WO2023001157A1 - 一种飞行汽车机翼和旋翼混合式收放系统及飞行汽车 - Google Patents

一种飞行汽车机翼和旋翼混合式收放系统及飞行汽车 Download PDF

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Publication number
WO2023001157A1
WO2023001157A1 PCT/CN2022/106572 CN2022106572W WO2023001157A1 WO 2023001157 A1 WO2023001157 A1 WO 2023001157A1 CN 2022106572 W CN2022106572 W CN 2022106572W WO 2023001157 A1 WO2023001157 A1 WO 2023001157A1
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WO
WIPO (PCT)
Prior art keywords
wing
rotor
rotor support
wings
flying car
Prior art date
Application number
PCT/CN2022/106572
Other languages
English (en)
French (fr)
Inventor
田丰年
Original Assignee
田丰年
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 田丰年 filed Critical 田丰年
Priority to AU2022315399A priority Critical patent/AU2022315399A1/en
Priority to DE212022000259U priority patent/DE212022000259U1/de
Publication of WO2023001157A1 publication Critical patent/WO2023001157A1/zh

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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
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft

Definitions

  • the invention relates to the technical field of aircraft and automobile design, in particular to a flying car wing and rotor hybrid retractable system and a flying car.
  • the existing published flying car concepts and patented technologies mainly focus on the following three aspects.
  • flying cars based on tilting rotor or tilting wing technology the advantage is that it combines the advantages of multi-rotor and fixed-wing layouts, and the disadvantage is that the wings are relatively large.
  • the patent application with application number 201820928031.7 discloses a six-rotor arrangement structure of a tandem flying car and a flying car, including two front rotors, two rear rotors, a tail rotor and a head
  • Two front rotors and two rear rotors are symmetrically arranged on the left and right sides of the car through the corresponding front and rear wings in turn;
  • the tail rotor is arranged behind the rear of the car through the lower tail rod;
  • the head rotor is arranged through the head connecting rod In front of the head of the car; its six rotors work together to provide upward flight power to the flying car and maintain the vertical power of the flight.
  • the power generated by the rotor counteracts the gravity of the car, allowing the car to maintain balance in the air.
  • the patent application with the application number 201820928120.1 discloses a single-wing four-rotor structure on a flying car and a flying car, including two side rotors, a tail rotor and a head rotor.
  • the wing extending outward, the middle part of the wing is provided with a side rotor; the tail of the body body is provided with a lower tail boom extending backward horizontally, and a tail rotor is arranged below the lower tail boom; the body body
  • the head is provided with a head link extending horizontally forward, and a head rotor is provided below the head link; it provides upward lift to the flying car through the layout of four rotors around the main body of the vehicle body. Let the flying car take off.
  • the patent application with the application number 201820928117.X discloses a flying car tandem double-wing retractable system and a flying car, including two front wings and two rear wings symmetrically located on both sides of the body body, each front wing is close to the end Each position is provided with a front rotor; each rear wing is provided with a rear rotor near the end position.
  • the front wing can be rotated and retracted to the front wing compartment of the body body, and the rear wing can be rotated and retracted to the rear wing compartment of the body body; when the flying car is flying, the front wing and the rear wing are opened, and the front rotor and the rear rotor provide the lift for the flight.
  • the embodiment of the present invention provides a flying car wing and rotor hybrid retractable system and a flying car .
  • a flying car wing and rotor hybrid retractable system including: body, wings on both sides, wing rotation mechanism, rotor support, rotor support rotation mechanism, rotor assembly
  • the wing is movably connected to the vehicle body; the wing and the wing rotation mechanism are arranged symmetrically on both sides of the vehicle body; the wing rotation mechanism drives the wing to rotate and expand to both sides of the vehicle body , or reverse rotation is retracted to the inner side of the body, without exceeding the edge of the wing, the transition between the vehicle working state and the flying working state of the wing can be completed; after the conversion of the car working state and the flying working state, the wing and the body
  • the positions are relatively fixed and no longer active.
  • the wing can also be fixed at any position during the rotation process; the rotor support is movably connected to the wing, and the rotor support can be rotated by starting the rotor support rotation mechanism to realize the rotation of the rotor support on the wing surface.
  • the rotor support and rotation mechanism drives the rotor supported on the wing surface to rotate from a state parallel to the longitudinal axis of the vehicle body to a state perpendicular to the longitudinal axis of the vehicle body with the rotation of the wing surface, and it can also be turned back in reverse, that is, the rotor can be completed.
  • the conversion between the vehicle working state and the flight working state of the assembly; or, the rotor support can also be fixed at any position during the rotation process to complete the conversion between the vehicle working state and the flying working state of the rotor assembly. After completing the conversion between the working state of the car and the working state of the flight, the position between the rotor support and the wing is relatively fixed and no longer active.
  • the rotor support is preferably a rod.
  • the wings on both sides are arranged on the vehicle body near the front of the vehicle; one or more rotor supports can be installed on the wings.
  • the rotor support is an integral rotor support, and its rotation center point is set at any position between the two ends of the rotor support.
  • the rotor support is divided into two, including a front rotor support and a rear rotor support, both of which share a rotation center point, or respectively set a rotation center point.
  • the wing rotating mechanism drives the wing to rotate through the steering gear, pin shaft, gear, pulley, chain drive, connecting rod or a combination of the above methods, and drives the wing to rotate to both sides of the vehicle body by starting the wing rotating mechanism , or reversely rotate into the inside of the body, and can stay at any position during the rotation.
  • the rotor support and rotation mechanism drives the rotor support to rotate through the steering gear, pin shaft, gear, pulley, chain drive, connecting rod or a combination of the above methods, and the rotor support is rotated by starting the rotor support rotation mechanism to realize the rotor support at Rotation on the airfoil.
  • the airfoil surface includes an upper surface and a lower surface
  • the rotor support is arranged above the upper surface of the airfoil surface or below the lower surface of the airfoil surface.
  • the rotor assembly includes a motor and a rotor; the rotor is fixedly connected to the output shaft of the motor, and the motor is mounted on the rotor support through a fixed or rotatable device.
  • the flying car head rotor assembly front rotor assembly
  • the rear direction rotor assembly rear rotor assembly
  • the rotor support through a non-rotatable rotor support Fixed connection.
  • one or more rotor assemblies may be installed on the rotor support.
  • two rotor assemblies are installed on one rotor support.
  • the present invention also provides a flying car, including the flying car wing and rotor hybrid retractable system as described in any one of the above, and also includes a vertical wing and a horizontal wing arranged at the rear of the vehicle body, and also includes a car
  • the steering system, the power assembly and the flight control stick; the steering system and the power assembly are installed at the bottom of the vehicle body; the flight control stick is installed inside the vehicle body.
  • the steering system of the flying car is installed on the front axle of the wheel, and the powertrain is installed on the rear axle.
  • the main driving position of the flying car is equipped with a steering wheel and a flight control joystick.
  • the rotor surface of the rotor can be driven by the steering gear, so it can stay in any position during the tilting process.
  • the size of the rotor is determined by two factors. First, the diameter of the rotor should be smaller than the length of the rotor support. Second, if the rotor has a tilt function, it must be ensured that the radius of the rotor should be less than the height of the rotor from the ground.
  • the deployment of the rotor can be done manually, or directly by the driving motor.
  • the rotor needs to be folded and retracted, it can be manually pushed to complete.
  • the invention drives several rotors to retract from both sides of the wing to the space within the range of the wing surface through the rotation of the wings and the rotation of the rotor support components, so as to realize the transformation of the flying car from the flying state to the automobile state; through the rotation of the wings and the rotor support
  • the rotation of the components drives several rotors to expand from the space on the surface of the wing to both sides of the wing, and at the same time the wings are expanded to realize the transition of the flying car from the car state to the flying state.
  • the structure is simple, and the unfolding is rapid and orderly.
  • the disclosure of the present invention provides a flying car with vertical take-off and landing, fixed wings, and vehicle modes.
  • the runway length and take-off and landing time are saved; through the combination of rotor tilting and wings, long-endurance fixed-wing flight can be realized; through the rotation of wings around the body, at the same time Cooperating with the rotation of the rotor support structure on the wing, a flying car with a small footprint and meeting the vehicle size requirements of road traffic regulations is realized.
  • Fig. 1 is an isometric side view of the vertical take-off and landing state of the flying car flight mode
  • Fig. 2 is a top view of Fig. 1
  • Fig. 3 is a front view of Fig. 1
  • Fig. 4 is a left view of Fig. 1
  • Fig. 5 is a right view of Fig. 1
  • Fig. 6 is an isometric side view of the flying car driving mode
  • Fig. 7 is a top view of Fig. 6
  • Fig. 8 is a front view of Fig. 6
  • Fig. 9 is a left view of Fig. 6
  • Fig. 10 is a right view of Fig. 6
  • FIG. 12 is an isometric side view of the steering system and powertrain layout of the flying car;
  • Fig. 13 is an isometric view of the wing rotation mechanism and the rotor support rotation mechanism;
  • Fig. 14 is The isometric view of the rotor tilting process;
  • Figure 15 is the isometric view of the rotor folding process;
  • Figure 16 is the isometric view of the flight control stick;
  • Figure 17 is the structural diagram of the connecting rod as the rotor supporting rotation mechanism;
  • Figure 19 is the structural diagram of the pulley mechanism as the rotor support rotation mechanism;
  • Figure 20 is the structural diagram of the belt wheel mechanism as the wing rotation mechanism;
  • Figure 22 is a vehicle mode state diagram of Figure 21;
  • Figure 23 is a flight control circuit distribution diagram.
  • the flying car wing and rotor hybrid retractable system includes: a body, wings on both sides, a wing rotation mechanism, a rotor support, a rotor support rotation mechanism, and a rotor assembly.
  • the body has a streamlined appearance design, with a length of 6 meters, a width of 2 meters, and a height of 1.4 meters;
  • the wing has a wingspan of 8.8 meters and a chord length of 1 meter, which is located above the body near the front of the car;
  • the wing rotation mechanism adopts a steering gear based on a gear set Combined with the straight arm, the steering gear is fixedly connected with the body, and the straight arm of the steering gear is fixedly connected with the wing;
  • the rotor support is a rod with a total length of 3.5 meters and a square section with a side length of 75 mm;
  • the rotor support rotation mechanism adopts a gear set based The combination of the steering gear and the one-arm, the steering gear is fixedly connected
  • the rotor assembly is divided into two front rotor assemblies and two rear rotor assemblies. Wherein, the front rotor assembly is fixedly connected with the rotor support through the tilt steering mechanism, and the rear rotor assembly is fixedly connected with the rotor support through the motor fixing plate.
  • the wing is driven by the wing rotation mechanism and can rotate around the body in a plane parallel to the ground plane, and the tip of the wing is turned up at an angle of 2 degrees; the rotor support is driven by the rotor rotation mechanism and can rotate around the wing in a plane parallel to the ground plane.
  • the present invention also provides a flying car, including the flying car wing and rotor hybrid retractable system, and also includes a vertical wing and a horizontal wing arranged at the rear of the vehicle body, and also includes a car steering system, a power Assembly and flight control stick.
  • the vertical wing and horizontal wing adopt a T-shaped layout and are located at the rear of the vehicle body
  • the steering system of the car adopts a rack and pinion transmission structure and is located on the front axle of the car, including: steering wheel, steering universal joint, steering rod and front wheels
  • the assembly is installed on the rear axle of the car, including: rear wheel drive motor, rear wheel drive shaft, and rear wheels.
  • Flying cars can travel on the ground through steering systems and powertrains.
  • the wing and rotor assembly can be expanded by rotating the wing and the rotor support. At this point, the flying car enters flight mode. Then, by starting the rotor motor to take off vertically, the flying car enters the multi-rotor state.
  • the front rotor assembly can be tilted so that the rotor surface changes from being parallel to the ground plane to being perpendicular to the ground plane, so as to realize forward flight, and at this time, the rear rotor gradually stops. At this point, the flying car enters the fixed-wing state.
  • the airfoil of the front rotor assembly changes from being perpendicular to the ground to being parallel to the ground, and the flying car returns to the multi-rotor state.
  • the rotor assembly of the flying car gradually reduces the speed, and the flying car lands vertically.
  • the wings of the flying car are driven by the wing rotation mechanism to retract to the inside of the body, and the rotor assembly is driven by the rotor support (driven by the rotor rotation mechanism) to rotate on the upper surface of the wing and retract to the inside of the wing, and the flying car returns to vehicle mode.
  • the flying car wing and rotor hybrid retractable system of the present invention includes: body, wings on both sides, wing rotation mechanism, rotor support, rotor support rotation mechanism, rotor assembly;
  • the wing is movably connected to the body;
  • the wing rotation mechanism drives the wing to rotate from a state parallel to the longitudinal axis of the body to a state perpendicular to the longitudinal axis of the body, and can also be turned back in the opposite direction, that is, the car working state and the flying working state of the wing can be completed Or, the wing can also be fixed at any position in the rotation process to complete the conversion between the vehicle working state and the flying working state of the wing;
  • the position between the wing and the body is relatively fixed and no longer active;
  • the rotor support is movably connected to the wing, and the rotor support is rotated by starting the rotor support rotation mechanism to realize the rotation of the rotor support on the wing surface, so that it can move from parallel to the longitudinal direction of
  • the axis (the axis perpendicular to the longitudinal axis of the wing is the longitudinal axis of the wing) is rotated to be perpendicular to the longitudinal axis of the wing, and can also be reversed; when the wing rotates, the wing is parallel to the longitudinal axis of the body
  • the state automobile working state
  • the rotor supported on the wing surface rotates from a state parallel to the longitudinal axis of the wing to a state perpendicular to the longitudinal axis of the wing, and can also Reverse rotation; that is, the conversion of the rotor assembly between the car working state and the flight working state can be completed; or, the rotor support can also be fixed at any position during the rotation process to complete the car working state of the rotor assembly and transition between flight working states.
  • the position between the rotor support and the wing is relatively fixed and no longer active after completing the transition
  • the wing surface can be parallel to the longitudinal axis of the fuselage, or can form a certain angle with the longitudinal axis of the fuselage.
  • the rotor support can be parallel to the wing surface, or it can be at an angle to the wing surface.
  • the wing, the wing rotation mechanism and the rotor assembly are symmetrical about the longitudinal axis of the vehicle body.
  • the wings on both sides are arranged at the position of the vehicle body close to the front of the vehicle, and the wings can be equipped with one or more rotor supports.
  • the rotor support is an integral rotor support, and its center of rotation is set at any position between the two ends of the rotor support.
  • the center of rotation is set in the middle of the rotor support, which is a preferred structure of the present invention.
  • one side wing is provided with a front rotor support and a rear rotor support, arranged above the wing, the front rotor support and the rear rotor support are an integral support, share the center of rotation, and the two ends of the rotor support are A rotor assembly is provided.
  • the rotor support is divided into two, including the front rotor support and the rear rotor support.
  • the two can share the rotation center point, and the ends where the rotation center point is set overlap; or the rotation center point is set separately.
  • the rotor support is of two-stage type, a front rotor support and a rear rotor support, and the lengths of the front rotor support and the rear rotor support are equal or unequal.
  • the front rotor supports and the rear rotor supports have their own rotation axes and do not share the rotation center point.
  • Each rotor support One or more rotors are arranged on it.
  • the wing rotation mechanism can drive the wing to rotate through the steering gear, pin shaft, gear drive, pulley drive, chain drive, connecting rod, or a combination of the above methods.
  • the wing rotation mechanism is driven by the steering gear, and its structure and principle are as follows:
  • the wing rotation mechanism includes two parts: the wing rotation steering gear and the straight arm of the steering gear.
  • the steering gear can be regarded as the integration of the motor and the gear set, which can amplify the torque output by the motor.
  • the steering gear is fixedly mounted on the fuselage.
  • the straight arm of the steering gear is installed on the output shaft of the steering gear and is fixedly connected with the wing.
  • the straight arm of the steering gear drives the wings to rotate, and the wing rotation steering gear is commercially available. This is the preferred solution of the present invention.
  • the wing rotation mechanism is driven by a connecting rod.
  • the connecting rod wing root shaft is fixedly connected to the vehicle body.
  • the wing driven connecting rod is fixed on the wing by going around the first pin shaft of the wing connecting rod, and rotates around the first pin shaft of the wing connecting rod.
  • the wing driving connecting rod is fixed on the vehicle body through the second pin shaft of the wing connecting rod, and rotates around the second pin shaft of the wing connecting rod.
  • the wing driven connecting rod and the wing driving connecting rod are connected through the third pin shaft of the wing connecting rod, and rotate around the third pin shaft of the wing connecting rod.
  • the wing rotation mechanism is driven by a pulley mechanism.
  • the installation relationship is: the root shaft of the pulley is fixedly connected to the vehicle body.
  • the wing is fixedly connected with the driven belt pulley of the wing, and rotates above the vehicle body around the root rotating shaft of the belt wheel.
  • the wing driven pulley and the wing driving pulley are driven to rotate through the wing belt.
  • the wing driving pulley is fixed on the output shaft of the wing pulley motor.
  • the wing pulley motor is fixed on the vehicle body.
  • the wing pulley motor is firmly connected with the body and remains relatively stationary. When the wing pulley motor rotates, it will drive the wing driving pulley to rotate.
  • the wing driving pulley transmits rotational motion to the wing driven pulley through the wing belt. Because the wings are fixedly connected with the driven pulleys of the wings, they rotate above the vehicle body around the root shaft of the pulleys. Therefore, when the wing pulley motor rotates, the belt drive mechanism will drive the wing to rotate around the root shaft of the pulley.
  • the rotation angle is controlled by the wing pulley motor, thereby controlling the wings to be retracted to the inside of the vehicle body or deployed on both sides of the vehicle body.
  • the rotor support rotation mechanism drives the rotor support to rotate through the steering gear, pin shaft, gear transmission, pulley mechanism transmission, chain drive or connecting rod, or a combination of the above methods.
  • the rotating mechanism rotates the rotor support to realize the rotation of the rotor support on the wing surface.
  • the rotor supports are preferably rods.
  • the rotor support rotation mechanism is driven by the steering gear, and its structure and principle are as follows:
  • the rotor support rotation mechanism includes the rotor support rotation steering gear and the steering gear in-line arm.
  • the steering gear can be regarded as the integration of the motor and the gear set, which can amplify the torque output by the motor.
  • the steering gear is fixedly mounted on the wing.
  • the straight arm of the steering gear is installed on the output shaft of the steering gear and is fixedly connected with the rotor support. When the output shaft of the steering gear rotates, the straight arm of the steering gear drives the rotor support to rotate, and the rotor support rotating steering gear is commercially available. This scheme is the preferred scheme of the present invention.
  • the rotor support and rotation mechanism is driven by a connecting rod.
  • the connecting rod supports the rotating shaft and is fixedly connected with the wing.
  • the supporting driven link is fixed on the rear rotor support by going around the first pin of the supporting link, and rotates around the first pin of the supporting link.
  • the supporting drive link is fixed on the wing through the second pin shaft of the supporting link, and rotates around the second pin shaft of the supporting link.
  • the supporting driven link and the supporting driving link are connected through the third pin of the supporting link and rotate around the third pin of the supporting link.
  • the support driven link drives the support driven link through the third pin shaft of the support link to drive the rear rotor support and the front rotor support to support the rotating shaft around the link above the wing rotate.
  • the rotation angle of the support drive link around the second pin axis of the support link controls the rotation angle of the front rotor support and the rear rotor support around the rotation axis of the link support, thereby controlling the retraction of the front rotor support and the rear rotor support to the inside of the wing or on both sides of the wing Expand.
  • the rotor support and rotation mechanism is driven by a pulley mechanism.
  • the pulley mechanism when used as the rotor support and rotation mechanism, the installation relationship is: the front rotor support and the rear rotor support are on the wing Fixed connection above.
  • the supporting pulley rotating shaft is fixedly connected with the wing.
  • the front rotor support and the rear rotor support are fixedly connected with the support driven pulley, and rotate above the wing around the support pulley rotating shaft.
  • the supporting driven pulley and the supporting driving pulley are driven to rotate through the supporting belt.
  • the supporting driving pulley is fixed on the output shaft of the supporting pulley motor.
  • the supporting pulley motor is fixed on the wing.
  • the supporting pulley motor is firmly connected to the wing and remains relatively stationary. When the supporting pulley motor rotates, it will drive the supporting driving pulley to rotate.
  • the supporting driving pulley drives the rotating motion to the supporting driven pulley through the supporting belt. Because the front rotor support and the rear rotor support are fixedly connected with the support driven pulley, they rotate above the wing around the support pulley shaft. Therefore, when the support pulley motor rotates, the front rotor support and the rear rotor support will be driven to rotate around the support pulley shaft through the belt transmission mechanism.
  • the rotation angle is controlled by the support pulley motor, thereby controlling the front rotor support and the rear rotor support to be retracted to the inside of the wing or deployed on both sides of the wing.
  • the airfoil surface includes an upper surface and a lower surface, and the rotor is arranged above the upper surface of the airfoil surface or below the lower surface of the airfoil surface.
  • the rotor assembly is arranged above the upper surface of the airfoil.
  • the rotor assembly can also be arranged below the lower surface of the wing surface.
  • the rotor assembly is connected to the rotor support through the U-shaped bracket of the tilting steering gear assembly. Rotate within the range.
  • the rotor assembly is preferably tilted within a range of 90° parallel to and perpendicular to the wing surface, and can be fixed at any position during the tilting process (that is, the rotor surface of the rotor is realized It can be tilted within a range of 90° parallel to and perpendicular to the wing surface to meet the state requirements for the lifting and advancing status of the flying car), and the tilting steering gear is commercially available. This is the preferred solution of the present invention.
  • the rear rotor assembly is fixedly connected to the rotor support through a motor fixing plate. Therefore, the rear rotor assembly cannot tilt.
  • This example is a preferred example of the present invention.
  • the present invention also provides a flying car, including the flying car wing and rotor hybrid retractable system as described in any one of the above, and also includes a vertical wing and a horizontal wing arranged at the rear of the vehicle body, and also includes a car Steering system, powertrain and flight control stick; steering system and powertrain are installed at the bottom of the vehicle body; flight control stick is installed at the side of the cockpit seat.
  • the steering system of the flying car is installed on the front axle of the wheel, and the powertrain is installed on the rear axle.
  • Steering system includes steering wheel, steering universal joint, steering rod and front wheels.
  • the powertrain includes the rear wheel drive motor, rear wheel drive shaft and rear wheel struts.
  • the main driving position of the flying car is equipped with a steering wheel and a flight control stick.
  • the rotor surface of the rotor can be driven by the steering gear, so it can stay in any position during the tilting process.
  • the size of the rotor is determined by two factors. First, the diameter of the rotor should be smaller than the length of the rotor support. Second, the radius of the tiltrotor should be less than the height of the tiltrotor above the ground. Preferably, the diameter of the rotor in the embodiment of the present invention is less than 2.5 meters.
  • the rotor assembly can be subdivided into the rotor, the upper clip of the rotor, the lower clip of the rotor and the motor.
  • the two rotors are clamped by the upper and lower clips and tightened by fastening screws.
  • the tightening force is such that the rotor will not shoot out, but at the same time, it should ensure that the rotor can rotate around the fastening screw. Since the total height of the flying car is less than 1.7 meters, when the flying car is ready to enter the vehicle mode, adults can fold the rotors on the ground to the folded state shown in Figure 15.
  • the rotor When the flying car enters the take-off preparation state, the rotor can rely on the torque output by the motor to open itself under the action of centrifugal force.
  • the rotor When the rotor is folded to be on the same straight line as the rotor support, the rotor will not exceed the width of the vehicle body, and there will be no interference between adjacent rotors; at the same time, in order to avoid interference between adjacent rotors during work, it is necessary to design Stagger the heights of adjacent rotors, or allow enough distance between rotors.
  • the flying car proposed by the present invention meets the size requirements of passenger cars and can run on urban roads.
  • the working principle of the flying car on the ground is described as follows.
  • vehicle mode by default, the wings of the flying car rotate and retract to the inside of the body, and the rotor support drives the rotor assembly to rotate and retract to the inside of the wing.
  • the driver enters the main driving position in the cockpit of the flying car, starts the powertrain to drive the flying car on the ground, and controls the driving direction of the flying car through the steering wheel.
  • the driver can turn off the powertrain and the flying car stops.
  • the flight control joystick After the flying car is switched to the flight mode, it is mainly controlled by the flight control joystick, as shown in Figure 16 and Figure 23, the flight control joystick mainly includes the joystick switch, multi-rotor and fixed-wing flight state switching switch, grip, left Yaw button, right yaw button, accelerator lever, brake lever and the base of the flight control stick, the flight control stick is connected to the flight control signal line.
  • Fig. 23 is the distribution diagram of the flight control circuit of the embodiment of the present invention
  • the double-dot dash line in the figure is the flight control signal line, starting from the flight control joystick, and the rotor assembly, the tilting steering gear assembly, the wing aileron
  • the horizontal tail rudder is connected to the vertical tail elevator and other mechanisms, and the flight control signal line transmits the control signals of the flight control stick to the rotor, wing and tail respectively, so as to control the corresponding motors and steering gear and other driving mechanisms to realize the control of the flight state.
  • the specific control method is as follows: As shown in Figures 1 and 16, the working principle of the flying car from vehicle mode to flight mode is described as follows.
  • the wings are driven by the wing rotation mechanism and spread out from the inner side of the vehicle body to both sides of the vehicle body.
  • the wings extend from parallel to the longitudinal axis of the body to perpendicular to the longitudinal axis.
  • the rotor support is driven by the rotor support drive mechanism, which drives the rotor assembly to expand from the inside of the wing to be perpendicular to the wing.
  • the rotor supports are deployed orderly in a direction parallel to the upper surface of the wing, and the front and rear rotor surfaces are parallel to the horizontal plane.
  • the working principle of the flying car take-off process The driver toggles the multi-rotor and fixed-wing flight state switch on the flight control joystick to switch the flying car to the multi-rotor state.
  • the multi-rotor and fixed-wing flight state switching switch is a three-stage switch. The default position of the switch is empty. Rotate the flying car to the left to switch to the multi-rotor state, and turn to the right to switch to the fixed-wing state. Then, the driver triggers the throttle lever on the flight control stick, and the motor of the rotor assembly is started, thereby driving the rotor to rotate. When the rotor generates enough lift, the flying car takes off vertically.
  • the principle of flying car landing is the reverse process of the above process. The difference is that the driver reduces the rotor speed by triggering the brake lever on the flight control stick, so that the flying car will gradually land.
  • the movement principle of the multi-rotor state of the flying car in the air When the flying car is hovering in the air, the driver can control the direction of the joystick by manipulating the flight, and control the flying car to perform roll, pitch, and yaw actions in a multi-rotor state.
  • the grip of the flight control stick When the grip of the flight control stick is pushed forward, the speed of the rear rotor of the flying car is higher than that of the front rotor, so a forward lift difference is generated, and the flying car flies forward. Instead, the flying car flies backwards.
  • the flying car When the grip of the flight control stick is pushed to the left, the rotating speed of the right rotor of the flying car is higher than that of the left, so a lift difference to the left is generated, and the flying car flies to the left. Conversely, the flying car flies to the right.
  • the left yaw button of the flight control stick When the left yaw button of the flight control stick is triggered, the speed of the left front rotor and the right rear rotor of the flying car is higher than that of the right front rotor and the left rear rotor, so a lift difference is generated to deflect to the left, and the flying car rotates to the left.
  • the right yaw button on the flight control stick is triggered, the flying car will rotate to the right.
  • control principle of the multi-rotor state of the present invention is the prior art, and for details, please refer to pages 18-20 of the book "Design and Realization of Four-rotor Aircraft” written by Wang Rui and Ding Xiaoqing (ISBN: 9787302489641).
  • the flying car changes from the multi-rotor state to the principle of the fixed-wing state.
  • the driver can toggle the multi-rotor and fixed-wing flight state switch on the flight control stick, and the flying car will gradually change from the multi-rotor state to the fixed-wing state.
  • the two front rotors of the flying car are driven by the steering gear mechanism, and its wing surface is gradually transitioned from being parallel to the horizontal plane to being perpendicular to the horizontal plane, and then the direction of lift is changed from being perpendicular to the horizontal plane to being parallel to the flying car.
  • the state slowly accelerates, and the wings gradually generate lift.
  • the multi-rotor and fixed-wing state switching of the present invention is an existing technology. For details, please refer to pages 18-19 of the book "Flight Control of Tilting Rotor Aircraft” written by Yang Jun, Wu Ximing, Fan Yonghua, and Yuan Bo (ISBN: 9787801837349) .
  • the flight principle of the fixed-wing state of the flying car In the fixed-wing state, when the grip of the flight control stick is pushed forward, the horizontal tail and tail rudder of the flying car will deflect upwards, and the flying car will dive and descend. Instead, the flying car heads up and climbs.
  • the handle of the flight control stick is pushed to the left, the rudder surface of the wing aileron of the flying car deflects, the right aileron goes down, the left aileron goes up, and the flying car tilts to the left to fly. Conversely, the flying car tilts to the right to fly.
  • the multi-rotor and fixed-wing state switching of the present invention is an existing technology. For details, please refer to pages 17-18 of the book “Application of Basic Knowledge of Civil Aviation” written by Jiang Qun and Wang Chun (ISBN: 9787118075588).
  • the flying car transitioning from flight mode to vehicle mode is described as follows.
  • the driver turns off the switch on the flight control stick, and the flying car enters the vehicle mode.
  • the wings are driven by the wing rotation mechanism, and retracted from both sides of the vehicle body to the inner side of the vehicle body.
  • the wing retracts from perpendicular to the longitudinal axis of the body to parallel to the longitudinal axis.
  • the rotor support is driven by the rotor support drive mechanism, which drives the rotor assembly to retract from the outer side of the wing to the inner side of the wing.
  • the rotor supports are retracted orderly in a direction parallel to the upper surface of the wing. The flying car goes into vehicle mode.
  • the steering wheel and supporting steering system of the flying car driving mode are set in front of the main driving position, and the flight control joystick and supporting flight control system are installed on the side of the main driving position.
  • the flying car in the embodiment of the present invention adopts the rear wheel drive mode, and the vehicle powertrain is connected to the wheels through the rear wheel drive shaft to drive the flying car to drive on the ground.
  • the invention cleverly utilizes the rotation deformation of the wing and the rotor support structure, and proposes a flying car layout in which fixed wings, multi-rotors and vehicles are integrated.
  • the multi-rotor layout of the flying car proposed by the present invention enables it to have vertical take-off and landing capability; the fixed-wing layout enables it to have long endurance; the ingenious combined rotation of wings and rotors makes the vehicle model occupy a small area and conform to road traffic regulations. Therefore, this design has the characteristics of vertical take-off and landing, long endurance, and integration of aircraft and vehicle design.

Abstract

一种飞行汽车机翼和旋翼混合式收放系统及飞行汽车，包括：车身（100）、两侧机翼（200）、机翼旋转机构（800）、旋翼支撑（600）、旋翼支撑旋转机构（700）、旋翼总成（500）、汽车转向系统（900）、动力总成（910）和飞行控制操纵机构（1000）。机翼（200）活动连接于车身（100）；机翼（200）及机翼旋转机构（800）对称设置于车身（100）两侧；机翼旋转机构（800）驱动机翼（200）旋转展开到车身（100）两侧，或反向旋转收回到车身（100）内侧。旋翼支撑（600）通过旋翼支撑旋转机构（700）活动连接于机翼（200）上，旋翼总成（500）设置在旋翼支撑（600）上；旋翼支撑旋转机构（700）驱动旋翼支撑（600）展开到机翼（200）两侧，或反向旋转收回到机翼（200）内侧，实现旋翼支撑（600）在机翼面上的旋转。可实现飞行汽车的垂直起降及空中平稳飞行。此外，在地面行驶时，可将机翼（200）和旋翼（500）旋转折叠放置于车身（100）内侧，节省空间、外形美观，符合城市道路对车辆尺寸的限制要求。

Description

一种飞行汽车机翼和旋翼混合式收放系统及飞行汽车 技术领域
本发明涉及飞行器和汽车设计技术领域，尤其涉及到一种飞行汽车机翼和旋翼混合式收放系统及飞行汽车。
 背景技术
目前，城市拥堵已成为世界性共性难题。一方面，地面汽车不断增多，城市交通压力日益增大，交通拥堵频繁发生；另一方面，地面空间有限，人、车、地难以平衡，导致人们对空中交通的需求越来越强烈。
 技术问题
现有公开发表的飞行汽车概念和专利技术，主要集中在以下三个方面。第一，基于多旋翼布局的垂直起降的飞行汽车；优点是占地面积小，可随时起降；缺点是续航时间、里程短。第二，基于固定翼布局的飞行汽车；优点是长续航、载重大；缺点是需要跑道助跑才能完成起降。第三，基于倾转旋翼或倾转机翼技术的飞行汽车；优点是集合了多旋翼与固定翼布局的优点，缺点是机翼体积较大。
为了解决上述存在的问题，例如，申请号为201820928031.7的专利申请公开了一种串翼飞行汽车的六旋翼布置结构及飞行汽车，包括两个前旋翼、两个后旋翼、一个尾部旋翼和一个头部旋翼；两个前旋翼和两个后旋翼依次通过对应的前翼和后翼对称设置在汽车左右两侧；尾部旋翼通过下尾杆设置在汽车尾部后方；头部旋翼通过头部连杆设置在汽车头部前方；其六个旋翼协同配合，给飞行汽车提供向上的飞行动力，以及维持飞行的垂直方向的动力，旋翼产生的动力与汽车的重力相抵消，让汽车能够在空中维持平衡。申请号为201820928120.1的专利申请公开了一种飞行汽车上单翼四旋翼结构及飞行汽车，包括两个侧部旋翼、一个尾部旋翼和一个头部旋翼，车身主体的左右两侧对称设置有水平向外延伸出的机翼，所述机翼的中部下方设置有侧部旋翼；车身主体的尾部设置有水平向后延伸出的下尾杆，所述下尾杆的下方设置有尾部旋翼；车身主体的头部设置有水平向前延伸出的头部连杆，所述头部连杆的下方设置有头部旋翼；其通过四个旋翼在车身主体四周的布局，给飞行汽车提供向上的升力，让飞行汽车能够起飞。申请号为201820928117.X的专利申请公开了一种飞行汽车串列式双翼收放系统及飞行汽车，包括对称位于车身主体两侧的两个前翼和两个后翼，每个前翼靠近末端位置均设置有一个前旋翼；每个后翼靠近末端位置均设置有一个后旋翼。前翼能够旋转收回到车身主体的前翼舱，后翼能够旋转收回到车身主体的后翼舱；其飞行汽车飞行时，前翼和后翼打开，前旋翼和后旋翼提供飞行的升力，陆面行驶时，前翼和后翼旋转收回车身主体中，符合汽车美观。这三个专利的机翼数量较多导致结构比较复杂；旋翼的数量较少，不一定能满足平稳升降的要求；而且旋翼的翼片在汽车状态结构时，是如何满足占领较小空间又处于固定状态的要求的，技术方案没有涉及到；总之这三个专利技术方案在结构上并不简单，起降性能不容易控制平稳。
因此，如何提供一种节省空间、起降简单平稳、飞行平稳的飞行汽车是本领域技术人员急需解决的问题。
 技术解决方案
为了解决现有飞行汽车概念占地面积大，固定翼状态、多旋翼状态、和汽车状态缺乏设计融合的问题，本发明实施例提供一种飞行汽车机翼和旋翼混合式收放系统及飞行汽车。
为了实现上述目的，本发明提供如下技术方案：一种飞行汽车机翼和旋翼混合式收放系统，包括：车身、两侧机翼、机翼旋转机构、旋翼支撑、旋翼支撑旋转机构、旋翼总成；所述机翼活动连接于所述车身；所述机翼及所述机翼旋转机构对称设置于所述车身两侧；所述机翼旋转机构驱动机翼旋转展开到所述车身两侧，或反向旋转收回到所述车身内侧，不超出机翼边沿，即能完成机翼的汽车工作状态和飞行工作状态之间的转换；完成汽车工作状态和飞行工作状态转换后机翼和车身之间位置相对固定不再活动。或者，所述机翼也能够固定停留在旋转过程中的任意位置；所述旋翼支撑活动连接于机翼，通过启动旋翼支撑旋转机构旋转旋翼支撑，实现旋翼支撑在机翼面上的旋转。优选的，旋翼支撑旋转机构驱动旋翼支撑在机翼面上随着机翼面的旋转从平行于车身纵轴线状态旋转成垂直于车身纵轴线状态，并且也能反向转回，即能完成旋翼总成的汽车工作状态和飞行工作状态之间的转换；或者，所述旋翼支撑也能够固定停留在旋转过程中的任意位置，完成旋翼总成的汽车工作状态和飞行工作状态之间的转换。完成汽车工作状态和飞行工作状态转换后，旋翼支撑和机翼之间位置相对固定不再活动。优选的，所述旋翼支撑优选为杆件。
进一步地，所述两侧机翼设置在车身靠近车头的位置；所述机翼上可安装一个或多个所述旋翼支撑。
进一步地，所述旋翼支撑为一根整体旋翼支撑，其旋转中心点设置在旋翼支撑两端之间的任意位置。
可选择地，所述旋翼支撑一分为二包括前旋翼支撑和后旋翼支撑，两者共用旋转中心点，或者各自设置旋转中心点。
进一步地，所述机翼旋转机构通过舵机、销轴、齿轮、带轮、链传动、连杆或以上方式的组合驱动机翼旋转，通过启动机翼旋转机构驱动机翼旋转到车身两侧，或反向旋转进车身内侧，且能够停留在旋转过程中的任意位置。
进一步地，所述旋翼支撑旋转机构通过舵机、销轴、齿轮、带轮、链传动、连杆或以上方式的组合驱动旋翼支撑旋转，通过启动旋翼支撑旋转机构旋转旋翼支撑，实现旋翼支撑在机翼面上的旋转。
进一步地，所述机翼面包括上表面和下表面，所述旋翼支撑设置在机翼面的上表面上方或者机翼面的下表面的下方。
进一步地，所述旋翼总成包括电机及旋翼；所述旋翼与所述电机输出轴固定连接，所述电机通过固定或可转动装置安装在所述旋翼支撑上。优选的，飞行汽车车头方向旋翼总成（前旋翼总成）通过可转动舵机机构与旋翼支撑固定连接，车尾方向旋翼总成（后旋翼总成）通过不可转动的旋翼支座与旋翼支撑固定连接。
进一步地，所述旋翼支撑上可安装一个或多个所述旋翼总成。优选的，一根旋翼支撑上安装了两个旋翼总成。
本发明还提供一种飞行汽车，包括如上述任一项所述的飞行汽车机翼和旋翼混合式收放系统，还包括设置于所述车身尾部的垂直机翼、水平机翼，还包括汽车转向系统、动力总成和飞行控制驾驶杆；转向系统和动力总成安装在所述车身底部；飞行控制驾驶杆安装在车身内部。
飞行汽车转向系统安装在车轮前轴，动力总成安装在后轴。
飞行汽车主驾驶位安装有转向方向盘和飞行控制驾驶杆。
旋翼的旋翼面可由舵机机构驱动，因此可停留在倾转过程中的任意位置。
在能提供足够升力的前提下，旋翼的尺寸由两个因素决定。第一，旋翼的直径应该小于旋翼支撑的长度。第二，若旋翼有倾转功能，需保证该旋翼的半径应该小于旋翼距离地面的高度。
进一步的，当飞行汽车在地面时，旋翼的展开可由人工推动完成，或由驱动电机直接甩开完成。当旋翼需要折叠收回时，可由人工推动完成。
 有益效果
本发明通过机翼的旋转和旋翼支撑部件的旋转带动若干个旋翼从机翼两侧收回到机翼表面范围内空间，实现飞行汽车从飞行状态到汽车状态转换；通过机翼的旋转和旋翼支撑部件的旋转带动若干个旋翼从机翼表面范围内空间展开至机翼两侧，同时机翼展开，实现飞行汽车从汽车状态到飞行状态转换。结构简单，展开迅速有序。
经由上述的技术方案可知，与现有技术相比，本发明公开提供了一种具备垂直起降、固定翼、和车辆模式的飞行汽车。借助于多旋翼实现垂直起降的功能，节省了跑道长度和起降时间；通过旋翼的倾转和机翼的组合，可实现长续航的固定翼状态飞行；通过机翼绕车身的旋转，同时配合机翼上旋翼支撑结构的旋转，实现了一种占地面积小，符合道路交通法规对车辆尺寸要求的飞行汽车。
 附图说明
图1为飞行汽车飞行模式垂直起降状态等轴侧视图；图2为图1的俯视图；图3为图1的主视图；图4为图1的左视图；图5为图1的右视图；图6为飞行汽车行驶模式等轴侧视图；图7为图6的俯视图；图8为图6的主视图；图9为图6的左视图；图10为图6的右视图；图11为飞行汽车飞行模式前飞状态等轴侧视图；图12为飞行汽车转向系统与动力总成布置等轴侧视图；图13为机翼旋转机构和旋翼支撑旋转机构等轴测视图；图14为旋翼倾转过程等轴测视图；图15为旋翼折叠过程等轴测视图；图16为飞行控制驾驶杆等轴测视图；图17为连杆作为旋翼支撑旋转机构的结构图；图18为连杆作为机翼旋转机构的结构图；图19为带轮机构作为旋翼支撑旋转机构的结构图；图20为带轮机构作为机翼旋转机构的结构图；图21为一侧机翼布置有多个旋翼支撑和一根旋翼支撑上布置一个以上（两个）的结构图；图22为图21的车辆模式状态图；图23为飞行控制线路分布图。
符号说明：100-车身，200-机翼，201-副翼，211-机翼上表面,212-机翼下表面,300-垂直尾翼，301-方向舵，400-水平尾翼，401-升降舵，500-旋翼总成，501-旋翼，502-电机，503-旋翼上夹片，504-旋翼下夹片，510-倾转舵机总成，511-倾转舵机电机，512-倾转舵机U型支架，520-电机固定板，600-旋翼支撑（或前旋翼支撑），610-后旋翼支撑，700-旋翼支撑旋转机构，72-支撑连杆，73-支撑带轮，711-连杆支撑转轴,712-支撑连杆第一销轴, 713-支撑连杆第三销轴, 714-支撑连杆第二销轴,715-支撑从动连杆,716-支撑驱动连杆,721-支撑带轮转轴,722-支撑从动带轮,723-支撑主动带轮,724-支撑带轮电机，791-旋翼支撑旋转舵机，792-舵机一字臂，800-机翼旋转机构，82-机翼连杆，83-机翼带轮，811-连杆翼根转轴,812-机翼连杆第一销轴,813-机翼连杆第三销轴,814-机翼连杆第二销轴,815-机翼从动连杆,816-机翼驱动连杆,821-带轮翼根转轴,822-机翼从动带轮，823-机翼主动带轮,824-机翼带轮电机,825-机翼带,891-机翼旋转舵机，892-舵机一字臂，900-转向系统，901-方向盘，902-转向万向节，903-转向拉杆，904-前轮支撑杆，905-前轮，910-动力总成，911-后轮驱动电机，912-后轮驱动轴，913-后轮支撑杆，1000-飞行控制驾驶杆，1001-驾驶杆开关，1002-多旋翼和固定翼飞行状态切换开关，1003-握把，1004-左偏航按钮，1005-右偏航按钮，1006-油门拨杆，1007-刹车拨杆，1010-飞行控制驾驶杆底座，1100-飞行控制信号线。
 本发明的最佳实施方式
本发明提供的飞行汽车机翼和旋翼混合式收放系统，包括：车身、两侧机翼、机翼旋转机构、旋翼支撑、旋翼支撑旋转机构、旋翼总成。其中，车身为流线型外观设计，车身长6米、宽2米、高1.4米；机翼翼展8.8米，弦长1米，位于车身上方靠近车头位置；机翼旋转机构采用基于齿轮组的舵机和一字臂组合，舵机与车身固定连接，舵机一字臂与机翼固定连接；旋翼支撑为杆件，总长3.5米，截面为边长75毫米方形；旋翼支撑旋转机构采用基于齿轮组的舵机和一字臂组合，舵机与机翼固定连接，舵机一字臂与旋翼支撑固定连接；旋翼总成由直径2米的旋翼和100千瓦电机组成，位于旋翼支撑两端。旋翼总成分为两个前旋翼总成和两个后旋翼总成。其中，前旋翼总成通过倾转舵机机构与旋翼支撑固定连接，后旋翼总成通过电机固定板与旋翼支撑固定连接。
机翼由机翼旋转机构驱动，可绕车身在平行于地平面平面转动，机翼末端上翻角2度；旋翼支撑由旋翼旋转机构驱动，可绕机翼在平行于地平面平面转动。
本发明的还提供一种飞行汽车，包括所述的飞行汽车机翼和旋翼混合式收放系统，还包括设置于所述车身尾部的垂直机翼、水平机翼，还包括汽车转向系统、动力总成和飞行控制驾驶杆。其中，垂直机翼和水平机翼采用T字型布局，位于车身尾部；汽车转向系统采用齿轮齿条传动结构，位于汽车前轴，包括：方向盘、转向万向节、转向拉杆和前车轮；动力总成安装在汽车后轴，包括：后轮驱动电机、后轮驱动轴、和后车轮。
飞行汽车可通过转向系统和动力总成在地面行驶。当飞行汽车到达起飞地点后，可通过旋转机翼和旋翼支撑，展开机翼与旋翼总成。此时，飞行汽车进入飞行模式。然后，通过启动旋翼电机垂直起飞，飞行汽车进入多旋翼状态。当飞行汽车在空中悬停时，可通过倾转前旋翼总成，使其旋翼翼面由平行于地平面变为垂直于地平面，实现向前飞行，此时后旋翼逐步停止。此时，飞行汽车进入固定翼状态。当到达目的地以后，前旋翼总成翼面由垂直于地面变为平行于地面，飞行汽车返回多旋翼状态。接下来，飞行汽车的旋翼总成逐步降低转速，飞行汽车垂直降落。最后，飞行汽车的机翼由机翼旋转机构驱动收回车身内侧，旋翼总成由旋翼支撑带动（旋翼旋转机构驱动）在机翼上表面旋转收回机翼内侧，飞行汽车返回车辆模式。
 本发明的实施方式
下面结合附图和具体实施方式，进一步阐明本发明，应理解下述具体实施方式仅用于说明本发明而不用于限制本发明的范围。需要说明的是，下面描述中使用的词语“前”、“后”、“左”、“右”是以车头方向为前，车尾方向为后，从车尾向车头方向看，左手边为左，右手边为右，“上”和“下”指的是附图中的方向，词语“内”和“外”分别指的是朝向或远离特定部件几何中心的方向。
本部分将详细描述本发明的具体实施例，本发明之较佳实施例在附图中示出，附图的作用在于用图形补充说明书文字部分的描述，使人能够直观地、形象地理解本发明的每个技术特征和整体技术方案，但其不能理解为对本发明保护范围的限制。
在本发明的描述中，若干的含义是一个或者多个，多个的含义是两个以上，大于、小于、超过等理解为不包括本数，以上、以下、以内等理解为包括本数。如果有描述到第一、第二只是用于区分技术特征为目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量或者隐含指明所指示的技术特征的先后关系。
本发明的描述中，除非另有明确的限定，设置、安装、连接等词语应做广义理解，所属技术领域技术人员可以结合技术方案的具体内容合理确定上述词语在本发明中的具体含义。
如图1-11所示，本发明的飞行汽车机翼和旋翼混合式收放系统，包括：车身、两侧机翼、机翼旋转机构、旋翼支撑、旋翼支撑旋转机构、旋翼总成；机翼活动连接于车身；机翼旋转机构驱动机翼从平行于车身纵轴线状态旋转成垂直于车身纵轴线状态，并且也能反向转回，即能完成机翼的汽车工作状态和飞行工作状态之间的转换；或者，所述机翼也能够固定停留在旋转过程中的任意位置，完成机翼的汽车工作状态和飞行工作状态之间的转换；完成汽车工作状态和飞行工作状态转换后机翼和车身之间位置相对固定不再活动；旋翼支撑活动连接于机翼，通过启动旋翼支撑旋转机构旋转旋翼支撑，实现旋翼支撑在机翼面上的旋转，使其能从平行于机翼纵轴线（机翼展开与车身纵轴线垂直的轴线为机翼纵轴线）状态旋转成垂直于机翼纵轴线状态，并且也能反向转回；当机翼旋转，从机翼平行于车身纵轴线状态（汽车工作状态）旋转成垂直于车身纵轴线状态（飞行工作状态）时，旋翼支撑在机翼面上从平行于机翼纵轴线的状态旋转成垂直于机翼纵轴线状态，并且也能反向转回；即能完成旋翼总成在汽车工作状态和飞行工作状态之间的转换；或者，所述旋翼支撑也能够固定停留在旋转过程中的任意位置，完成旋翼总成的汽车工作状态和飞行工作状态之间的转换。完成汽车工作状态和飞行工作状态转换后旋翼支撑和机翼之间位置相对固定不再活动。
机翼面可以与机身纵轴线平行，也可以与机身纵轴线呈一定的角度。
旋翼支撑可以与机翼面平行，也可以与机翼面呈一定的角度。
机翼、机翼旋转机构和旋翼总成关于车身纵轴线对称。
如图1所示，两侧机翼设置在车身靠近车头的位置，机翼可安装一个或多个所述旋翼支撑。
旋翼支撑为一根整体旋翼支撑，其旋转中心点设置在旋翼支撑两端之间的任意位置。如图1所示的实施例中，旋转中心点设置在旋翼支撑中间，这个结构为本发明优选结构。优选的，一侧机翼上设置有一个前旋翼支撑和一个后旋翼支撑，布置在机翼上方，前旋翼支撑和后旋翼支撑为一根整体支撑，共用旋转中心点，旋翼支撑的两端各设置有一个旋翼总成。
如图21所示，旋翼支撑一分为二包括前旋翼支撑和后旋翼支撑，两者可以共用旋转中心点，两者设置旋转中心点的一端重叠；或者各自设置旋转中心点。如图21所示，旋翼支撑为两段式，前旋翼支撑和后旋翼支撑，所述前旋翼支撑和后旋翼支撑的长度相等或不相等。一侧机翼上设置有两个前旋翼支撑和三个后旋翼支撑，布置在机翼上方以及下方，前旋翼支撑和后旋翼支撑有各自的旋转轴，不共用旋转中心点，每个旋翼支撑上设置有一个或一个以上的旋翼。
如图13、18、20所示，机翼旋转机构可通过舵机、销轴、齿轮传动、带轮传动、链传动、连杆或以上方式的组合驱动机翼旋转，通过启动机翼旋转机构驱动机翼旋转到车身两侧，或反向旋转进车身内侧，且能够固定停留在旋转过程中的任意位置，完成机翼的汽车工作状态和飞行工作状态之间的转换。
具体的，如图13所示，机翼旋转机构通过舵机传动，其结构和原理如下：此时，机翼旋转机构包括机翼旋转舵机和舵机一字臂两部分组成。舵机可视为电机和齿轮组的集成，可将电机输出的扭矩进行放大。舵机固定安装在机身上。舵机一字臂安装在舵机输出轴上，与机翼固定连接。当舵机输出轴转动时，舵机一字臂带动机翼旋转，机翼旋转舵机为市购。此为本发明优选方案。
具体的，如图18所示，机翼旋转机构通过连杆传动，其结构和原理如下：采用连杆作为机翼旋转机构时的安装关系为：连杆翼根转轴与车身固定连接。机翼从动连杆通过绕机翼连杆第一销轴固定在机翼上，并绕机翼连杆第一销轴旋转。机翼驱动连杆通过机翼连杆第二销轴固定在车身上，并绕机翼连杆第二销轴旋转。机翼从动连杆和机翼驱动连杆通过机翼连杆第三销轴连接，并绕机翼连杆第三销轴旋转。
工作原理：当机翼驱动连杆绕机翼连杆第二销轴旋转时，通过机翼连杆第三销轴带动机翼从动连杆驱动机翼在车身上方绕连杆翼根转轴旋转。机翼驱动连杆绕机翼连杆第二销轴旋转角度控制机翼绕连杆翼根转轴旋转的角度，从而控制机翼收回车身内侧或在车身两侧展开。
具体的，如图20所示，机翼旋转机构通过带轮机构传动，其结构和原理如下：采用带轮机构作为机翼旋转机构时的安装关系为：带轮翼根转轴与车身固定连接。机翼与机翼从动带轮固定连接，绕带轮翼根转轴在车身上方旋转。机翼从动带轮与机翼主动带轮通过机翼带传动旋转运动。机翼主动带轮固定在机翼带轮电机输出轴上。机翼带轮电机固定在车身上。
工作原理：机翼带轮电机与车身紧固连接相对保持不动。当机翼带轮电机旋转时会带动机翼主动带轮旋转。机翼主动带轮通过机翼带传动旋转运动给机翼从动带轮。因为机翼与机翼从动带轮固定连接，共同绕带轮翼根转轴在车身上方旋转。因此当机翼带轮电机旋转时，会通过带传动机构驱动机翼绕带轮翼根转轴旋转。转动角度由机翼带轮电机控制，从而控制机翼收回车身内侧或在车身两侧展开。
如图13、17、19所示，所述旋翼支撑旋转机构通过舵机、销轴、齿轮传动、带轮机构传动、链传动或连杆或以上方式的组合驱动旋翼支撑旋转，通过启动旋翼支撑旋转机构旋转旋翼支撑，实现旋翼支撑在机翼面上的旋转。旋翼支撑优选为杆件。
具体的，如图13所示，旋翼支撑旋转机构通过舵机传动，其结构和原理如下：此时，旋翼支撑旋转机构包括旋翼支撑旋转舵机和舵机一字臂两部分组成。舵机可视为电机和齿轮组的集成，可将电机输出的扭矩进行放大。舵机固定安装在机翼上。舵机一字臂安装在舵机输出轴上，与旋翼支撑固定连接。当舵机输出轴转动时，舵机一字臂带动旋翼支撑旋转，旋翼支撑旋转舵机为市购。此方案为本发明优选方案。
具体的，如图17所示，旋翼支撑旋转机构通过连杆传动，其结构和原理如下：采用连杆作为旋翼支撑旋转机构时的安装关系为：前旋翼支撑与后旋翼支撑在机翼上方固定连接。连杆支撑转轴与机翼固定连接。支撑从动连杆通过绕支撑连杆第一销轴固定在后旋翼支撑上，并绕支撑连杆第一销轴旋转。支撑驱动连杆通过支撑连杆第二销轴固定在机翼上，并绕支撑连杆第二销轴旋转。支撑从动连杆和支撑驱动连杆通过支撑连杆第三销轴连接，并绕支撑连杆第三销轴旋转。
工作原理：当支撑驱动连杆绕支撑连杆第二销轴旋转时，通过支撑连杆第三销轴带动支撑从动连杆驱动后旋翼支撑和前旋翼支撑在机翼上方绕连杆支撑转轴旋转。支撑驱动连杆绕支撑连杆第二销轴旋转角度控制前旋翼支撑与后旋翼支撑绕连杆支撑转轴旋转的角度，从而控制前旋翼支撑与后旋翼支撑收回机翼内侧或在机翼两侧展开。
具体的，如图19所示，旋翼支撑旋转机构通过带轮机构传动，其结构和原理如下：采用带轮机构作为旋翼支撑旋转机构时的安装关系为：前旋翼支撑与后旋翼支撑在机翼上方固定连接。支撑带轮转轴与机翼固定连接。前旋翼支撑和后旋翼支撑与支撑从动带轮固定连接，共同绕支撑带轮转轴在机翼上方旋转。支撑从动带轮与支撑主动带轮通过支撑带传动旋转运动。支撑主动带轮固定在支撑带轮电机输出轴上。支撑带轮电机固定在机翼上。
工作原理：支撑带轮电机与机翼紧固连接相对保持不动。当支撑带轮电机旋转时会带动支撑主动带轮旋转。支撑主动带轮通过支撑带传动旋转运动给支撑从动带轮。因为前旋翼支撑和后旋翼支撑与支撑从动带轮固定连接，共同绕支撑带轮转轴在机翼上方旋转。因此当支撑带轮电机旋转时，会通过带传动机构驱动前旋翼支撑和后旋翼支撑绕支撑带轮转轴旋转。转动角度由支撑带轮电机控制，从而控制前旋翼支撑与后旋翼支撑收回机翼内侧或在机翼两侧展开。
如图16所示，所述机翼面包括上表面和下表面，所述旋翼设置在机翼面的上表面上方或者机翼面的下表面的下方。
作为一种示例，如图1所示，旋翼总成设置在机翼面的上表面上方。
作为一种示例，如图21所示，旋翼总成还可以设置在机翼面的下表面的下方。
如图14所示，所述旋翼总成通过倾转舵机总成的倾转舵机U型支架与旋翼支撑连接，倾转舵机电机可驱动倾转舵机U型支架在0到180°范围内旋转。为满足飞行汽车升降和前进的状态需求，旋翼总成优选在与机翼面平行和垂直的90°范围内倾转，且能够固定停留在倾转过程中的任意位置（即实现了旋翼的旋翼面可以在与机翼面平行和垂直的90°范围内倾转，满足飞行汽车升降和前进的状态需求），倾转舵机为市购。此为本发明优选方案。
作为一种示例，如图13所示，后旋翼总成通过电机固定板与旋翼支撑固定连接。因此，后旋翼总成不可倾转。此实例为本发明优选实例。
本发明还提供一种飞行汽车，包括如上述任一项所述的飞行汽车机翼和旋翼混合式收放系统，还包括设置于所述车身尾部的垂直机翼、水平机翼，还包括汽车转向系统、动力总成和飞行控制驾驶杆；转向系统和动力总成安装在所述车身底部；飞行控制驾驶杆安装在驾驶舱座位侧方。
如图12所示，飞行汽车转向系统安装在车轮前轴，动力总成安装在后轴。转向系统包括方向盘、转向万向节、转向拉杆和前车轮。动力总成包括后轮驱动电机、后轮驱动轴和后轮支撑杆。
如图12所示，飞行汽车主驾驶位安装有转向方向盘和飞行控制驾驶杆。
如图14所示，旋翼的旋翼面可由舵机机构驱动，因此可停留在倾转过程中的任意位置。
如图7和11所示，根据本发明的一些实施例，在能提供足够升力的前提下，旋翼的尺寸由两个因素决定。第一，旋翼的直径应该小于旋翼支撑的长度。第二，倾转旋翼的半径应该小于倾转旋翼距离地面的高度。优选的，本发明实施例中旋翼直径小于2.5米。
如图15所示，本实施例中，旋翼总成可细分为旋翼、旋翼上夹片、旋翼下夹片和电机。两片旋翼被上下两片夹片夹紧，并通过紧固螺钉拧紧。拧紧力度使得旋翼不会射出，但应同时保证旋翼可绕紧固螺钉旋转。由于飞行汽车总高度小于1.7米，当飞行汽车准备进入车辆模式时，成年人可在地面折叠旋翼为图15中所示折叠状态。当飞行汽车进入起飞准备状态时，旋翼可依靠电机输出的扭矩在离心力的作用下自行打开。当旋翼折叠到与旋翼支撑在同一条直线上，旋翼不回超出车身宽度，且相邻的旋翼之间不会发生干涉；同时，为了避免相邻的旋翼在工作时发生干涉，在设计时需让相邻的旋翼的高度错开，或让旋翼之间有足够的距离。
如图7，8，9所示，飞行汽车总长不超过6米，总宽不超过2米，总高不超过1.7米，机翼翼展小于9米，机翼弦长小于1.2米。因此，本发明提出的飞行汽车满足乘用车尺寸要求，可在城市道路行驶。
如图6所示，飞行汽车地面行驶工作原理论述如下。在车辆模式默认情况下，飞行汽车的机翼旋转收回车身内侧，旋翼支撑带动旋翼总成旋转收回机翼内侧。此时，驾驶员进入飞行汽车驾驶舱主驾驶位，启动动力总成驱动飞行汽车在地面行驶，并通过方向盘控制飞行汽车行驶方向。当到达目的地时，驾驶员可关闭动力总成，进而飞行汽车停止。
飞行汽车切换到飞行模式后主要由飞行控制驾驶杆进行操纵控制，如图16、图23所示，飞行控制驾驶杆主要包括驾驶杆开关、多旋翼和固定翼飞行状态切换开关、握把、左偏航按钮、右偏航按钮、油门拨杆、刹车拨杆和飞行控制驾驶杆底座，飞行控制驾驶杆连接于飞行控制信号线。
图23为本发明实施例的飞行控制线路分布图，图中双点划线为飞行控制信号线，从飞行控制驾驶杆出发，与旋翼总成、倾转舵机总成、机翼副翼、水平尾翼方向舵和垂直尾翼升降舵等机构相连，飞行控制信号线将飞行控制驾驶杆的控制信号分别传输至旋翼、机翼和尾翼处，从而控制对应的电机和舵机等驱动机构，实现飞行状态的转换，具体控制方法如下：如图1和16所示，飞行汽车从车辆模式转变到飞行模式工作原理论述如下。驾驶员进入飞行汽车驾驶舱主驾驶位以后，通过触发飞行控制驾驶杆的驾驶杆开关，启动飞行控制驾驶杆，关闭车辆模式。此时，机翼由机翼旋转机构驱动，从车身内侧展开至车身两侧。机翼从与车身纵轴线平行展开至与纵轴线垂直。与此同时，旋翼支撑由旋翼支撑驱动机构驱动，带动旋翼总成从机翼内侧展开至与机翼垂直。优选的，旋翼支撑在与机翼上表面平行方向有序展开，前旋翼和后旋翼翼面与水平面平行。飞行汽车进入起飞准备状态。
如图1和16所示，飞行汽车起飞过程工作原理。驾驶员拨动飞行控制驾驶杆上多旋翼和固定翼飞行状态切换开关，将飞行汽车切换到多旋翼状态。多旋翼和固定翼飞行状态切换开关是一个三段式开关，开关默认中位是空位，向左旋转飞行汽车切换为多旋翼状态，向右旋转切换为固定翼状态。然后，驾驶员通过触发飞行控制驾驶杆上的油门拨杆，旋翼总成的电机启动，进而带动旋翼旋转。当旋翼产生足够升力时，飞行汽车垂直起飞。飞行汽车降落原理是以上过程逆过程，不同的是，驾驶员通过触发飞行控制驾驶杆上的刹车拨杆降低旋翼转速，使得飞行汽车逐步落地。
如图1和16所示，飞行汽车空中多旋翼状态运动原理。飞行汽车在空中悬停状态下，驾驶员可通过操纵飞行控制驾驶杆方向，控制飞行汽车以多旋翼状态进行横滚、俯仰、和偏航动作。当飞行控制驾驶杆握把向前推送时，飞行汽车后旋翼转速高于前旋翼，因此产生向前的升力差，飞行汽车向前飞行。反之，飞行汽车向后飞行。当飞行控制驾驶杆握把向左推送时，飞行汽车右侧旋翼转速高于左侧，因此产生向左的升力差，飞行汽车向左飞行。反之，飞行汽车向右飞行。当触发飞行控制驾驶杆左偏航按钮时，飞行汽车左前旋翼和右后旋翼转速高于右前旋翼和左后旋翼，因此产生向左偏转的升力差，飞行汽车向左旋转。反之，触发飞行控制驾驶杆右偏航按钮时，飞行汽车向右旋转。本发明多旋翼状态的控制原理为现有技术，具体可参考王瑞和丁晓青著作的《四旋翼飞行器设计与实现》一书18-20页内容（ISBN:9787302489641）。
如图14和16所示，飞行汽车从多旋翼状态转变到固定翼状态原理。飞行汽车在空中悬停状态下，驾驶员可通过拨动飞行控制驾驶杆上多旋翼和固定翼飞行状态切换开关，飞行汽车逐步从多旋翼状态转变为固定翼状态。此时，飞行汽车两个前旋翼在舵机机构的带动下，其翼面由与水平面平行，缓缓过渡到与水平面垂直，进而将升力方向由与水平面垂直转变为平行，飞行汽车由悬停状态缓缓加速，机翼逐步产生升力。当机翼产生的升力足以克服飞行汽车重力时，飞行汽车进入固定翼飞行状态。此时，两个后旋翼逐步停止，旋翼在电机锁的控制下，最终与旋翼支撑在竖直方向重合并且停止旋转。飞行汽车从固定翼状态变回多旋翼状态是以上过程逆过程。本发明多旋翼和固定翼状态切换为现有技术，具体可参考杨军、吴希明、凡永华、袁博著作的《倾转旋翼机飞行控制》一书18-19页内容（ISBN:9787801837349）。
如图11和16所示，飞行汽车固定翼状态飞行原理。在固定翼状态下，当飞行控制驾驶杆握把向前推送时，飞行汽车水平尾翼尾舵向上偏转，飞行汽车俯冲下降。反之，飞行汽车抬头爬升。当飞行控制驾驶杆握把向左推送时，飞行汽车机翼副翼舵面发生偏转，右副翼向下，左副翼向上，飞行汽车向左倾斜飞行。反之，飞行汽车向右倾斜飞行。当触发飞行控制驾驶杆左偏航按钮时，飞行汽车垂直尾翼方向舵向左偏转，飞行汽车向左偏航。反之，当触发飞行控制驾驶杆右偏航按钮时，飞行汽车向右偏航。本发明多旋翼和固定翼状态切换为现有技术，具体可参考江群、王春著作的《民航基础知识应用》一书17-18页内容（ISBN: 9787118075588）。
如图1、6和16所示，飞行汽车从飞行模式转变到车辆模式工作原理论述如下。待飞行汽车垂直降落地面以后，驾驶员通过关闭飞行控制驾驶杆上的开关，飞行汽车进入车辆模式。此时，机翼由机翼旋转机构驱动，从车身两侧收回至车身内侧。优选的，机翼从与车身纵轴线垂直收回至与纵轴线平行。与此同时，旋翼支撑由旋翼支撑驱动机构驱动，带动旋翼总成从机翼外侧收回至机翼内侧。优选的，旋翼支撑在与机翼上表面平行方向有序收回。飞行汽车进入车辆模式。
如图12所示，飞行汽车驾驶舱内可乘坐至少两名乘客。其中，主驾驶位前方设置飞行汽车行驶模式的转向方向盘以及配套转向系统，主驾驶位侧方安装飞行控制驾驶杆及配套飞行控制系统。
如图12所示，本发明实施例中飞行汽车采用后轮驱动方式，车辆动力总成通过后轮驱动轴与车轮连接，驱动飞行汽车在地面行驶。
 工业实用性
本发明巧妙的利用了机翼、旋翼支撑结构的旋转变形，提出了一种固定翼、多旋翼和车辆融合的飞行汽车布局。本发明提出的飞行汽车多旋翼布局使其具备垂直起降能力；固定翼布局使其具备长续航能力；机翼和旋翼的巧妙联合旋转使其车辆模式占地面积小，符合道路交通法规。因此，本设计具备垂直起降、长续航、飞行器和车辆设计融合的特点。

Claims (10)

  1. 一种飞行汽车机翼和旋翼混合式收放系统，包括：车身、两侧机翼、机翼旋转机构、旋翼支撑、旋翼支撑旋转机构、旋翼总成，其特征在于：所述机翼活动连接于所述车身；所述机翼及所述机翼旋转机构对称设置于所述车身两侧；所述机翼旋转机构驱动机翼旋转展开到所述车身两侧，或反向旋转收回到所述车身内侧；所述旋翼支撑通过旋翼支撑旋转机构活动连接于所述机翼上，所述旋翼总成设置在所述旋翼支撑上；所述旋翼支撑旋转机构驱动所述旋翼支撑展开到所述机翼两侧，或反向旋转收回到所述机翼内侧，实现所述旋翼支撑在所述机翼面上的旋转。
  2. 根据权利要求1的所述的飞行汽车机翼和旋翼混合式收放系统，其特征在于，所述机翼上可安装一个或多个所述旋翼支撑。
  3. 根据权利要求1的所述的飞行汽车机翼和旋翼混合式收放系统，其特征在于，所述旋翼支撑为一根整体所述旋翼支撑，其旋转中心点设置在所述旋翼支撑两端之间的任意位置。
  4. 根据权利要求1的所述的飞行汽车机翼和旋翼混合式收放系统，其特征在于所述旋翼支撑一分为二包括前旋翼支撑和后旋翼支撑，两者共用旋转中心点，或者各自设置旋转中心点。
  5. 根据权利要求1的所述的飞行汽车机翼和旋翼混合式收放系统，其特征在于，所述机翼旋转机构通过舵机、销轴、齿轮、带轮、链传动、连杆或以上方式的组合驱动所述机翼旋转，通过启动所述机翼旋转机构驱动所述机翼旋转到所述车身两侧，或反向旋转进所述车身内侧，且能够停留在旋转过程中的任意位置。
  6. 根据权利要求1的所述的飞行汽车机翼和旋翼混合式收放系统，其特征在于，所述旋翼支撑旋转机构通过舵机、销轴、齿轮、带轮、链传动、连杆或以上方式的组合驱动所述旋翼支撑旋转，通过启动所述旋翼支撑旋转机构旋转所述旋翼支撑，实现所述旋翼支撑在所述机翼面上的旋转。
  7. 根据权利要求1的所述的飞行汽车机翼和旋翼混合式收放系统，其特征在于，所述旋翼支撑可设置在所述机翼面的上表面上方或者所述机翼面的下表面的下方。
  8. 根据权利要求1的所述的飞行汽车机翼和旋翼混合式收放系统，其特征在于，所述旋翼总成包括电机及旋翼；所述旋翼与所述电机输出轴固定连接，所述电机通过固定装置或可转动装置安装在所述旋翼支撑上。
  9. 根据权利要求1的所述的飞行汽车机翼和旋翼混合式收放系统，其特征在于，所述旋翼支撑上可安装一个或多个所述旋翼总成。
  10. 一种飞行汽车，其特征在于，包括如权利要求1至9中任一项所述的飞行汽车机翼和旋翼混合式收放系统，还包括设置于所述车身尾部的垂直机翼、水平机翼，还包括汽车转向系统、动力总成和飞行控制操纵机构；转向系统和动力总成安装在所述车身底部；飞行控制操纵机构安装在车身内部。
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