built into the fuselage.
  • the propeller power device is the fuel power device; the control system is respectively connected with the fuel power device and the wheel power device.
  • the wheel includes a front wheel and a rear wheel, and the wheel driving device is provided on the rear wheel.
  • the rotor module includes at least two foldable rotor blades and a support manipulator connected to the top of the fuselage; the rotor blades are arranged on the top of the support manipulator; the support The robotic arm is rotatable relative to the body.
  • the rotor blade includes several blade segments; the adjacent blade segments are hingedly connected; and the adjacent blade segments can be rotated and folded relative to each other.
  • each set of the limiting components includes a limiting member and a limiting member driving device; the limiting member is along the length of the rotor blade.
  • the limiter driving device can drive the limiter to move along its own length direction; the limiter includes a hard part and a bendable soft part, the hard part and the The soft parts are alternately connected two by two; the limiter driving device drives the limiter to move, so that the soft parts move to the hinge joint of the blade segments, and two adjacent blade segments It can be rotated and folded relative to each other, and the soft part can be bent correspondingly; when the hard part is moved to the hinge of the blade segment, the relative rotation and folding of two adjacent blade segments can be restricted.
  • two sets of the limiting components are provided, and the soft parts in the two limiting members are arranged opposite to each other.
  • the two limiting members are driven to move in the same direction or in the opposite direction, the two opposite The soft part is simultaneously moved to the hinge joint of two adjacent blade segments, and the two adjacent blade segments can be rotated and folded relative to each other.
  • the end-to-end connection of the two limiters is annular, and the two opposite soft parts are respectively located on both sides of the hinge joint of the blade segments; the two limiters share one limiter to drive. device; when the stopper driving device drives the annular stopper to rotate clockwise or counterclockwise, the two opposite soft parts move to the hinge joints of the two adjacent blade segments at the same time .
  • the supporting mechanical arm includes a fixed arm fixed on the body and a rotating arm that is rotatable and foldable relative to the fixed arm.
  • the end of the rotating arm is provided with a rotating shaft
  • the fixed arm is provided with at least one driving motor
  • the driving motor is connected with the rotating shaft through a conveyor belt
  • the driving motor drives the rotating shaft to rotate, and drives the rotating shaft.
  • the rotating arm is rotated and folded relative to the fixed arm.
  • the tail module includes a tail, a tail frame, and a tail moving assembly; one end of the tail frame is provided with the tail, and the other end is connected with the tail moving assembly.
  • the empennage moving assembly is disposed on the fuselage and can push the empennage and the empennage frame to move closer to or away from the tail of the fuselage.
  • the tail moving assembly includes a support sleeve arranged on the fuselage, and a movable push rod driving device for pushing and driving the push rod to move is provided in the support sleeve, and the tail The frame is connected with the push rod, and the push rod driving device drives the push rod to extend or retract, and drives the tail wing frame to move out of the sleeve or into the sleeve.
  • it also includes two vertical take-off and landing modules arranged symmetrically about the fuselage longitudinally, and the vertical take-off and landing modules are detachably mounted on the fuselage; the vertical take-off and landing modules include rotor assemblies and a bracket arranged on the fuselage; wherein, the rotor assembly is arranged on the bracket.
  • the vertical take-off and landing module further includes a battery module for providing power for the vertical take-off and landing module; the battery module is externally hung on the bracket or outside the fuselage.
  • the rotor assembly includes a rotor frame arranged on the bracket, and a rotor module arranged on the rotor frame; the rotor module includes at least one rotor, and the rotor is equipped with the rotor drive device.
  • the rotor module includes two rotors, and the two rotors are disposed on the bracket coaxially up and down.
  • the rotor assembly includes two rotor modules, and the two rotor modules share the same bracket.
  • the fuselage is provided with a card slot
  • the bracket is provided with a clip corresponding to the card slot, and when the clip is inserted into the card slot, the bracket and the fuselage are locked. catch.
  • the vertical take-off and landing module further includes a reinforcing member, one end of the reinforcing member is connected to the fuselage or the rotor module, and the other end is connected to the bracket to form a triangular structure.
  • the vertical take-off and landing module further comprises a receiving shell; the receiving shell is arranged on the fuselage, and the bracket is rotatably connected to the inner cavity of the receiving shell;
  • the bracket rotates out and drives the rotor assembly to the working position; when in level flight, the bracket rotates in and drives the rotor assembly to be accommodated in the housing to reduce the level of flight resistance.
  • the present invention provides a self-rotating wing flying car, which has the following advantages and positive effects compared with the prior art:
  • the flying cars in the prior art are multi-axis rotor cars or the combined flying cars of fixed-wing multi-axis rotors, and the present invention provides a different type of flying cars, namely self-rotating-wing flying cars;
  • the propellers and wheels of the rotary-wing flying car are separately equipped with a power source, and they are equipped with sufficient power alone, which is conducive to increasing the range of the flying car; and the wheels and propellers are driven independently and are not related to each other, which greatly simplifies the circuit system, simplifies the driving process, and reduces the The design difficulty of the control system;
  • the rotor module in the present invention can be folded, and the rotor module is folded in the car mode, which greatly reduces the height and width of the self-rotor flying car, improves the safety of the flying car in the lane, and also It is beneficial to expand the application scenarios of flying cars.
  • the self-rotating wing of the self-rotating flying car relies on the front flow drive to achieve self-rotation during flight to provide lift.
  • the flying car can still rely on the self-rotating rotor to land safely, and the safety is much higher than other Fixed-wing and/or multi-rotor flying cars; and in the present invention, the rotor module is additionally equipped with a control device for controlling the inclination of the rotor disk of the rotor module, thereby controlling the corresponding pitching of the self-rotating flying car
  • the control device is wirelessly controlled by the control system, and has no structural connection with the fuselage, so that the multiple folding of the rotor blades and the folding of the supporting manipulator can be realized without affecting the use of the rotor module.
  • the self-rotating-wing flying car in the present invention also includes a detachable vertical take-off and landing module, and the vertical take-off and landing module is installed according to the application scenario, so that the self-rotating-wing flying car has the function of vertical lift and solves the problem of vertical take-off and landing in a small space. At the same time, it can quickly lift or change the moving direction to avoid many safety hazards.
  • the battery module used to provide power for the vertical take-off and landing module is installed outside the fuselage or under the bracket, the battery module is directly exposed to the air, and the heat dissipation capacity of the battery pack is improved by air cooling.
  • the installation of the battery module inside the fuselage is not conducive to the heat dissipation of the battery.
  • the liquid cooling system for the battery module will increase the weight and increase the complexity of the system. When the flying car is not sailing, the battery can be taken out.
  • the battery module Store it indoors to avoid serious loss of battery power when the ambient temperature is very low, and improve battery life, so there is no need for additional cooling systems and insulation systems inside the fuselage; the battery module is externally installed, and there is no need to set up additional battery compartments in the fuselage to occupy the interior of the fuselage The space is already cramped, and there is no need to lengthen the fuselage to expand the interior space of the aircraft, so as to avoid increasing the design difficulty and production cost of the flying car; and the battery module is attached to the outside of the aircraft, which is conducive to the rapid disassembly and replacement of the battery, and the aircraft can be directly removed after reaching the destination. Replace the backup battery without waiting for charging, effectively improving work efficiency.
  • FIG. 1 is a schematic diagram of a spinning-wing flying car in a spinning-wing mode according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic diagram of a self-rotating-wing flying car in a car mode in Embodiment 1 of the present invention
  • FIG. 3 is a schematic structural diagram of a mechanical support arm in the rotor module according to Embodiment 1 of the present invention.
  • FIG. 4 is a schematic diagram of the mechanical support arm realizing rotation and folding in Embodiment 1 of the present invention.
  • FIG. 5 is a schematic diagram of the internal structure of the rotor blade in Embodiment 1 of the present invention when it is not foldable;
  • FIG. 6 is a schematic diagram of the internal structure of the rotor blade in Embodiment 1 of the present invention when it is foldable;
  • FIG. 7 is a schematic diagram of a spinning-wing flying car equipped with a vertical take-off and landing module in Embodiment 2 of the present invention.
  • FIG. 8 is a schematic diagram of a spinning-wing flying car with a housing case installed in Embodiment 2 of the present invention.
  • 5-vertical take-off and landing module 501-bracket; 502-battery module; 503-rotor module; 5031-rotor; 5032-rotor drive device; 504-rotor frame; 505-reinforcing piece; 506-accommodating shell;
  • the present embodiment provides a self-rotating wing flying car, including: a fuselage 6, the top of the fuselage is provided with a foldable self-rotating wing module; the rear of the fuselage is also provided with a propeller 7 for driving propulsion
  • the propeller propeller drive device and propeller propeller power device for the rotation of the paddle 7; the landing gear 3, including the wheel, the wheel drive device for driving the wheel to rotate, and the wheel power device for providing power to the wheel drive device; in the self-rotor mode
  • the module is not folded, and the rotor module is in an extended state. At this time, the propeller drive device drives the propeller to rotate, thereby pushing the flying car forward to generate airflow.
  • the rotor module is driven by the front flow to achieve self-rotation to generate lift, and the flying car takes off and sails; car mode When the rotor module is folded, the wheel drive device drives the wheels to rotate, thereby driving the flying car to drive on the road.
  • the present invention provides a new type of flying car, that is, a self-rotating flying car; the present invention independently equips the propellers and wheels of the self-rotating flying car with a power source, and the power in the car mode and the self-rotating wing mode can be set to not interfere with each other (
  • the propeller drive device can also be charged through the wheel power device), which is equipped with sufficient power alone, which is beneficial to increase the range of the flying car; and the wheels and the propeller propeller are driven independently and are not related to each other.
  • the circuit system is simplified, the driving process is simplified, and the design difficulty of the control system is reduced; further, the rotor module in the present invention can be folded, and the rotor module is folded in the car mode, which greatly reduces the height and width of the self-rotor flying car and improves the flying car. Driving safely in the lane is also conducive to expanding the application scenarios of flying cars.
  • the wheel power unit includes a battery pack built into the fuselage. Since the flying car is in the car mode for a short time, the driving distance of the flying car on the ground is usually only one kilometer, and it does not exceed 10 kilometers. If the distance is too long, the rotor can be directly used for sailing, which is more efficient. Therefore, in this embodiment, the built-in battery pack in the fuselage provides power for the wheel drive device, while ensuring that the wheels have sufficient power, it also avoids setting an excessively large and heavy battery pack, reducing the weight of the flying car and reducing the battery pack. the space occupied by the fuselage.
  • the wheels include a front wheel 301 and a rear wheel 302, and a wheel driving device is provided on the rear wheel 302, so that the wheel driving device drives the rear wheel 302 to rotate, thereby realizing the control of the flying car on the road. back.
  • the self-rotating-wing flying car further includes a control system; the propeller power device is a fuel power device; the control system is respectively connected with the fuel power device and the wheel power device, and controls the fuel power device and the wheel power device respectively corresponding to the propulsion
  • the paddles and wheels provide power independently and do not interfere with each other, which simplifies the control process and power supply process and reduces the design difficulty.
  • the rotor module includes at least two foldable rotor blades 16 and a support arm 2 connected to the top of the fuselage; the rotor blade 1 is arranged on the top of the support arm 2 ;
  • the supporting robot arm 2 can be rotated and folded relative to the fuselage 6 .
  • the supporting manipulator When entering the car mode, the supporting manipulator first rotates about 90° relative to the fuselage and approaches the fuselage; then the rotor blades are folded to reduce the size, so that the flying car can drive in the car lane, avoiding the rotor blades hindering the driving of other vehicles and Avoid applications where the height of the support manipulator is too high to limit the application of flying cars, and improve the application range and safety performance of flying cars.
  • two rotor blades are provided.
  • the number of rotor blades is not limited.
  • three rotor blades are provided. Increasing the number of rotor blades can ensure that The flying car can properly shorten the length of the rotor blades while providing enough lift.
  • the rotor is connected to the control system in the cockpit of the fuselage through mechanical structures such as connecting rods.
  • the main column on the rotor module (that is, supporting the mechanical arm) and the rotor blade cannot be folded;
  • the spin-wing module is additionally equipped with a control device for controlling the inclination of the control shaft in the spin-wing module, thereby controlling the tilt of the paddle plate, and controlling the spinning-wing flying car to perform a corresponding pitching and tilting motion.
  • the device is wirelessly controlled by a control system and connected to the fuselage without a mechanical structure, so that multiple folding of the rotor blades and folding of the supporting manipulator can be realized without affecting the use of the rotor module.
  • the control device is two electric screw rods and a drive motor installed on the supporting manipulator, and the driving motor is wirelessly connected to the control system; the two electric screw rods (such as electric screw rod A and electric screw rod B) are connected with the rotor module
  • the electric screw rod A is connected with the control shaft, which is used to control the longitudinal tilt of the control shaft along the fuselage to complete the pitching motion of the flying car
  • the electric screw rod B is connected with the control shaft to control the control shaft to tilt along the lateral direction of the fuselage. , to complete the left and right tilting motion of the flying car.
  • the control system sends a signal to control the start of the two drive motors, and the two drive motors respectively control the two electric screw rods to move a certain displacement, thereby controlling the control axis to incline a certain angle, so as to control the angle corresponding to the tilting and/or pitching of the flying car.
  • the specific structure of the manipulation device is not limited to the above.
  • the rotor blade 1 includes several blade segments 101; adjacent blade segments are connected by hinges 102; and two adjacent blade segments 101 can be rotated relative to each other to achieve folding.
  • the length of the rotor is very long.
  • the rotor blade is divided into several blade segments, and the blade segments are folded and placed, which can greatly shorten the length occupied by the rotor blade.
  • the rotor blade is divided into three segments, referring to FIG. 1 , which are marked as segment A, segment B, and segment C.
  • the length of segment A of the blade closest to the supporting manipulator is smaller to ensure that When the blade segment B and the blade segment C are rotated and bent by 90° toward the supporting robotic arm, the length of the two blade segments A is less than the width of the body, so as to prevent the blade segment A from colliding with nearby vehicles when the flying car is driving on the road.
  • the number of blade segments is not limited to the above, for example, the rotor blade may also be divided into four blade segments.
  • each set of limiting components includes a limiting member and a limiting member driving device; the limiting member 103 is along the The limiter driving device 104 can drive the limiter 103 to move along its own length direction; the limiter 103 includes a hard part 1032 and a bendable soft part 1031, the hard part 1032 and the soft parts 1031 are alternately connected two by two; when the stopper driving device 104 drives the connecting piece 103 to move, so that the soft part 1031 moves to the hinged position of two adjacent blade segments, that is, a part of the soft part is located in a In the blade segment 101 (eg, blade segment A), the other part is located in another blade segment adjacent to the blade segment (eg, blade segment B), at this time, the two blade segments can be rotated and folded relative to each other.
  • the two blade segments can be rotated and folded relative to each other.
  • the soft part is made of nylon, steel wire, Kevlar and other materials to ensure that the soft part has certain flexibility, toughness and strength, so that it can only be bent by external force and keep the bending state without deformation and breakage. In addition, it has a certain strength to ensure that the soft part can support the rotor blade in a non-bending state, and the soft part can only be bent or broken back to a straight state by external force.
  • the hard part can be made of a material with higher hardness to ensure that the hard part can support the blade segments and limit their relative rotation and folding.
  • two sets of limiting components are provided, and the soft parts 1031 in the two limiting members 103 are arranged opposite to each other, and simultaneously drive the two limiting members 1031 to move in the same direction or in opposite directions.
  • the two opposite soft parts 1031 simultaneously move to the hinge joint of two adjacent blade segments, so that the two adjacent blade segments can be rotated and folded relative to each other.
  • Two limiting members are provided to strengthen the limiting and supporting of the blade segments.
  • the number of sets of limiting components is not limited, for example, three sets of limiting components may also be provided.
  • the two limiting members 103 in the two sets of limiting assemblies are connected end-to-end in a ring shape, and the two opposite soft parts 1031 in the two limiting members 103 (for example, the soft parts 1031 in FIGS.
  • the mass part a and the soft part b) are respectively located on both sides of the hinge of the blade segment; the two limiters 103 share a limiter driving device 104; when the limiter driving device drives the annular limiter clockwise or counterclockwise When the hour hand rotates, the two opposite soft parts move to the hinge joint of two adjacent blade segments simultaneously.
  • the end-to-end connection of the two limiters is arranged in a ring shape, so that only one limiter driving device can drive the annular limiter to rotate, realize the movement of the two opposite soft parts synchronously, reduce the number of limiter drive devices, and simplify the structure.
  • the supporting robotic arm 2 includes a fixed arm 201 fixed on the fuselage and a rotating arm 202 that is rotatable and foldable relative to the fixed arm 201 .
  • the end of the rotating arm 202 is provided with a rotating shaft 203
  • the fixed arm is provided with at least one driving motor 204.
  • the driving motor 204 is connected with the rotating shaft 203 through the conveyor belt 205, and when the driving motor 204 rotates, it drives the rotating shaft 203 to rotate. , so as to drive the rotating arm 202 to rotate and fold relative to the fixed arm 201 as a whole.
  • the way to realize the rotation of the rotating arm relative to the fixed arm is not limited to the above, for example, the mechanical arm in the prior art can also be referred to The technical solution to realize the rotation.
  • the self-rotating-wing flying car further includes a retractable tail module 4, and the tail module 4 includes a tail 401, a tail frame 402, and a tail moving assembly; one end of the tail frame 402 is provided with a tail, and the other One end is connected with the tail moving assembly, which is disposed on the fuselage and can push the tail 401 and the tail frame 402 to move closer to or away from the tail of the fuselage.
  • Long tails bring certain difficulties for flying cars to drive on the road, such as difficult turning, long lane occupation, and large parking garage space.
  • the tail module is retractable, ensuring that the length of the flying car is reduced in car mode or when parking, and driving safety is ensured.
  • the tail moving assembly includes a support sleeve 403 arranged on the fuselage, and the support sleeve 403 is provided with a movable push rod and a push rod drive for driving the push rod to move.
  • the tail frame 402 is connected with the push rod, and the push rod driving device drives the push rod to extend or retract, and drives the tail frame 402 to move out of the support sleeve or into the support sleeve to adjust the distance between the tail and the tail of the fuselage.
  • the present implementation is based on Embodiment 1, and a vertical take-off and landing module 5 is additionally provided.
  • the self-rotating-wing flying car further includes two vertical take-off and landing modules 5 arranged longitudinally symmetrically about the fuselage 6, and the vertical take-off and landing modules 5 are detachably installed on the fuselage 6;
  • the landing module 5 includes a rotor assembly and a bracket 501 arranged on the fuselage.
  • the vertical take-off and landing module When the vertical take-off and landing module is installed, it constitutes an aircraft with a combination of rotors and multi-rotors, so that you can flexibly choose whether to install the vertical take-off and landing module according to your needs. It can also be flexible and fast when not needed. The removal of the vertical take-off and landing module.
  • the vertical take-off and landing module 5 may further include a battery module 502 for providing power for the vertical take-off and landing module.
  • the battery module used to provide power for the vertical take-off and landing module is installed outside the fuselage or under the bracket, the battery module is directly exposed to the air, and the heat dissipation capability of the battery pack is improved by air cooling, and the battery module is discharged with high power when the rotor is working. At the same time, high power releases heat, and the battery module is not conducive to heat dissipation of the battery if the battery module is installed inside the fuselage.
  • the liquid cooling system for the battery module will increase the weight and increase the complexity of the system.
  • the battery When the flying car is not sailing, the battery can be taken out and stored indoors , avoid serious loss of battery power when the ambient temperature is very low, and improve battery life, so that there is no need to additionally equip cooling system and insulation system inside the fuselage; the battery module is plugged in, and there is no need to set up another battery compartment in the fuselage to occupy the already cramped interior of the fuselage. There is no need to lengthen the fuselage to expand the interior space of the aircraft, which avoids increasing the design difficulty and production cost of the flying car; and the battery module is externally attached to the aircraft, which is conducive to the rapid disassembly and replacement of the battery, and the backup battery can be directly replaced after the aircraft reaches the destination. There is no need to wait for charging, effectively improving work efficiency.
  • the battery module 502 is mounted under the bracket 501, so that the direction of gravity of the battery module 502 is opposite to the direction of the lifting force received by the bracket, which can offset a part of the aerodynamic bending moment on the bracket and the fuselage. Therefore, , After the bracket is loaded with heavy objects, its strength is excessive, so the strength requirements of the bracket can be appropriately reduced, and no additional reinforcement design is required for the fuselage, which simplifies the design difficulty.
  • the mounting position of the battery module is not limited to the bracket, for example, it can also be mounted outside the fuselage.
  • the rotor assembly includes a rotor frame 504 arranged on the bracket 501 and a rotor module arranged on the rotor frame;
  • the rotor module 503 includes at least one rotor 5031, each rotor 5031 is equipped with a rotor drive device 5032, and a battery module 502 is used to power the rotor drive.
  • the preferred rotor module includes two rotors 5031, and the two rotors are arranged coaxially up and down on the bracket to form a coaxial double rotor, which greatly increases the total power of each propeller module, and its vertical take-off and landing lift
  • the coaxial dual rotor method makes the aerodynamic interference between the two coaxial rotors in the hovering state beneficial. Improve hover efficiency.
  • the rotor assembly includes two rotor modules, the two rotor modules share a bracket 501, and the two rotor modules 503 are respectively arranged at both ends of a rotor frame 504 and are located on the same horizontal plane.
  • the two rotor modules are symmetrically arranged about the average center of gravity of the fuselage, so that the rotor modules on both sides of the fuselage and the front and rear directions of the fuselage are symmetrical with each other, the pulling force is basically the same, and the flying car is balanced in force, so there is no need to waste too much energy It is used to adjust the balance between the rotors, which greatly reduces the loss of energy.
  • each vertical take-off and landing module corresponds to a rotor frame.
  • the present invention does not limit the number of rotor modules provided, for example, each group of rotor assemblies can also be provided with three or four rotor modules.
  • the body is provided with a card slot
  • the bracket is provided with a buckle corresponding to the card slot, and the clip is inserted into the card slot to realize the rapid clip connection between the bracket and the fuselage. s efficiency.
  • the manner in which the bracket and the fuselage are connected is not limited to the above, for example, they can also be connected by bolts.
  • the vertical take-off and landing module also includes a reinforcing member 505.
  • One end of the reinforcing member 505 is connected to the fuselage 6 or the autorotor module, and the other end is connected to the bracket 501 to form a triangular structure, which greatly enhances the stability of the vertical take-off and landing module during dark rotation. sex.
  • one end of the reinforcing member 505 is connected to the support manipulator 2 in the rotor module, and the other end is connected to the bracket 501 in a triangular structure.
  • the reinforcing member can also be
  • the connection with the main force transmission beam of the fuselage is a triangular structure, that is, the reinforcement and the bracket are located on the same horizontal plane.
  • the vertical take-off and landing module 5 may further include a receiving shell 506 .
  • the accommodating shell 506 corresponds to the position where the fuselage 6 is used for connecting the vertical take-off and landing module 5 , and the end of the bracket 501 connected to the fuselage 6 is arranged to be rotatably connected in the inner cavity of the accommodating shell 506 .
  • the bracket 501 rotates out and drives the rotor assembly to the working position; during level flight, the bracket 501 rotates in and drives the rotor assembly to be accommodated in the housing case 506, thereby effectively reducing the resistance during level flight.
  • the bracket 501 and the rotor assembly are also accommodated in the accommodating case 506, which can reduce the space occupied during storage.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Toys (AREA)

Abstract

本发明公开了一种自旋翼飞行汽车，包括：机身，机身顶部设置有可折叠的自旋翼模块；机身尾部设置有推进桨、推进桨驱动装置、推进桨动力装置；起落装置，包括车轮、车轮驱动装置、车轮动力装置；自旋翼模式时自旋翼模块未折叠，推进桨驱动装置驱动推进桨转动推动飞行汽车前进；汽车模式时自旋翼模块折叠，车轮驱动装置驱动车轮转动驱动飞行汽车前进。本发明提供的自旋翼飞行汽车为一种安全性能更高的新型飞行汽车，通过为自旋翼飞行汽车的推进桨和车轮单独配备动力源，单独配备充足的动力，增大飞行汽车的航程；且车轮和推进桨单独驱动，互不关联，大幅简化电路系统，简化驱动流程，降低控制系统的设计难度。

Description

一种自旋翼飞行汽车 技术领域
本发明属于飞行汽车领域，具体涉及一种自旋翼飞行汽车。
背景技术
飞行汽车是一种空中能飞行，陆地能行驶的两用汽车，多年来，世界各国研发飞行汽车的热潮一直很高，技术也在不断提高，但是现有飞行汽车仍然存在体积大、续飞里程短、安全性差的缺陷；且现有技术中的飞行汽车多为多轴旋翼汽车或固定翼多轴旋翼结合的飞行汽车，还未出现自旋翼飞行汽车！
发明内容
本发明为了解决背景技术中所提出的技术问题，提供了一种自旋翼飞行汽车。
本发明的技术方案为：
一种自旋翼飞行汽车，包括:
机身，所述机身顶部设置有可折叠的自旋翼模块；所述机身尾部还设置有推进桨、用于驱动所述推进桨转动的推进桨驱动装置、推进桨动力装置；
起落装置，包括车轮、用于驱动所述车轮转动的车轮驱动装置、用于为所述车轮驱动装置提供动力的车轮动力装置；
自旋翼模式时所述自旋翼模块未折叠，所述推进桨驱动装置驱动所述推力桨转动推动飞行汽车前进；汽车模式时所述自旋翼模块折叠，所述车轮驱动装置驱动所述车轮转动驱动飞行汽车前进。
进一步优选的，所述车轮动力装置包括内置于所述机身内的电池组。
进一步优选的，还包括控制系统；所述推进桨动力装置为所述燃油动力装置；所述控制系统分别与所述燃油动力装置、所述车轮动力装置连接。
进一步优选的，所述车轮包括前轮和后轮，所述后轮上设置有所述车轮驱动装置。
进一步优选的，所述自旋翼模块包括至少两个可折叠的自旋翼叶片和以及与所述机身顶部连接的支撑机械臂；所述自旋翼叶片设置于所述支撑机械臂顶部；所述支撑机械臂相对于所述机身可转动。
进一步优选的，所述自旋翼叶片包括若干叶片分段；相邻所述叶片分段之间铰链连接；且两两相邻的所述叶片分段可相对转动折叠。
进一步优选的，所述自旋翼叶片内设置有至少一组限位组件，每组所述限位组件包括限位件和限位件驱动装置；所述限位件沿所述自旋翼叶片的长度方向延伸设置；所述限位件驱动装置可驱动所述限位件沿自身长度方向移动；所述限位件包括硬质部和可弯折的软质部，所述硬质部和所述软质部两两交替连接；所述限位件驱动装置驱动所述限位件移动，使得所述软质部移动至位于所述叶片分段的铰接处，两相邻的所述叶片分段可相对转动折叠且所述软质部对应的弯折；当所述硬质部移动至位于所述叶片分段的铰接处时可限制两相邻的所述叶片分段相对转动折叠。
进一步优选的，设置两组所述限位组件，两所述限位件中的所述软质部相对设置，同时驱动两所述限位件同向移动或反向移动时，两相对的所述软质部同时移动至位于两相邻所述叶片分段的铰接处，两相邻的所述叶片分段可相对转动折叠。
进一步优选的，两所述限位件首尾连接呈环形，两相对的所述软质部分别位于所述叶片分段铰接处的两侧；两所述限位件共用一所述限位件驱动装置；当所述限位件驱动装置驱动所述环形的限位件顺时针或逆时针转动时，两相对的所述软质部同时移动至位于两相邻的所述叶片分段的铰接处。
进一步优选的，所述支撑机械臂包括固定于所述机身上的固定臂和相对于所述固定臂可转动折叠的转动臂。
进一步优选的，所述转动臂端部设置有转轴，所述固定臂内设置有至少一个驱动电机，所述驱动电机通过传送带与所述转轴连接，所述驱动电机带动所述转轴转动，驱动所述转动臂相对于所述固定臂转动折叠。
进一步优选的，还包括有可伸缩的尾翼模块，所述尾翼模块包括尾翼，尾翼架，尾翼移动组件；所述尾翼架一端设置有所述尾翼，另一端与所述尾翼移动组件连接，所述尾翼移动组件设置于所述机身上且可推动所述尾翼和所述尾翼架移动靠近或远离所述机身的尾部。
进一步优选的，所述尾翼移动组件包括设置于所述机身上的支撑套筒，所述支撑套筒内设置有可移动的推动和驱动所述推杆移动的推杆驱动装置，所述尾翼架与所述推杆连接，所述推杆驱动装置驱动所述推杆伸出或收回，带动所述尾翼架移出所述套筒或伸进所述套筒内。
进一步优选的，还包括有两个关于所述机身纵向对称的设置的垂直起降模块，所述垂直起降模块可拆卸的安装于所述机身上；所述垂直起降模块包括旋翼组件和设置于所述机身上的支架；其中，所述旋翼组件设于所述支架上。
进一步优选的，所述垂直起降模块还包括用于为所述垂直起降模块提供动力的电池模块；所述电池模块外挂于所述支架或所述机身外部。
进一步优选的，所述旋翼组件包括设置于所述支架上的旋翼架、设置于所述旋翼架上的旋翼模块；所述旋翼模块包括至少一个旋翼，所述旋翼配备一所述旋翼驱动装置。
进一步优选的，所述旋翼模块包括两个旋翼，两所述旋翼上下同轴设置于所述支架上。
进一步优选的，所述旋翼组件包括两个所述旋翼模块，两所述旋翼模块共用一所述支架。
进一步优选的，所述机身上开设有卡槽，所述支架上设置与所述卡槽对应的卡扣，所述卡扣插入所述卡槽内时，所述支架和所述机身卡接。
进一步优选的，所述垂直起降模块还包括加强件，所述加强件一端与所述机身或所述自旋翼模块连接，另一端与所述支架连接，形成三角结构。
进一步优选的，所述垂直起降模块还包括收容壳；所述收容壳设于所述机身上，且所述支架转动连接于所述收容壳的内腔；
垂直起降时，所述支架转出并带动所述旋翼组件至工作位置；平飞时，所述支架转入并带动所述旋翼组件收容于所述收容壳内，用于减小平飞时的阻力。
本发明提供了一种自旋翼飞行汽车，使其与现有技术相比具有以下的优点和积极效果：
1、现有技术中的飞行汽车多为多轴旋翼汽车或固定翼多轴旋翼结合的飞行汽车，而本发明提供了一种不同类型的飞行汽车，即自旋翼飞行汽车；本发明通过为自旋翼飞行汽车的推进桨和车轮单独配备动力源，单独配备充足的动力，有利于增大飞行汽车的航程；且车轮和推进桨单独驱动，互不关联，大幅简化电路系统，简化驱动流程，降低控制系统的设计难度；进一步的，本发明中的自旋翼模块可折叠，汽车模式下自旋翼模块折叠，大大降低自旋翼飞行汽车的高度和宽度，提高飞行汽车在车道内行驶得安全性，也有利于扩大飞行汽车的应用场景。
2、进一步的，自旋翼飞行汽车的自旋翼依靠飞行时前方来流驱动实现自转来提供升力，一旦推进桨驱动装置空中出现故障，飞行汽车依旧可以依靠自转旋翼安全着陆，安全性远高于其他固定翼和/或多轴旋翼的飞行汽车；且在本发明中，通过在自旋翼模块上另外配备有操纵装置用于控制自旋翼模块 桨盘倾斜，从而控制自旋翼飞行汽车对应的做俯仰倾转运动，该操纵装置通过控制系统无线控制，与机身无结构连接，从而可实现自旋翼叶片的多重折叠和实现支撑机械臂的折叠而不影响自旋翼模块的使用。
3、进一步，本发明中的自旋翼飞行汽车还包括可拆卸的垂直起降模块，根据应用场景所需安装垂直起降模块，使得自旋翼飞行汽车的具备垂直升降的功能，解决在狭小场地垂直起降的问题，同时可实现快速拔升或快速更改移动方向避免诸多安全隐患。
4、在本发明中，用于为垂直起降模块提供动力的电池模块安装于机身外部或支架下方，电池模块直接暴露于空气中，利用风冷提高电池组的散热能力，旋翼工作时电池模块高功率放电同时高功率放热，电池模块设置于机身内部不利于电池散热，为电池模块布置液冷系统又会增加重量并增加系统的复杂性；当飞行汽车不航行时，电池可取出储放于室内，避免环境温度非常低时电池电量损耗严重，提高电池寿命，从而机身内部无需额外配备冷却系统和保温系统；电池模块外挂，无需在机身内另外设置电池舱占用机身内部本就局促的空间，也无需额外加长机身扩大飞行器内部空间，避免增加飞行汽车的设计难度和生产成本；且电池模块外挂于飞行器外部有利于电池的快速拆卸更换，飞行器到达目的地后可直接更换备用电池，无需等待充电，有效提高工作效率。
附图说明
结合附图，通过下文的述详细说明，可更清楚地理解本发明的上述及其他特征和优点，其中：
图1为本发明实施例1中自旋翼飞行汽车的处于自旋翼模式时的示意图；
图2为本发明实施例1中自旋翼飞行汽车的处于汽车模式时的示意图；
图3为本发明实施例1的自旋翼模块中的机械支撑臂的结构示意图；
图4为本发明实施例1中机械支撑臂实现转动折叠的原理图；
图5为本发明实施例1中自旋翼叶片不可折叠时的内部结构示意图；
图6为本发明实施例1中自旋翼叶片可折叠时的内部结构示意图；
图7为本发明实施例2中安装有垂直起降模块的自旋翼飞行汽车的示意图；
[根据细则26改正20.01.2022]　
图8为本发明实施例2中安装有收容壳的自旋翼飞行汽车的示意图。
符号说明：
1-自旋翼叶片；101-叶片分段；102--铰链；103-限位件；1031-软质部；1032-硬质部；104-限位件驱动装置；
2-支撑机械臂；201-固定臂；202-转动臂；203-转轴；204-驱动电机；205-传送带
3-起落装置；301-前轮；302-后轮；
4-尾翼模块；401-尾翼；402-尾翼架；403-支撑套筒；
5-垂直起降模块；501-支架；502-电池模块；503-旋翼模块；5031-旋翼；5032-旋翼驱动装置；504-旋翼架；505-加强件；506-收容壳；
6-机身；7-推进桨。
具体实施方式
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对照附图说明本发明的具体实施方式。显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图，并获得其他的实施方式。
为使图面简洁，各图中只示意性地表示出了与本发明相关的部分，它们并不代表其作为产品的实际结构。另外，以使图面简洁便于理解，在有些图中具有相同结构或功能的部件，仅示意性地绘示了其中的一个，或仅标出了 其中的一个。在本文中，“一个”不仅表示“仅此一个”，也可以表示“多于一个”的情形。
实施例1
参照图1-6，本实施例提供了一种自旋翼飞行汽车，包括：机身6，机身顶部设置有可折叠的自旋翼模块；机身尾部还设置有推进桨7、用于驱动推进桨7转动的推进桨驱动装置、推进桨动力装置；起落装置3，包括车轮、用于驱动车轮转动的车轮驱动装置、用于为车轮驱动装置提供动力的车轮动力装置；自旋翼模式时自旋翼模块未折叠，自旋翼模块处于伸展状态，此时推进桨驱动装置驱动推进桨转动，从而推动飞行汽车前进产生气流，自旋翼模块受前方来流驱动实现自转产生升力，飞行汽车起飞航行；汽车模式时自旋翼模块折叠，车轮驱动装置驱动车轮转动，从而驱动飞行汽车在路面行驶。
本发明提供了一种新型的飞行汽车，即自旋翼飞行汽车；本发明通过为自旋翼飞行汽车的推进桨和车轮单独配备动力源，汽车模式和自旋翼模式下动力可设置为互不干扰(当然，也可在汽车模式时，通过车轮动力装置对推进桨驱动装置进行充电)，单独配备充足的动力，有利于增大飞行汽车的航程；且车轮和推进桨单独驱动，互不关联，大幅简化电路系统，简化驱动流程，降低控制系统的设计难度；进一步的，本发明中的自旋翼模块可折叠，汽车模式下自旋翼模块折叠，大大降低自旋翼飞行汽车的高度和宽度，提高飞行汽车在车道内行驶得安全性，也有利于扩大飞行汽车的应用场景。
在本实施例中，车轮动力装置包括内置于机身内的电池组。由于飞行汽车处在汽车模式的时间较短，通常飞行汽车在地面的车程只有一公里，且不超过10公里，路程过长则可直接使用自旋翼模式航行，效率更高。从而本实施例中通过在机身内置电池组为车轮驱动装置提供动力，在确保车轮具有充足的动力的同时，还避免了设置过大过重的电池组，降低飞行汽车的重量，减少电池组占用的机身的空间。
进一步的，在本实施例中，车轮包括前轮301和后轮302，后轮302上设置有车轮驱动装置，从而车轮驱动装置驱动后轮302转动，从而实现控制飞行汽车在路面上的前进或后退。
在本实施例中，自旋翼飞行汽车还包括控制系统；推进桨动力装置为燃油动力装置；控制系统分别与燃油动力装置、车轮动力装置连接，控制燃油动力装置和车轮动力装置分别对应的为推进桨和车轮单独提供动力，互不干扰，简化控制流程和动力供应流程，降低设计难度。
在本实施例中，参阅图1、2，自旋翼模块包括至少两个可折叠的自旋翼叶片16和以及与机身顶部连接的支撑机械臂2；自旋翼叶片1设置于支撑机械臂2顶部；支撑机械臂2相对于机身6可转动折叠。在进入汽车模式时，支撑机械臂首先相对于机身转动约90°，向机身靠近；接着自旋翼叶片折叠缩小体积，从而飞行汽车可在汽车车道行驶，避免自旋翼叶片阻碍其他车辆行驶以及避免支撑机械臂高度过高限制飞行汽车的应用场合，提高飞行汽车的应用范围和安全性能。具体的在本实施例中，设置两个自旋翼叶片，当然在其他实施例中，对自旋翼叶片设置的数目不做限制，例如设置三个自旋翼叶片，增加自旋翼叶片的数目可确保为飞行汽车提供足够升力的同时可适当的缩短自旋翼叶片的长度。
现有技术中，自旋翼通过连杆等机械结构与机身驾驶舱内的操纵系统连接，操纵系统控制通过连杆等机械结构控制自旋翼桨盘倾斜，由于连杆等机械结构的存在导致自旋翼模块上的主力柱(即支撑机械臂)和自旋翼叶片无法实现折叠；
而在本实施例中，通过在自旋翼模块上另外配备有操纵装置用于控制自旋翼模块内的操纵轴倾斜从而控制桨盘倾斜，控制自旋翼飞行汽车对应的做俯仰倾转运动，该操纵装置通过控制系统无线控制，与机身无机械结构连接，从而可实现自旋翼叶片的多重折叠和实现支撑机械臂的折叠而不影响自旋翼 模块的使用。其中该操纵装置为安装于支撑机械臂上的两个电动丝杆和驱动电机，驱动电机与控制系统无线连接；两电动丝杆(比如电动丝杆A和电动丝杆B)与自旋翼模块内的操纵轴连接，其中电动丝杆A与操纵轴连接，用于控制操纵轴沿机身纵向倾斜，完成飞行汽车的俯仰运动，电动丝杆B与操纵轴连接，控制操纵轴沿机身横向倾斜，完成飞行汽车的左右倾转运动。控制系统发送信号控制两驱动电机启动，两驱动电机分别对应的控制两电动丝杆移动一定的位移，从而控制操纵轴倾斜一定的角度，实现控制飞行汽车倾转和/或俯仰对应的角度。当然在其他实施例中，操纵装置的具体结构不局限于以上所述。
进一步优选的，在本实施例中，自旋翼叶片1包括若干叶片分段101；相邻叶片分段之间铰链102连接；且两两相邻的叶片分段101可相对转动实现折叠。飞行汽车要确保具有足够的升力，则自旋翼的长度是非常长的，本发明通过将自旋翼叶片分成若干叶片分段，将叶片分段折叠放置，可大大缩短自旋翼叶片占用的长度，在汽车模式下行驶时避免自旋翼叶片过长而碰撞到相邻的汽车，消除安全隐患。
具体的，在本实施例中，自旋翼叶片分成三段，参阅图1，这里标注为分段A、分段B、分段C，最靠近支撑机械臂的叶片分段A长度较小，确保叶片分段B和叶片分段C向支撑机械臂转动弯折90°时，两个叶片分段A的长度小于车身的宽度，避免飞行汽车在路面行驶时叶片分段A碰撞到附近车辆。当然在其他实施例中，叶片分段设置的数量不局限于以上所述，例如自旋翼叶片也可以分为四段叶片分段。
具体的，在本实施例中，参阅图5、6，自旋翼叶片2内设置有至少一组限位组件，每组限位组件包括限位件和限位件驱动装置；限位件103沿自旋翼叶片的长度方向延伸设置；限位件驱动装置104可驱动限位件103沿自身长度方向移动；限位件103包括硬质部1032和可弯折的软质部1031，硬质部1032和软质部1031两两交替连接；当限位件驱动装置104驱动连接件103移动，使得软 质部1031移动两相邻叶片分段的铰接位置处时，即使得软质部的一部分位于一叶片分段101内(如叶片分段A内)，另一部分位于与该叶片分段相邻的另一叶片分段内(如叶片分段B内)，此时可将两叶片分段相对转动折叠同时软质部对应的弯折；当硬质部1032移动至位于两相邻的叶片分段的铰接位置处时可限制两叶片分段相对转动折叠，从而两相邻叶片分段无法受阻无法实现相对转动。当然在其他实施例中，实现叶片分段连接和折叠的具体结构不局限于以上所述或图中所示，例如相邻叶片分段之间铰接结构实现连接并实现可折叠。
其中，软质部采用尼龙、钢丝、凯夫拉等材料制成，确保软质部具有一定的柔性、韧性和强度，使得只能通过外力弯折并保持弯折状态不变形且不会折断，并且具有一定的强度确保软质部在非弯折状态时对自旋翼叶片起到支撑的作用，软质部只能通过外力弯折或掰回至直线状态。而硬质部可选用硬度较高的材质，确保硬质部可支撑叶片分段并限制其相对转动折叠。
进一步优选的，在本实施例中，参阅图5、6，设置两组限位组件，两限位件103中的软质部1031相对设置，同时驱动两限位件1031同向移动或反向移动时，两相对的软质部1031同时移动至位于两相邻叶片分段的铰接处，从而两相邻的叶片分段可相对转动折叠。设置两条限位件，加强对叶片分段的限位和支撑，当然在其他实施例中，对限位组件设置的组数不做限制，例如也可以设置三组限位组件。
进一步优选的，在本实施例中，两组限位组件中的两限位件103首尾连接呈环形，两限位件103内的两相对的软质部1031(例如图5、6中的软质部a和软质部b)分别位于叶片分段铰接处的两侧；两限位件103共用一限位件驱动装置104；当限位件驱动装置驱动环形的限位件顺时针或逆时针转动时，两相对的软质部同时移动至位于两相邻的叶片分段的铰接处。两限位件首尾连接呈环形设置，从而只需一个限位件驱动装置即可驱动环形的限位件转动，同步实现两相对软质部的移动，减少限位件驱动装置设置的数量，简化结构。
进一步优选的，在本实施例中，参阅图3、4，支撑机械臂2包括固定于机身上的固定臂201和相对于固定臂201可转动折叠的转动臂202。具体的，参阅图3、4，转动臂202端部设置有转轴203，固定臂内设置有至少一个驱动电机204，驱动电机204通过传送带205与转轴203连接，驱动电机204转动时带动转轴203转动，从而带动转动臂202整体相对于固定臂201转动折叠，当然在其他实施例中，实现转动臂相对于固定臂转动的方式不局限于以上所述，例如也可以参考现有技术中的机械臂实现转动的技术方案。
在本实施例中，参阅图1、2，自旋翼飞行汽车还包括有可伸缩的尾翼模块4，尾翼模块4包括尾翼401，尾翼架402，尾翼移动组件；尾翼架402一端设置有尾翼，另一端与尾翼移动组件连接，尾翼移动组件设置于机身上且可推动尾翼401和尾翼架402移动靠近或移动远离机身尾部。尾翼较长，给飞行汽车在路面行驶带来一定的困难，比如转弯难度大，占用车道长，停车占用停车库场地大等。从而尾翼模块可伸缩，确保在汽车模式或停车时减少飞行汽车的长度，保障行驶安全。
进一步优选的，在本实施例中，参阅图1，尾翼移动组件包括设置于机身上的支撑套筒403，支撑套筒403内设置有可移动的推杆和驱动推杆移动的推杆驱动装置，尾翼架402与推杆连接，推杆驱动装置驱动推杆伸出或收回，带动尾翼架402移出支撑套筒或伸进支撑套筒内，实现调节尾翼和机身尾部的距离。
实施例2
参阅图7，本实施基于实施例1的基础上，还增加设置有垂直起降模块5。
具体的，在本实施例中，自旋翼飞行汽车还包括有两个关于机身6纵向对称的设置的垂直起降模块5，垂直起降模块5可拆卸的安装于机身6上；垂直起降模块5包括旋翼组件、设置于机身上的支架501通过设置垂直起降模块，解决自旋翼飞行汽车在狭小场地垂直起降的问题，同时可实现快速拔 升或快速更改移动方向避免诸多安全隐患，有效扩大自旋翼飞行汽车的应用场合。无垂直起降模块时构成自旋翼飞行器或汽车，安装垂直起降模块时构成自旋翼多旋翼结合的飞行器，从而可根据所需选择灵活选择是否安装垂直起降模块，不需要时也可以灵活快速的拆卸垂直起降模块。
进一步优选的，在本发明中，垂直起降模块5还可包括用于为垂直起降模块提供动力的电池模块502。具体地，用于为垂直起降模块提供动力的电池模块安装于机身外部或支架下方，电池模块直接暴露于空气中，利用风冷提高电池组的散热能力，旋翼工作时电池模块高功率放电同时高功率放热，电池模块设置于机身内部不利于电池散热，为电池模块布置液冷系统又会增加重量并增加系统的复杂性；当飞行汽车不航行时，电池可取出储放于室内，避免环境温度非常低时电池电量损耗严重，提高电池寿命，从而机身内部无需额外配备冷却系统和保温系统；电池模块外挂，无需在机身内另外设置电池舱占用机身内部本就局促的空间，也无需额外加长机身扩大飞行器内部空间，避免增加飞行汽车的设计难度和生产成本；且电池模块外挂于飞行器外部有利于电池的快速拆卸更换，飞行器到达目的地后可直接更换备用电池，无需等待充电，有效提高工作效率。
进一步优选的，在本实施例中，电池模块502挂载于支架501下方，使得电池模块502的重力方向和支架受到的升力方向相反，能够抵消支架和机身上的的一部分气动弯矩，因此，支架挂载重物后，其强度反而过剩，因此对支架的强度要求可以适当降低，且对机身也无需进行额外的补强设计，简化设计难度。当然在其他实施例中，电池模块挂载的位置不局限于支架，例如也可以挂载于机身外部。
在本实施例中，旋翼组件包括设置于支架501上的旋翼架504、设置于旋翼架上的旋翼模块；旋翼模块503包括至少一个旋翼5031，每个旋翼5031配备一旋翼驱动装置5032，电池模块502用于为旋翼驱动装置提供动力。
在本实施例中，优选的旋翼模块包括两个旋翼5031，两旋翼上下同轴设置于支架上，形成共轴式双旋翼的方式，大幅提升每个螺旋桨模块的总功率，其垂直起降升力变强的同时结构更紧凑，其占用的空间体积相更小，重量效率更高；进一步的，共轴双旋翼的方式使得在悬停状态下两同轴旋翼间的气动干扰会产生有利影响，提高悬停效率。
在本实施例中，进一步优选的，旋翼组件包括两个旋翼模块，两旋翼模块共用一支架501，两旋翼模块503分别设置于一旋翼架504的两端且位于同一水平面上，特别注意的是，两旋翼模块关于机身的平均重心对称设置，从而使得机身两侧和机身前后方向的旋翼模块两两相互对称，拉力基本相当，飞行汽车受力平衡，从而无需损耗过多的能量用于调节各旋翼之间的平衡，大大减少了能量的损耗。当然在其他实施例中，每个垂直起降模块中的的两旋翼模块的相对位置不局限于以上所述，可根据机身的结构和实际应用做相应的布局调整，并且也可以是每个旋翼模块对应一旋翼架。本发明对旋翼模块设置的数量不做限制，例如每组旋翼组件也可以设置三个或四个旋翼模块。
进一步优选的，机身上开设有卡槽，支架上设置与卡槽对应的卡扣，卡扣插入卡槽内实现支架和机身快速卡接，同时卡扣连接的方式有利于提高支架的拆卸的效率。当然在其他实施例中，支架和机身连接的方式不局限于以上所述，例如也可以通过螺栓连接。
进一步优选的，垂直起降模块还包括加强件505，加强件505一端与机身6或自旋翼模块连接，另一端与支架501连接，形成三角结构，大大增强了垂直起降模块暗转的稳定性。具体的，在本实施例中，参阅图7，加强件505一端与自旋翼模块中的支撑机械臂2连接，另一端与支架501连接呈三角结构，当然在其他实施例中，加强件也可以与机身的主传力梁连接呈三角结构，即加强件和支架位于同一水平面。
进一步地优选的，参看图8，垂直起降模块5还可包括收容壳506。该收容壳506对应设于机身6用于连接垂直起降模块5的位置，且将支架501连接机身6的一端设置为转动连接在收容壳506的内腔内。在垂直起降时，支架501转出并带动旋翼组件至工作位置；在平飞时，支架501转入并带动旋翼组件收容于收容壳506内，从而可有效减小在平飞时的阻力。当然，在不运行时，支架501以及旋翼组件也是收容在收容壳506内的，可减小存放时占用的空间。
本实施例中的其他结构及其连接关系均与实施例1相同，此处不再赘述。
上面结合附图对本发明的实施方式作了详细说明，但是本发明并不限于上述实施方式。即使对本发明作出各种变化，倘若这些变化属于本发明权利要求及其等同技术的范围之内，则仍落入在本发明的保护范围之中。

Claims (21)

  1. 一种自旋翼飞行汽车，其特征在于，包括:
    机身，所述机身顶部设置有可折叠的自旋翼模块；所述机身尾部还设置有推进桨、用于驱动所述推进桨转动的推进桨驱动装置、推进桨动力装置；
    起落装置，包括车轮、用于驱动所述车轮转动的车轮驱动装置、用于为所述车轮驱动装置提供动力的车轮动力装置；
    自旋翼模式时所述自旋翼模块未折叠，所述推进桨驱动装置驱动所述推力桨转动推动飞行汽车前进；汽车模式时所述自旋翼模块折叠，所述车轮驱动装置驱动所述车轮转动驱动飞行汽车前进。
  2. 根据权利要求1所述的自旋翼飞行汽车，其特征在于，所述车轮动力装置包括内置于所述机身内的电池组。
  3. 根据权利要求1所述的自旋翼飞行汽车，其特征在于，还包括控制系统；所述推进桨动力装置为所述燃油动力装置；所述控制系统分别与所述燃油动力装置、所述车轮动力装置连接。
  4. 根据权利要求1所述的自旋翼飞行汽车，其特征在于，所述车轮包括前轮和后轮，所述后轮上设置有所述车轮驱动装置。
  5. 根据权利要求1所述的自旋翼飞行汽车，其特征在于，所述自旋翼模块包括至少两个可折叠的自旋翼叶片和以及与所述机身顶部连接的支撑机械臂；所述自旋翼叶片设置于所述支撑机械臂顶部；所述支撑机械臂相对于所述机身可转动。
  6. 根据权利要求5所述的自旋翼飞行汽车，其特征在于，所述自旋翼叶片包括若干叶片分段；相邻所述叶片分段之间铰链连接；且两两相邻的所述叶片分段可相对转动折叠。
  7. 根据权利要求6所述的自旋翼飞行汽车，其特征在于，所述自旋翼叶片内设置有至少一组限位组件，每组所述限位组件包括限位件和限位件驱动装置；所述限位件沿所述自旋翼叶片的长度方向延伸设置；所述限位件驱动装置可驱动所述限位件沿自身长度方向移动；所述限位件包括硬质部和可弯折的软质部，所述硬质部和所述软质部两两交替连接；
    所述限位件驱动装置驱动所述限位件移动，使得所述软质部移动至位于所述叶片分段的铰接处，两相邻的所述叶片分段可相对转动折叠且所述软质部对应的弯折；当所述硬质部移动至位于所述叶片分段的铰接处时可限制两相邻的所述叶片分段相对转动折叠。
  8. 根据权利要求7所述的自旋翼飞行汽车，其特征在于，设置两组所述限位组件，两所述限位件中的所述软质部相对设置，同时驱动两所述限位件同向移动或反向移动时，两相对的所述软质部同时移动至位于两相邻所述叶片分段的铰接处，两相邻的所述叶片分段可相对转动折叠。
  9. 根据权利要求8所述的自旋翼飞行汽车，其特征在于，两所述限位件首尾连接呈环形，两相对的所述软质部分别位于所述叶片分段铰接处的两侧；两所述限位件共用一所述限位件驱动装置；当所述限位件驱动装置驱动所述环形的限位件顺时针或逆时针转动时，两相对的所述软质部同时移动至位于两相邻的所述叶片分段的铰接处。
  10. 根据权利要求5所述的自旋翼飞行汽车，其特征在于，所述支撑机械臂包括固定于所述机身上的固定臂和相对于所述固定臂可转动折叠的转动臂。
  11. 根据权利要求10所述的自旋翼飞行汽车，其特征在于，所述转动臂端部设置有转轴，所述固定臂内设置有至少一个驱动电机，所述驱动电机通过传送带与所述转轴连接，所述驱动电机带动所述转轴转动，驱动所述转动臂相对于所述固定臂转动折叠。
  12. 根据权利要求1所述的自旋翼飞行汽车，其特征在于，还包括有可伸缩的尾翼模块，所述尾翼模块包括尾翼，尾翼架，尾翼移动组件；所述尾翼架一端设置有所述尾翼，另一端与所述尾翼移动组件连接，所述尾翼移动组件设置于所述机身上且可推动所述尾翼和所述尾翼架移动靠近或远离所述机身的尾部。
  13. 根据权利要求12所述的自旋翼飞行汽车，其特征在于，所述尾翼移动组件包括设置于所述机身上的支撑套筒，所述支撑套筒内设置有可移动的推动和驱动所述推杆移动的推杆驱动装置，所述尾翼架与所述推杆连接，所述推杆驱动装置驱动所述推杆伸出或收回，带动所述尾翼架移出所述套筒或伸进所述套筒内。
  14. 根据权利要求1所述的自旋翼飞行汽车，其特征在于，还包括有两个关于所述机身纵向对称的设置的垂直起降模块，所述垂直起降模块可拆卸的安装于所述机身上；
    所述垂直起降模块包括旋翼组件和设置于所述机身上的支架；其中，所述旋翼组件设于所述支架上。
  15. 根据权利要求14所述的自旋翼飞行汽车，其特征在于，所述垂直起降模块还包括用于为所述垂直起降模块提供动力的电池模块；所述电池模块外挂于所述支架或所述机身外部。
  16. 根据权利要求14所述的自旋翼飞行汽车，其特征在于，所述旋翼组件包括设置于所述支架上的旋翼架、设置于所述旋翼架上的旋翼模块；所述旋翼模块包括至少一个旋翼，所述旋翼配备一所述旋翼驱动装置。
  17. 根据权利要求16所述的自旋翼飞行汽车，其特征在于，所述旋翼模块包括两个旋翼，两所述旋翼上下同轴设置于所述支架上。
  18. 根据权利要求16所述的自旋翼飞行汽车，其特征在于，所述旋翼组件包括两个所述旋翼模块，两所述旋翼模块共用一所述支架。
  19. 根据权利要求14所述的自旋翼飞行汽车，其特征在于，所述机身上开设有卡槽，所述支架上设置与所述卡槽对应的卡扣，所述卡扣插入所述卡槽内时，所述支架和所述机身卡接。
  20. 根据权利要求14所述的自旋翼飞行汽车，其特征在于，所述垂直起降模块还包括加强件，所述加强件一端与所述机身或所述自旋翼模块连接，另一端与所述支架连接，形成三角结构。
  21. 根据权利要求14所述的自旋翼飞行汽车，其特征在于，所述垂直起降模块还包括收容壳；所述收容壳设于所述机身上，且所述支架转动连接于所述收容壳的内腔；
    垂直起降时，所述支架转出并带动所述旋翼组件至工作位置；平飞时，所述支架转入并带动所述旋翼组件收容于所述收容壳内，用于减小平飞时的阻力。
PCT/CN2021/141084 2020-12-30 2021-12-24 一种自旋翼飞行汽车 WO2022143444A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011642682.8A CN112659830A (zh) 2020-12-30 2020-12-30 一种自旋翼飞行汽车
CN202011642682.8 2020-12-30

Publications (1)

Publication Number Publication Date
WO2022143444A1 true WO2022143444A1 (zh) 2022-07-07

Family

ID=75412220

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/141084 WO2022143444A1 (zh) 2020-12-30 2021-12-24 一种自旋翼飞行汽车

Country Status (2)

Country Link
CN (1) CN112659830A (zh)
WO (1) WO2022143444A1 (zh)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112659830A (zh) * 2020-12-30 2021-04-16 上海欧少航空科技有限公司 一种自旋翼飞行汽车
WO2023109114A1 (zh) * 2021-12-14 2023-06-22 吴斌 一种可重构式飞行汽车及飞行汽车控制方法
CN116891014B (zh) * 2023-09-07 2023-11-14 太原科技大学 基于模块化的多模式无人机

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080067284A1 (en) * 2004-10-12 2008-03-20 Bakker Jan W D Personal Land And Air Vehicle
US20080251308A1 (en) * 2005-08-24 2008-10-16 Dezso Molnar Ground Air Water Craft
KR20090116573A (ko) * 2008-05-06 2009-11-11 김순곤 수직이착륙 비행자동차 겸용 비행체
CN109353495A (zh) * 2018-11-30 2019-02-19 南京航空航天大学 一种可垂直起降的无人自转旋翼机
CN112659830A (zh) * 2020-12-30 2021-04-16 上海欧少航空科技有限公司 一种自旋翼飞行汽车

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108501638A (zh) * 2018-02-28 2018-09-07 佛山市神风航空科技有限公司 一种可折叠旋翼的飞行汽车
CN108750081A (zh) * 2018-06-05 2018-11-06 中国人民解放军国防科技大学 倾转四旋翼变形飞行器

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080067284A1 (en) * 2004-10-12 2008-03-20 Bakker Jan W D Personal Land And Air Vehicle
US20080251308A1 (en) * 2005-08-24 2008-10-16 Dezso Molnar Ground Air Water Craft
KR20090116573A (ko) * 2008-05-06 2009-11-11 김순곤 수직이착륙 비행자동차 겸용 비행체
CN109353495A (zh) * 2018-11-30 2019-02-19 南京航空航天大学 一种可垂直起降的无人自转旋翼机
CN112659830A (zh) * 2020-12-30 2021-04-16 上海欧少航空科技有限公司 一种自旋翼飞行汽车

Also Published As

Publication number Publication date
CN112659830A (zh) 2021-04-16

Similar Documents

Publication Publication Date Title
WO2022143444A1 (zh) 一种自旋翼飞行汽车
JP7093467B2 (ja) 電気チルトロータ航空機
US11613370B2 (en) Aerodynamically efficient lightweight vertical take-off and landing aircraft with deployable rotors
CN106573678B (zh) 适于垂直起飞和水平飞行的飞行器
US9145207B2 (en) Remotely controlled micro/nanoscale aerial vehicle comprising a system for traveling on the ground, vertical takeoff, and landing
CN105539833A (zh) 固定翼多轴飞行器
GB2588478A (en) A coaxial double-propeller vertical take-off and landing aircraft using moving mass control and a control method thereof
CN205930082U (zh) 一种共轴反桨双涵道式电动飞行汽车
WO2023000571A1 (zh) 飞行汽车
US11772786B2 (en) Method of flight control in a vertical takeoff and landing aerial vehicle with angled propellers
WO2018200879A1 (en) Electrically powered vtol tail-sitter aircraft for providing transportation
CN105775122A (zh) 一种倾转旋翼式飞行器
CN111003166A (zh) 一种纵列式电动双旋翼直升机及其控制系统
CN105059537A (zh) 无人机
CN112874758A (zh) 一种膜翼折叠系统及其膜翼飞机
CN113650780A (zh) 一种辅助多旋翼无人机飞行系统
CN209426502U (zh) 一种飞行汽车
CN112678160A (zh) 一种筒式运载的四旋翼无人飞行器
CN208036600U (zh) 双人载人飞行器
WO2022037450A1 (zh) 一种结合多轴旋翼的自旋翼飞行器
CN216969996U (zh) 多旋翼无人飞行器
CN210284608U (zh) 双模式切换无人机
CN116572680A (zh) 飞行动力系统及飞行汽车
CN104229130A (zh) 气动结构四旋翼无人飞行器
CN112644701A (zh) 一种横列式双旋翼无人机

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21914181

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21914181

Country of ref document: EP

Kind code of ref document: A1