CN108163195A - A kind of four axis rolling rotor aircraft - Google Patents

Abstract

The present invention proposes a four-axis roller-wing aircraft, the power device of which is four symmetrically distributed cycloidal paddles, and each cycloidal paddle is driven by a single motor. The rotation directions of the four cycloidal propellers are as shown in the figure, and the center of gravity of the four-axis roller aircraft and the centers of the four cycloidal propellers are located in the same horizontal plane. The four-axis rolling-wing aircraft disclosed by the invention is a novel aircraft that can take off and land vertically and fly forward at a relatively high speed. In addition, it also has the characteristics of high efficiency, strong maneuverability, low noise, and the like.

Description

A four-axis roller-wing aircraft

technical field

The invention belongs to the field of aviation technology, and mainly relates to a four-axis roller aircraft.

Background technique

The concept of the rolling-wing aircraft was first proposed by American Caldwell in 1923. Many pioneers in the aviation industry tried to develop the rolling-wing aircraft, but all failed. Even now, the research on roller-wing aircraft at home and abroad is still immature, and there are very few successful cases. At present, the roller-wing aircraft capable of maneuvering and controllable flight are mainly powered by two cycloidal propellers, which require the propellers to provide auxiliary lift, and there are serious coupling phenomena between various movements (pitch, roll, yaw, etc.) , unable to fly forward at a high speed, and its handling and maneuverability are relatively poor.

As a vertical take-off and landing aircraft driven by cycloidal propellers, the development trend of rolling-wing aircraft may be: to show its talents in the field of micro-small aircraft, to achieve indoor flight with high maneuverability; A new concept aircraft for high subsonic cruising; using the vector thrust of the cycloidal propeller, develop a super-maneuverable unmanned aerial vehicle that can take off and land on any occasion, and can roll in place in the air; Cars, flying backpacks, etc.; have the possibility of replacing helicopters, and may form emerging industries and markets in the aviation field.

Contents of the invention

The technical problem to be solved by the present invention is to provide a four-axis roller aircraft for the defects involved in the background technology.

The present invention adopts the following technical solutions for solving the problems of the technologies described above:

A four-axis roller-wing aircraft, including four cycloidal propellers, four motors, four electronic governors, four steering gears, a control module, a fuselage and a power supply module;

The four cycloid paddles are distributed in pairs on both sides of the fuselage, and each includes a number of blades, blade brackets and eccentric mechanisms;

The paddle bracket includes a central shaft and connecting frames at both ends of the central shaft;

The eccentric mechanism includes an eccentric bearing, an eccentric connecting rod and a fixed ring, wherein the inner ring of the eccentric bearing is fixedly connected to one end of the central shaft, and the outer ring of the eccentric bearing is fixed to the fixed ring through the eccentric connecting rod. even;

The blade is an airfoil and includes a paddle surface, a first rotating shaft and a second rotating shaft;

The paddle surface is arranged parallel to the central axis, and its front end and rear end are respectively provided with a first shaft hole and a second shaft hole corresponding to the first shaft and the second shaft, and the first shaft hole and the second shaft hole are parallel to each other. The central axis of the blade bracket; the first shaft and the second shaft are respectively arranged in the first shaft hole and the second shaft hole, so that the paddle surface can pass through the first shaft and the second shaft on its airfoil plane Pitching rotation; the two ends of the first rotating shaft are respectively fixedly connected with the connecting frames at both ends of the central shaft through connecting rods; one end of the second rotating shaft is fixedly connected with the fixed ring of the eccentric structure through a connecting rod;

The four motors, four electronic speed controllers, four steering gears, control modules and power modules are all arranged on the fuselage;

The output shafts of the four motors are respectively fixedly connected to the central shafts of the four cycloid paddle brackets close to the end of the eccentric mechanism;

The output shafts of the four steering gears respectively correspond to the inner rings of the eccentric bearings in the four cycloidal paddle eccentric mechanisms, and are used to manipulate the eccentric mechanism to change the pitch amplitude and phase of each blade, and then change the output of each cycloidal paddle. thrust direction;

The control module is respectively electrically connected to the four motors through four electronic speed regulators, and in addition, the control module is also electrically connected to the four steering gears and the power supply module.

As a further optimization scheme of the four-axis roller-wing aircraft of the present invention, the four cycloidal propellers are arranged symmetrically on both sides of the fuselage.

As a further optimization scheme of the four-axis roller-wing aircraft of the present invention, the center of gravity of the four-axis roller-wing aircraft is located on the same horizontal plane as the centers of the four cycloidal propellers.

Compared with the prior art, the present invention has the following technical effects:

1. The control and motion of the pitch, roll, and yaw of the four-axis roller-wing aircraft are decoupled from each other: the arrangement and rotation direction of the four cycloidal propellers of the four-axis roller-wing aircraft in this configuration are shown in Figure 1, and The center of gravity of the whole machine and the centers of the four cycloidal propellers are located in the same horizontal plane. Through this layout form, the mutual decoupling between the control and motion of pitch, roll, and yaw can be realized;

2. The four-axis roller aircraft can take off and land vertically and fly forward at a higher speed, and has stronger maneuverability: the direction of the force of the four cycloidal propellers of the four-axis roller aircraft in this configuration can be changed. When the four When the direction of the force is vertically upward at the same time, the four-axis roller aircraft can take off and land vertically. When the directions of the four forces are simultaneously deflected forward by a certain angle, the four-axis roller aircraft can fly forward at a relatively high speed. ;

3. High efficiency and low noise of the four-axis roller aircraft: Compared with ordinary propellers, the cycloidal propellers used by the four-axis roller aircraft have higher efficiency and lower noise.

Description of drawings

Fig. 1 is the overall layout diagram of the four-axis roller aircraft of the present invention;

Fig. 2 is the plan view of four-axis roller wing aircraft of the present invention;

Fig. 3 is the front view of four-axis roller wing aircraft of the present invention;

Fig. 4 is the three-dimensional structure schematic diagram of cycloid paddle in the present invention;

Fig. 5 is a schematic diagram of the two-dimensional structure of the cycloidal paddle in the present invention.

In the figure, 1-cycloidal propeller, 2-body, 3-blade, 4-blade bracket, 5-connecting rod, 6-eccentric mechanism, 7-central shaft.

Detailed ways

Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

As shown in Fig. 1, Fig. 2 and Fig. 3, the present invention discloses a four-axis roller-wing aircraft, comprising four cycloidal propellers, four motors, four electronic governors, four steering gears, a control module, Fuselage and power supply module; the four cycloidal propellers are symmetrically distributed on both sides of the fuselage, and the center of gravity of the four-axis roller wing aircraft is located on the same horizontal plane as the centers of the four cycloidal propellers. The direction of rotation of each cycloidal paddle is shown in Figure 1.

As shown in Fig. 4 and Fig. 5, each of the four cycloid paddles includes several paddles, paddle brackets and eccentric mechanisms.

The paddle bracket includes a central shaft and connecting frames at both ends of the central shaft.

The eccentric mechanism includes an eccentric bearing, an eccentric connecting rod and a fixed ring, wherein the inner ring of the eccentric bearing is fixedly connected to one end of the central shaft, and the outer ring of the eccentric bearing is fixedly connected to the fixed ring through the eccentric connecting rod.

The blade is airfoil-shaped, including a paddle surface, a first rotating shaft and a second rotating shaft; the paddle surface is arranged parallel to the central axis, and its front end and rear end are respectively provided with a first shaft hole and a second shaft corresponding to the first rotating shaft and the second rotating shaft. holes, and the first shaft hole and the second shaft hole are parallel to the central axis of the blade bracket; the first rotating shaft and the second rotating shaft are respectively arranged in the first shaft hole and the second shaft hole, so that the paddle surface can The rotating shaft and the second rotating shaft pitch and rotate on the airfoil plane; the two ends of the first rotating shaft are respectively fixedly connected with the connecting frames at both ends of the central shaft through connecting rods; one end of the second rotating shaft is fixedly connected with the fixed ring of the eccentric structure through a connecting rod .

Four motors, four electronic speed controllers, four steering gears, control modules and power modules are all arranged on the fuselage; the output shafts of the four motors are respectively corresponding to the central axes of the four cycloid propeller blade brackets close to the eccentric One end of the mechanism is fixedly connected; the output shafts of the four steering gears are respectively fixedly connected with the inner rings of the eccentric bearings in the four cycloid propeller eccentric mechanisms, which are used to manipulate the eccentric mechanism to change the pitch amplitude and phase of each blade, and then change each The direction of thrust generated by the cycloidal propeller; the control module is electrically connected to the four motors through four electronic governors, and the control module is also electrically connected to the four steering gears and the power supply module.

Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which this invention belongs. It should also be understood that terms such as those defined in commonly used dictionaries should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless defined as herein explain.

The specific embodiments described above have further described the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (3)

1. A four-axis rolling-wing aircraft is characterized in that it comprises four cycloidal propellers, four motors, four electronic governors, four steering gears, a control module, a fuselage and a power supply module; The four cycloidal paddles are distributed in pairs on both sides of the fuselage, and each includes a number of paddles, paddle brackets and eccentric mechanisms; The paddle bracket includes a central shaft and connecting frames at both ends of the central shaft; The eccentric mechanism includes an eccentric bearing, an eccentric connecting rod and a fixed ring, wherein the inner ring of the eccentric bearing is fixedly connected to one end of the central shaft, and the outer ring of the eccentric bearing is fixed to the fixed ring through the eccentric connecting rod. even; The blade is an airfoil and includes a paddle surface, a first rotating shaft and a second rotating shaft; The paddle surface is arranged parallel to the central axis, and its front end and rear end are respectively provided with a first shaft hole and a second shaft hole corresponding to the first shaft and the second shaft, and the first shaft hole and the second shaft hole are parallel to each other. The central axis of the blade bracket; the first shaft and the second shaft are respectively arranged in the first shaft hole and the second shaft hole, so that the paddle surface can pass through the first shaft and the second shaft on its airfoil plane Pitching rotation; the two ends of the first rotating shaft are respectively fixedly connected with the connecting frames at both ends of the central shaft through connecting rods; one end of the second rotating shaft is fixedly connected with the fixed ring of the eccentric structure through a connecting rod; The four motors, four electronic speed controllers, four steering gears, control modules and power modules are all arranged on the fuselage; The output shafts of the four motors are respectively fixedly connected to the central shafts of the four cycloid paddle brackets close to the end of the eccentric mechanism; The output shafts of the four steering gears correspond to the inner rings of the eccentric bearings in the four cycloidal propeller eccentric mechanisms respectively, and are used to manipulate the eccentric mechanism to change the pitch amplitude and phase of each blade, and then change the output of each cycloidal propeller. thrust direction; The control module is respectively electrically connected to the four motors through four electronic speed regulators. In addition, the control module is also electrically connected to the four steering gears and the power supply module. 2. The four-axis roller-wing aircraft according to claim 1, characterized in that, the pairs of the four cycloidal propellers are symmetrically arranged on both sides of the fuselage. 3. The four-axis roller-wing aircraft according to claim 1, wherein the center of gravity of the four-axis roller-wing aircraft is located on the same horizontal plane as the centers of the four cycloidal propellers.