CN104527976B - tilt-wing aircraft with retractable membrane - Google Patents

Abstract

The flexible rotor aircraft that verts of a kind of ala.It includes fuselage, axis, main drive gear, the first to three power packages, outer side rod, support bar, main wing film, flight controller, the first to three undercarriage.Aircraft of the present invention is the improvement carrying out on tradition quadrotor architecture basics, and adds the ala structure of vert structure and the flapping wing aircraft of Tilting four-rotor-wing aircraft.Its configuration state can be divided into ground taxi state, four rotor flying states and high cruise state.When it is in ground motion state, undercarriage contacts with ground, and main wing film is opened, and the speed adjusting four rotors realizes the moving ahead of aircraft, rear row, left-hand rotation, right-hand rotation, climbing, downslope motion.Effect due to undercarriage, it is achieved that aircraft in ground motion state, this be vert quadrotor and flapping wing aircraft all not attainable.Climbing and downslope motion also can realize without change of flight device state, reduce energy consumption and avoid the complexity of control program.

Description

tilt-wing aircraft with retractable membrane

technical field

The invention belongs to the technical field of aerospace power machinery, and in particular relates to a tilting-wing aircraft with a retractable wing membrane.

technical background

The current research direction of quadrotor aircraft is mainly to achieve attitude stability control, multi-unit group control, etc., but these controls cannot avoid some shortcomings of quadrotor aircraft, especially slow flight speed, limited energy storage and not suitable for long-distance flight. Because the traditional four-rotor aircraft produces a lift difference by controlling the different speeds of the front and rear rotors, but this will inevitably cause the fuselage to produce a pitching motion, and then achieve a horizontal forward flight action. This forward method will make the traditional quadrotor aircraft horizontal Forward flight and vertical lift affect each other. On the other hand, the traditional four-rotor aircraft is limited by the design mechanism, and it is difficult to achieve a high cruising speed like a fixed wing, so a tiltable four-rotor aircraft has appeared.

The tiltable quadrotor aircraft needs a power device to drive the rotor and other components to rotate. These power devices will increase energy consumption to a certain extent. short. Because of the above shortcomings, the application of tiltable quadrotor aircraft in long-distance flight is greatly limited, so some people add fixed wing structure to the structure of tiltable quadrotor aircraft.

The mechanical efficiency of flapping-wing aircraft is higher than that of fixed-wing aircraft. It generates lift and thrust by flapping up and down. The flapping process of the wing aircraft consumes a lot of energy, and the flapping wing aircraft cannot carry a large amount of energy, so there is a big obstacle for long-distance flight.

Contents of the invention

In order to solve the above problems, the object of the present invention is to provide a tilt-wing aircraft with a retractable membrane.

In order to achieve the above object, the tilting-wing aircraft provided by the present invention includes a fuselage, a central axis, a main transmission mechanism, a first power group, a second power group, a third power group, a left side outer pole, a left side Support rod, right outer side rod, right support rod, main membrane, flight controller, first landing gear, second landing gear and third landing gear; the fuselage is a hollow tubular structure; the main transmission mechanism is arranged inside the fuselage , which includes a motor, a coupling, a main shaft, the transmission mechanism of the first to third power groups, and the telescopic transmission mechanism of the wing membrane. The output shaft of the motor is connected to one end of the main shaft through the coupling; the main shaft is arranged horizontally inside the fuselage, The transmission mechanism of the first power group, the transmission mechanism of the second power group, the telescopic transmission mechanism of the wing membrane and the transmission mechanism of the third power group are arranged at a distance from left to right. The outer end of the transmission mechanism of the first power group is located outside the front end of the fuselage. , the outer end of the transmission mechanism of the third power group is located outside the rear end of the fuselage, and electromagnetic locks are installed on the transmission mechanism of the first power group, the transmission mechanism of the second power group, the telescopic transmission mechanism of the wing film and the transmission mechanism of the third power group tightening device; the first power group includes the first motor and the first rotor, the first motor is fixed on the outer end of the transmission mechanism of the first power group, and the output shaft is connected to the first rotor; the third power group includes the fourth motor, The fourth rotor is connected to the hinge, and one end of the hinge connection is fixed on the outer end of the transmission mechanism of the third power group; the fourth motor is fixed on the other end of the hinge connection, and its output shaft is connected to the fourth rotor; the middle part of the central shaft runs through The outer end of the transmission mechanism of the second power group and the middle part of the fuselage, and has a cross structure with the fuselage; the second power group includes the second motor, the third motor, the second rotor and the third rotor; the second motor and the third motor They are respectively installed at both ends of the center shaft and are symmetrical about the fuselage, and the output shafts of the second motor and the third motor are respectively connected to the second rotor and the third rotor; the front ends of the left support rod and the right support rod penetrate the machine The two sides of the middle of the body are connected to the outer ends of the patellar telescopic transmission mechanism; the rear ends of the left and right outer rods are respectively hinged at the rear ends of the left and right support rods, while the left and right outer rods and the front ends of the outer rods on the right side are respectively hinged on both sides of the front of the fuselage, thereby forming two symmetrical four-bar mechanisms with respect to the fuselage to control the contraction of the main wing membrane; the main wing membrane is an isosceles triangle, and the upper membrane The center line of the bottom edge of the lower diaphragm is fixed on the circumferential surface of the lower end of the fuselage, and the two waists are respectively fixed on the left outer rod and the right outer rod; the middle part of the upper diaphragm is raised, and the three sides It overlaps and fixes with the three sides of the lower membrane; the flight controller is installed inside the raised part of the main membrane, and is electrically connected with all motors and electromagnetic locking devices; the first landing gear is installed at the lower part of the fuselage close to the first power At the group, the second landing gear and the third landing gear are symmetrical about the fuselage, and the upper ends are respectively installed at the intersections of the left outer side pole and the left side support pole and the right side outer side pole and the right side support pole.

The first power group transmission mechanism includes a first incomplete gear, a gear pulley, a belt, a first pulley and a first electromagnetic locking device; wherein the first incomplete gear is installed on the main shaft; the gear pulley and the first The outer circumference of the incomplete gear is engaged; the first pulley is located outside the front end of the fuselage, and the outer surface is connected with the first motor; An electromagnetic locking device.

The second power group transmission mechanism includes a second incomplete gear, a gear and a second electromagnetic locking device; wherein the second incomplete gear is installed on the main shaft; the gear is meshed with the outer circumference of the second incomplete gear, The middle part of the central shaft is arranged through the central hole of the gear, and a second electromagnetic locking device is respectively installed on the upper and lower sides of the gear.

The said patellar expansion and contraction transmission mechanism comprises a third incomplete gear, a rack, a fixed block and a third electromagnetic locking device; wherein the third incomplete gear is installed on the main shaft; the rack meshes with the third incomplete gear; The fixed block is installed on the front end surface of the rack, and is connected with the front ends of the left support bar and the right support bar; the third electromagnetic locking device is installed above the rear end of the rack.

The third power group transmission mechanism includes a fourth incomplete gear, an incomplete toothed belt, a second pulley and a fourth electromagnetic locking device; wherein the fourth incomplete gear is installed on the main shaft; the second pulley is located on the Outside the rear end, the outer surface is connected to one end of the hinge connection; the incomplete toothed belt is sleeved on the outer circumference of the fourth incomplete gear and the second pulley, and a fourth electromagnetic locking device is respectively installed above and below the second pulley.

The tilt-wing aircraft with retractable membrane also includes a triangular tail membrane installed on the upper end of the hinge connection and the outer peripheral surface of the fourth motor.

The tilting-wing aircraft with stretchable wings provided by the invention is an improvement based on the structure of the traditional quadrotor aircraft, and the tilting structure of the tiltable quadrotor aircraft and the membrane structure of the flapping-wing aircraft are added. Its structural state can be divided into three types: ground taxiing state, quadrotor flying state and high-altitude cruising state. When it is in the state of ground motion, the landing gear is in contact with the ground, the main wing membrane is opened, and the speed of the four rotors is adjusted to realize the forward, backward, left turn, right turn, climbing, and downhill movements of the aircraft. Due to the effect of the landing gear, the aircraft is in motion on the ground, which is impossible for both the tilting quadrotor aircraft and the flapping wing aircraft. Climbing and descending movements can also be realized without changing the state of the aircraft, reducing energy consumption and avoiding the complexity of the control program.

When it is in the four-rotor flight state, it is similar to the traditional four-rotor flight state. Each motor controls a rotor independently, and the control system is simple. Even if one of the motors fails, it will not affect the work of other motors to drive the rotor. Fast vertical takeoff and landing, no need for takeoff and landing runway. The main wing membrane shrinks, optimizing the aerodynamic layout, and the air resistance is small.

When it is in the high-altitude cruising state, the first power group and the second power group provide forward thrust, so that the high-altitude cruising speed of the aircraft is faster. The main membrane is opened to provide upward lift, and the membrane structure does not need to be flapped, which reduces energy consumption. Compared with tilting quadrotor aircraft and flapping wing aircraft, the aircraft cruises faster, consumes less energy, and is more suitable for long-distance flight. Even if the energy is exhausted during the cruising process, due to the effect of the membrane, the aircraft can land smoothly, and the aircraft will not be damaged due to a sudden landing.

The tilting-wing aircraft provided by the present invention is changed from the ground motion state to the four-rotor flight state or from the four-rotor flight state to the high-altitude flight state by a main transmission mechanism to realize the first power group, the second The rotation of the second power group and the third power group and the expansion and contraction of the main membrane. The structure is novel and simple, only one motor is needed, the energy consumption is small, and the control system is simple.

The combined structure of the membrane structure and the flight controller in the present invention, on the one hand, protects the flight controller from external environment interference such as moisture and noise, and on the other hand, the flight controller optimizes the membrane structure and optimizes the aerodynamic layout of the membrane , which is more conducive to the wing membrane to provide lift for the aircraft.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the tilt-wing aircraft with retractable membrane provided by the present invention when it is in the ground taxiing state and the high-altitude cruising state.

Fig. 2 is a schematic diagram of the structure of the tilt-wing aircraft with retractable membrane provided by the present invention when it is in a quadrotor flight state.

Fig. 3 is a structural schematic diagram of the main transmission mechanism in the tilt-wing aircraft with retractable membrane provided by the present invention.

Fig. 4 is a schematic diagram of the initial position of the structure of the first power group transmission mechanism in the main transmission mechanism of the tilt-wing aircraft with retractable membrane provided by the present invention.

Fig. 5 is a schematic diagram of the initial position of the structure of the second power group transmission mechanism in the main transmission mechanism of the tilt-wing aircraft with retractable membrane provided by the present invention.

Fig. 6 is a schematic diagram of the initial position of the structure of the main transmission mechanism of the tilt-wing aircraft with the expansion and contraction of the membrane provided by the present invention.

7 is a schematic diagram of the initial position of the structure of the third power group transmission mechanism in the main transmission mechanism of the tilt-wing aircraft with retractable membrane provided by the present invention.

detailed description

The directions and angles mentioned in the following embodiments should be understood in this way. All directions and angles refer to the intersection of the fuselage and the central axis as the reference point, and the observer is located at the reference point and faces the direction and angle observed by the rudder.

The tilt-wing aircraft with retractable membrane provided by the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in Fig. 1-Fig. 3, the tilting wing aircraft that the membrane stretching provided by the present invention comprises fuselage 4, central shaft 303, main transmission mechanism, first power group, second power group, the 3rd power group, left Side outer side bar 603, left side support bar 604, right side outer side bar 601, right side support bar 602, main wing membrane, flight controller 8, first landing gear 201, second landing gear 202 and third landing gear 203; The body 4 is a hollow tubular structure; the main transmission mechanism is arranged inside the fuselage 4, which includes a motor 701, a shaft coupling 702, a main shaft 703, the first to third power group transmission mechanisms and the wing membrane telescopic transmission mechanism, and the output of the motor 701 The shaft is connected to one end of the main shaft 703 through a coupling 702; the main shaft 703 is horizontally arranged inside the fuselage 4, and the first power group transmission mechanism, the second power group transmission mechanism, and the expansion and contraction of the wing film are arranged at a distance from left to right. Transmission mechanism and the third power group transmission mechanism, the outer end of the first power group transmission mechanism is located outside the front end of the fuselage 4, the outer end of the third power group transmission mechanism is located outside the rear end of the fuselage 4, and the first power group transmission mechanism , the transmission mechanism of the second power group, the telescopic transmission mechanism of the wing film and the transmission mechanism of the third power group are equipped with electromagnetic locking devices; the first power group includes the first motor 101 and the first rotor 102, and the first motor 101 is fixed on On the outer end of the transmission mechanism of the first power group, the output shaft is connected with the first rotor 102; the third power group includes the fourth motor 501, the fourth rotor 502 and the hinge connection 504, and one end of the hinge connection 504 is fixed on the third power The outer end of the transmission mechanism of the second power group; the fourth motor 501 is fixed on the other end of the hinge connection 504, and the output shaft is connected with the fourth rotor 502; the middle part of the central axis 303 runs through the outer end of the transmission mechanism of the second power group and the fuselage 4, and is in a cross structure with the fuselage 4; the second power group includes a second motor 301, a third motor 304, a second rotor 302 and a third rotor 305; the second motor 301 and the third motor 304 are respectively installed in the center The two ends of the shaft 303 are symmetrical about the fuselage 4, and the output shafts of the second motor 301 and the third motor 304 are respectively connected to the second rotor 302 and the third rotor 305; the left side support rod 604 and the right side support rod 602 The front end runs through both sides of the middle part of the fuselage 4 and is connected to the outer end of the airfoil telescopic transmission mechanism; the rear ends of the left outer side bar 603 and the right side outer side bar 601 are respectively hinged on the left side support bar 604 and the right side support bar 602 and the front ends of the left outer side bar 603 and the right side outer side bar 601 are respectively hinged on both sides of the front part of the fuselage 4, thereby forming two symmetrical four-bar mechanisms about the fuselage to control the main wing membrane Contraction; the main wing membrane is an isosceles triangle and is composed of an upper diaphragm 605 and a lower diaphragm 606, wherein the centerline of the bottom edge of the lower diaphragm 606 is fixed on the circumferential surface of the lower end of the fuselage 4, and the two waists are respectively fixed on the left outer side bar 603 and on the right side outer side bar 601; the middle part of the upper diaphragm 605 protrudes, and the three sides overlap and fix together with the three sides of the lower diaphragm 606; the flight controller 8 Installed inside the raised part of the main wing membrane, and electrically connected with all motors and electromagnetic locking devices; the first landing gear 201 is installed on the lower part of the fuselage 4 close to the first power group, the second landing gear 202 and the third landing gear 203 is symmetrical about the fuselage 4, and the upper ends are respectively installed at the intersections of the left outer side bar 603 and the left side support bar 604 and the right side outer side bar 601 and the right side support bar 602.

As shown in Figure 4, the first power group transmission mechanism includes a first incomplete gear 704, a gear pulley 705, a belt 706, a first pulley 707 and a first electromagnetic locking device 716; wherein the first incomplete gear 704 is installed on the main shaft 703; the outer circumference of the gear pulley 705 and the first incomplete gear 704 is engaged; the first pulley 707 is located outside the front end of the fuselage 4, and the outer surface is connected to the first motor 101; the belt 706 is sleeved on the gear pulley 705 and the outer circumference of the first pulley 707; a first electromagnetic locking device 716 is respectively installed above and below the first pulley 707.

As shown in Figure 5, the second power group transmission mechanism includes a second incomplete gear 715, a gear 708 and a second electromagnetic locking device 717; wherein the second incomplete gear 715 is installed on the main shaft 703; the gear 708 and The outer circumference of the second incomplete gear 715 is in contact with each other, the central shaft 303 is inserted through the center hole of the gear 708 , and a second electromagnetic locking device 717 is respectively mounted on the upper and lower sides of the gear 708 .

As shown in Figure 6, the described patellar telescopic transmission mechanism includes a third incomplete gear 714, a rack 710, a fixed block 709 and a third electromagnetic locking device 718; wherein the third incomplete gear 714 is installed on the main shaft 703 The rack 710 meshes with the third incomplete gear 714; the fixed block 709 is installed on the front end surface of the rack 710, and it is connected with the front ends of the left support rod 604 and the right support rod 602; the third electromagnetic locking device 718 is installed on the rack 710 rear end top.

As shown in Figure 7, the third power group transmission mechanism includes a fourth incomplete gear 711, an incomplete toothed belt 712, a second pulley 713 and a fourth electromagnetic locking device 719; wherein the fourth incomplete gear 711 is installed On the main shaft 703; the second pulley 713 is located outside the rear end of the fuselage 4, and the outer surface is connected with one end of the hinge connection 504; the incomplete toothed belt 712 is sleeved on the outer circumference of the fourth incomplete gear 711 and the second pulley 713 , and a fourth electromagnetic locking device 719 is respectively installed above and below the second pulley 713 .

The tilt-wing aircraft with retractable membrane also includes a triangular tail membrane 503 installed on the upper end of the hinge connection 504 and the outer peripheral surface of the fourth motor 501 .

When the tilting wing aircraft provided by the present invention is in the ground taxiing state, the first landing gear 201, the second landing gear 202 and the third landing gear 203 are in contact with the ground and sliding, and the four rotors 102, 302, 305 , The rotational speed of 502 is used to control the direction of motion of the aircraft. When the tilting wing aircraft provided by the new model is in the high-altitude cruise state, the main membrane provides the lift of the aircraft, and the first power group and the second power group provide the power of the aircraft, and assist the third power group to control the aircraft course.

As shown in FIG. 2 , when the tilt-wing aircraft provided by the present invention is in a four-rotor flight state, two sets of four-bar mechanisms on it control the main membrane to shrink on both sides of the fuselage 4 . The first power group, the second power group and the third power group rotate until the rotation planes of the first rotor 102, the second rotor 302, the third rotor 305 and the fourth rotor 502 are parallel to the plane formed by the fuselage 4 and the central axis 303 . The direction and flight speed of the flight are controlled by the rotational speed and the direction of rotation of the four rotors.

When the tilting-wing aircraft provided by the present invention changes from the four-rotor working state to the ground taxiing state or the high-altitude cruising state, the initial position of the first power group transmission mechanism on it is as shown in Figure 4, and the second power group The initial position of the transmission mechanism is shown in FIG. 5 , the initial position of the wing membrane telescopic transmission mechanism is shown in FIG. 6 , and the initial position of the transmission mechanism of the third power group is shown in FIG. 7 . The implementation steps of changing the tilt-wing aircraft provided by the present invention from the four-rotor working state to the ground taxiing state or the high-altitude cruising state are as follows:

1. As shown in Figure 4, under the control of the flight controller 8, the motor 701 starts to rotate counterclockwise, thereby driving the first incomplete gear 704, the second incomplete gear 715, and the third incomplete gear through the main shaft 703. The complete gear 714 and the fourth incomplete gear 711 rotate together; the first incomplete gear 704 meshes with the gear pulley 705, and the belt 706 on the gear pulley 705 drives the first pulley 707 to rotate. The first incomplete gear 704 meshes with the gear pulley 705 and rotates through 1/8 circle, driving the first power group to rotate 45 degrees. The rest arc of the second incomplete gear 715 is in contact with the gear 708, and the second electromagnetic locking device 717 works up and down the gear 708 to prevent the second power group from rotating. The third incomplete gear 714 meshes with the rack 710 , and the right support rod 602 and the left support rod 604 rotate with the movement of the rack 710 , so that a part of the main patellar membrane is expanded. The fourth incomplete gear 711 is in contact with the toothless part of the incomplete toothed belt 712 , and the fourth electromagnetic locking device 719 works above and below the second pulley 713 to prevent the rotation of the third power group.

2. The motor 701 continues to rotate, the rest arc of the first incomplete gear 704 is in contact with the gear pulley 705, and the first electromagnetic locking device 716 works above and below the first pulley 707 to prevent the first power group from rotating. The second incomplete gear 715 meshes with the gear 708 and rotates through 1/8 circle, driving the second power group to rotate 45 degrees. The third incomplete gear 714 meshes with the rack 710 to realize the continuous expansion of the main membrane. The rest arc of the fourth incomplete gear 711 is in contact with the toothless part of the incomplete toothed belt 712 , and the fourth electromagnetic locking device 719 works above and below the second pulley 713 to prevent the rotation of the third power group.

3. The motor 701 continues to rotate, the first incomplete gear 704 meshes with the gear pulley 705, and the belt 706 on the gear pulley 705 drives the first pulley 707 to rotate. The first incomplete gear 704 meshes with the gear pulley 705 and rotates through 1/8 circle, driving the first power group to rotate 45 degrees again. At this time, the rotation plane of the first rotor 102 is perpendicular to the main membrane plane. The rest arc of the second incomplete gear 715 is in contact with the gear 708, and the second electromagnetic locking device 717 works up and down the gear 708 to prevent the second power group from rotating. The third incomplete gear 714 meshes with the rack 710, and the right support rod 602 and the left support rod 604 rotate with the movement of the rack 710, so that the main patellar membrane continues to expand a part. The fourth incomplete gear 711 is in contact with the toothless part of the incomplete toothed belt 712 , and the fourth electromagnetic locking device 719 works above and below the second pulley 713 to prevent the rotation of the third power group.

Four. The motor 701 continues to rotate, the first incomplete gear 704 is in contact with the gear pulley 705, and the first electromagnetic locking device 716 works up and down the first pulley 707 to prevent the first power group from rotating. The second incomplete gear 715 meshes with the gear 708 and rotates through 1/8 circle, driving the second power group to rotate 45 degrees again. At this time, the rotation planes of the second rotor 302 and the third rotor 305 are perpendicular to the main membrane plane. The third incomplete gear 714 meshes with the rack 710 to fully expand the main membrane. The rest arc of the fourth incomplete gear 711 is in contact with the toothless part of the incomplete toothed belt 712 , and the fourth electromagnetic locking device 719 works above and below the second pulley 713 to prevent the rotation of the third power group.

5. The motor 701 continues to rotate, the rest arc of the first incomplete gear 704 is in contact with the gear pulley 705, and the first electromagnetic locking device 716 works above and below the first pulley 707 to prevent the rotation of the first power group. The rest arc of the second incomplete gear 715 is in contact with the gear 708, and the second electromagnetic locking device 717 works up and down the gear 708 to prevent the second power group from rotating. The third incomplete gear 714 is in contact with the toothless part of the rack 710 , and the third electromagnetic locking device 718 works above the rack 710 to prevent the rack 710 from moving and keep the main membrane in a fully expanded state. The fourth incomplete gear 711 meshes with the incomplete toothed belt 712 to realize the rotation of the third power group from 0° to 180°.

The clockwise rotation of the motor can realize the change of the tilt-wing aircraft with stretchable membrane provided by the present invention from the ground taxiing state or the high-altitude cruising state to the four-rotor working state. The specific implementation steps are carried out in the reverse direction of changing the working state of the quadrotor to the ground taxiing state or the high-altitude cruising state.

When the tilt-wing aircraft with retractable membrane provided by the present invention is in the state of gliding on the ground, the rotation plane of the fourth rotor 502 of the third power group is perpendicular to the main membrane. In high-altitude cruising state, the third power pack can rotate from 0 to 180 degrees to control the heading of the aircraft.

Claims (6)

1. the flexible rotor aircraft that verts of an ala, it is characterised in that: it include fuselage (4), Axis (303), main drive gear, the first power packages, the second power packages, the 3rd power packages, left side Outer side rod (603), Left-side support bar (604), side rod (601) outside right side, Right side support bar (602), Main wing film, flight controller (8), the first undercarriage (201), the second undercarriage (202) and Three undercarriages (203)；Wherein fuselage (4) is hollow tubular structures；Main drive gear is arranged on fuselage (4) internal, it include motor (701), shaft coupling (702), main shaft (703), first to the Three power packages transmission mechanisms and ala stretching drive mechanism, the output shaft of motor (701) passes through shaft coupling Device (702) is connected with one end of main shaft (703)；Main shaft (703) is horizontally installed on fuselage (4) Inside, on it, standoff distance arranges the first power packages transmission mechanism, the second power packages driver from left to right Structure, ala stretching drive mechanism and the 3rd power packages transmission mechanism, the outer end of the first power packages transmission mechanism Being positioned at outside fuselage (4) front end, the outer end of the 3rd power packages transmission mechanism is positioned at outside fuselage (4) rear end Portion, and the first power packages transmission mechanism, the second power packages transmission mechanism, ala stretching drive mechanism and It is mounted on electromagnetic locking device on 3rd power packages transmission mechanism；First power packages includes the first motor (101) and the first rotor (102), the first motor (101) is fixed on the first power packages transmission mechanism Outer end on, its output shaft connects the first rotor (102)；3rd power packages include the 4th motor (501), 4th rotor (502) and chain connection (504), one end of chain connection (504) is fixed on the 3rd On the outer end of power packages transmission mechanism；4th motor (501) is fixed on another of chain connection (504) On end, its output shaft connects the 4th rotor (502)；The second power is run through at the middle part of axis (303) Group transmission mechanism outer end position and fuselage (4) middle part, and with fuselage (4) in cross structure；The Two power packages include the second motor (301), the 3rd motor (304), the second rotor (302) and Three rotors (305)；Second motor (301) and the 3rd motor (304) are separately mounted to axis (303) Two ends and symmetrical with regard to fuselage (4), and the second motor (301) and the 3rd motor (304) Output shaft on connect the second rotor (302) and the 3rd rotor (305) respectively；Left-side support bar (604) Run through fuselage (4) middle part both sides with the front end of Right side support bar (602) simultaneously and be connected to ala and stretch On the outer end of transmission mechanism；Outside the outer side rod (603) in left side and right side, the rear end of side rod (601) is cut with scissors respectively It is connected on Left-side support bar (604) and the rear end of Right side support bar (602), and side rod (603) outside left side It is then respectively hinged at fuselage (4) front part sides position, thus structure with the front end of side rod outside right side (601) Become two four-bar mechanisms with regard to fuselage symmetry, to control the contraction of main wing film；Main wing film is isoceles triangle Shape, is made up of upper diaphragm (605) and lower diaphragm (606), wherein descends in the base of diaphragm (606) Line is fixed on fuselage (4) lower circumferential face, and two waists are separately fixed at the outer side rod (603) in left side and the right side Outside side on side rod (601)；Upper diaphragm (605) middle part is protruding, three limits and lower diaphragm (606) Three limit overlaps be fixed together；Flight controller (8) is arranged on the intermediate projections position of main wing film Inside, and electrically connect with all motors and electromagnetic locking device；First undercarriage (201) is arranged on Fuselage (4) bottom at the first power packages, the second undercarriage (202) and the 3rd undercarriage (203) With regard to fuselage (4) symmetry, and upper end is separately mounted to the outer side rod (603) in left side and Left-side support bar (604) point of intersection of side rod (601) and Right side support bar (602) and outside right side.

2. the rotor aircraft that verts that ala according to claim 1 stretches, it is characterised in that: institute The the first power packages transmission mechanism stated include the first partial gear (704), gear belt wheel (705), Belt (706), the first belt pulley (707) and the first electromagnetic locking device (716)；Wherein first Partial gear (704) is arranged on main shaft (703)；Gear belt wheel (705) and first incomplete The exterior periphery of gear (704) is meshed；First belt pulley (707) is positioned at outside fuselage (4) front end Portion, lateral surface connects the first motor (101)；Belt (706) is enclosed within gear belt wheel (705) and In the exterior periphery of one belt pulley (707)；The upper and lower of the first belt pulley (707) is respectively mounted one First electromagnetic locking device (716).

3. the rotor aircraft that verts that ala according to claim 1 stretches, it is characterised in that: institute The the second power packages transmission mechanism stated includes the second partial gear (715), gear (708) and second Electromagnetic locking device (717)；Wherein the second partial gear (715) is arranged on main shaft (703)； Gear (708) is meshed with the exterior periphery of the second partial gear (715), axis (303) Middle part is run through in the centre bore being arranged on gear (708), and the upper and lower of gear (708) is pacified respectively Fill second electromagnetic locking device (717).

4. the rotor aircraft that verts that ala according to claim 1 stretches, it is characterised in that: institute The ala stretching drive mechanism stated includes the 3rd partial gear (714), tooth bar (710), fixed block And the 3rd electromagnetic locking device (718) (709)；Wherein the 3rd partial gear (714) is arranged on On main shaft (703)；Tooth bar (710) is meshed with the 3rd partial gear (714)；Fixed block (709) It is arranged on the front-end surface of tooth bar (710), itself and Left-side support bar (604) and Right side support bar (602) Front end be connected；3rd electromagnetic locking device (718) is arranged on above tooth bar (710) rear end.

5. the rotor aircraft that verts that ala according to claim 1 stretches, it is characterised in that: institute The 3rd power packages transmission mechanism stated include the 4th partial gear (711), incomplete cingulum (712), Second belt pulley (713) and the 4th electromagnetic locking device (719)；Wherein the 4th partial gear (711) It is arranged on main shaft (703)；Second belt pulley (713) is positioned at outside the rear end of fuselage (4), outward Side is connected with the one end of chain connection (504)；Incomplete cingulum (712) is enclosed within the 4th incomplete tooth In the exterior periphery of wheel (711) and the second belt pulley (713), and the second belt pulley (713) Upper and lower is respectively mounted the 4th electromagnetic locking device (719).

6. the rotor aircraft that verts that ala according to claim 1 stretches, it is characterised in that: institute The flexible rotor aircraft that verts of the ala stated also includes being arranged on chain connection (504) upper end and the 4th Triangle caudal ala (503) on motor (501) outer circumference surface.