CN203946273U - The little minute vehicle of a kind of coaxial double-rotary wing formula - Google Patents

Abstract

The utility model provides a coaxial double-rotor small micro-aircraft, the aircraft includes a fuselage, a double-rotor system and a duct system, the double-rotor system includes an upper rotor system and a lower rotor symmetrically arranged on the upper and lower sides of the fuselage system, the upper rotor system and the lower rotor system realize the reverse drive of the upper and lower main transmission shafts through the reversing mechanism. The reversing mechanism is a differential with equal transmission ratio located inside the fuselage and has three bevel gears. The differential It is connected coaxially with the upper and lower main transmission shafts; the duct system is arranged at the rear of the fuselage and connected with the fuselage through a tilting adjustment component. The connection line between the duct system and the differential is perpendicular to the upper and lower main shafts. axis of the drive shaft. The utility model combines the characteristics of the helicopter and the rotorcraft, can improve the air field distribution of the aircraft, and has the advantages of simple structure, safety and reliability, flexible maneuverability, economy and practicality, strong versatility and the like.

Description

A coaxial dual-rotor small micro-aircraft

technical field

The utility model relates to a self-rotating rotorcraft or a helicopter in the field of aerospace, in particular to a coaxial double-rotor small micro-aircraft.

Background technique

Autogyro is a kind of rotorcraft with autorotating rotor as lifting surface and propeller thrust as forward power. In the history of aviation, the autogyro was the first to successfully fly using rotor technology, about 15 years earlier than the helicopter. Although the technology adopted by early helicopters is largely derived from autogyro, the hovering and vertical flight performance of helicopters makes it have a wider range of applications than gyroplanes. After the initial rapid development of rotorcraft, there was no opportunity for further development in commercial and military applications.

Modern autogyro adopts rotor pre-rotation technology, which can realize jumping or ultra-short-distance take-off, and when it lands, it can realize point landing by manipulating the rotor cone to tilt backward, without the need for a special airport. Therefore, in recent years, the autogyro has gradually attracted the attention of people in the aviation industry. For an autogyro that is driven by wind, the area of the rotor disc can be divided into the driving area (also known as the autorotation area, the middle part), the driven area (also known as the anti-rotation area, near the tip of the blade) and the stall area. (internal small part). When the resultant aerodynamic force acting as a hindrance to the entire paddle disc is equal to the resultant aerodynamic force acting as a driving force, the rotor will reach a stable autorotation state; in an unstable flight state, the stable rotational speed of the rotor changes within a certain range, which is an autogyro One of the biggest differences from helicopters with driven rotors. In addition, the forward power of the autogyro in forward flight is provided by the propulsion or pull-in propeller, and the size of the forward force generated by it is controlled by changing the throttle opening of the engine driving the propeller, which is the same as that through periodic pitch change The helicopters that achieve the forward tilt of the paddle disc to obtain the forward force component are different. Because the autogyro does not have the balance torque problem of the helicopter, it does not need the tail rotor used by the helicopter, and its heading is realized by the rudder or the full-motion vertical tail.

Simultaneously rotorcraft also exists maneuverability not good enough, shortcoming such as flight speed is not fast. Through the improvement of the power system and the unique appearance design of the aircraft, the utility model integrates the advantages of the above two rotor modes, reduces the influence of their respective shortcomings, and makes the aircraft have better flexibility, flight speed, stability and comfort. . In the fusion process, the dual-rotor system is used to increase the lift, reduce the wingspan of the single-rotor, and balance the torque when there is power input.

Utility model content

The purpose of this utility model is to provide a kind of coaxial double-rotor small micro-aircraft, thereby solves the problem that the maneuverability of traditional aircraft (helicopter and rotorcraft) in the prior art is not good enough, flight speed is not fast, and stability is not high.

The utility model provides a coaxial double-rotor small micro-aircraft, which includes a fuselage, a double-rotor system and a duct system, and the double-rotor system includes an upper rotor system and a lower The rotor system, the upper rotor system and the lower rotor system realize the reverse drive of the upper and lower main transmission shafts through the reversing mechanism. The reversing mechanism is a differential with equal transmission ratio located inside the fuselage and has three bevel gears. The differential The device is connected coaxially with the upper and lower main drive shafts, so that the upper rotor system and the lower rotor system can be reversed coaxially; the duct system is arranged at the tail of the fuselage and connected with the fuselage through a tilting adjustment component. The line connecting the duct system and the differential is perpendicular to the axis of the main drive shaft.

The upper rotor system includes the upper rotor head and the upper rotor servo; the lower rotor system includes the lower rotor head and the lower rotor servo; the upper rotor servo and the lower rotor servo are symmetrically arranged on the upper and lower sides of the fuselage and pass through the The adjustment assembly is connected to the upper rotor head and the lower rotor head.

The upper rotor head and the lower rotor head respectively include cross discs, side distance rods and rotor rods. The upper rotor head and the lower rotor head are connected to the upper and lower main transmission shafts through the cross discs, and the cross discs are connected to the steering gear through the side distance rods. The adjustment components are connected, and the side of the cross disk away from the fuselage is also provided with several blades, and the end of the blade near the upper and lower main transmission shafts is connected with the cross disk through the rotor pull rod.

The dual-rotor system also includes a pair of auxiliary wings and a stabilizer bar set. The auxiliary wings are arranged at the outermost ends of the upper and lower main transmission shafts away from the fuselage and their planes are parallel to the plane of the blades. The auxiliary wings are close to the upper and lower main transmission shafts. One end of the shaft is connected with the upper and lower main transmission shafts through the stabilizer bar group.

The duct system includes a duct, a duct steering gear and a duct steering gear arm. The duct steering gear is arranged at the rear of the fuselage and is connected to the duct through the duct steering gear arm; The ducted motor and the casing, the casing is connected with the ducted steering gear arm, the ducted motor is arranged in the casing, the ducted motor has a rotating shaft parallel to the horizontal central axis of the fuselage, and the end of the rotating shaft far away from the fuselage is connected to the culvert The duct blade is covered with a duct limelight at the outer end of the duct blade.

The ducted steering gear is fixedly connected to the fuselage through the steering gear base, and is connected to the ducted steering gear arm through the ducted steering gear output shaft to control the tilt angle of the aircraft during flight.

The differential is connected with the clutch through one of the bevel gears, the clutch is connected with the electric motor, and the electric motor is fixed inside the fuselage. Therefore, in the helicopter mode, the aircraft can fly with the standard coaxial dual-rotor helicopter flight principle, and the power of the aircraft is mainly driven by the motor to rotate the dual rotors; in the rotorcraft mode, the dual rotors and the motor are disconnected through the clutch, and the aircraft uses The flight principle of the gyroplane flies, the unpowered spin of the rotor provides the lift of the aircraft, and the propulsion is provided by the duct.

The aircraft also includes a control circuit board and a lithium battery, the lithium battery is arranged directly behind the fuselage, and the control circuit board is arranged above the lithium battery.

In addition, the aircraft also includes a landing gear system. The landing gear system is composed of two landing gears, a bearing assembly and three wheels. The bearing assembly is arranged at the bottom of the lower rotor system along the direction in which the lower main transmission shaft The end is connected to one of the wheels, and the two landing gears are distributed on both sides of the tail of the fuselage and the bottom ends are respectively connected to the other two wheels. The three wheels are in an isosceles triangle structure.

Each landing gear is hinged by 3 connecting rods, and the landing gear can be stowed during flight.

The utility model provides a coaxial double-rotor small and micro aircraft, which includes a controllable power dual-rotor system, a rotor blade inclination angle adjustment system and a duct system, which can improve the distribution of the air field of the aircraft. It has the advantages of simple structure, safety and reliability. It has the advantages of flexibility, economy and practicality, and strong versatility. The utility model combines the characteristics of the helicopter and the rotorcraft. In the helicopter mode, the aircraft flies with the flight principle of a standard coaxial twin-screw helicopter, and the power of the aircraft is mainly provided by the dual rotors driven by the motor; According to the flight principle of the aircraft, the unpowered spin of the rotor provides the lift of the aircraft, the dual rotor and the motor are disconnected through the clutch, and the propulsion is provided by the duct. In addition, the upper and lower rotors are arranged coaxially and symmetrically, and a differential with an equal transmission ratio is used to realize the connection of the coaxial reversal, so as to realize the coaxial reversal to offset the torque generated by the upper and lower rotors. The upper and lower rotors are controlled by the same rotor servo to control the tilt angle of the cross disc to maintain a specific tilt state of the blades and adapt to different flight state requirements.

Description of drawings

Fig. 1 is a schematic diagram of the structural layout of an aircraft according to an embodiment of the present invention;

Fig. 2 is a schematic diagram of the layout of the steering gear rotor according to an embodiment of the present invention;

Fig. 3 is a schematic diagram of rotor head-differential-clutch layout according to an embodiment of the present invention;

Fig. 4 is a schematic diagram of a duct according to an embodiment of the present invention;

Fig. 5 is a schematic diagram of the layout of the upper rotor head according to an embodiment of the present invention.

Reference signs:

1-aircraft, 2-body, 11-upper rotor head, 12-lower rotor head, 13-upper rotor steering gear, 14-lower rotor steering gear, 151-upper main transmission shaft, 152-lower main transmission shaft, 16 -Steering gear adjustment assembly, 111, 121-cross disc, 112, 122-rotor rod, 113, 123-stabilizer bar group, 114, 124-blade, 115, 125-margin rod, 116, 126-aileron , 21-duct, 22-duct servo, 23-duct steering arm, 24-tilt adjustment assembly, 211-duct housing, 212-duct blade, 213-duct limelight, 214-culvert Road motor, 30-differential, 31-electric motor, 32-clutch, 40-lithium battery, 41-control circuit board, 50-landing frame, 51-bearing assembly, 52-wheel

Detailed ways

Below in conjunction with specific embodiment, the utility model is described further. It should be understood that the following examples are only used to illustrate the utility model but not to limit the scope of the utility model.

According to an embodiment of the present invention, a coaxial dual-rotor micro-aircraft 1 is provided. As shown in FIGS. 1-5 , the aircraft 1 includes a fuselage 2, a controllable power dual-rotor system and a duct system. The skeleton of the fuselage 2 part of the aircraft 1 is constructed of aluminum alloy, plastic rods and plastic plates, in the shape of a rugby ball, and is used to securely connect the controllable power dual-rotor system and the duct system. Each system will be described in detail below in combination with specific embodiments.

As shown in FIG. 1 , the dual-rotor system includes an upper rotor system and a lower rotor system symmetrically arranged on the upper and lower sides of the fuselage 2 , and the upper rotor system includes an upper rotor head 11 and an upper rotor steering gear 13 . The lower rotor system includes a lower rotor head 12 and a lower rotor servo 14 . The upper rotor steering gear 13 and the lower rotor steering gear 14 are symmetrically arranged on the upper and lower sides of the fuselage 2, and are respectively connected to the upper rotor head 11 and the lower rotor head 12 through the steering gear adjustment assembly 16. Wherein, the upper rotor system and the lower rotor system are coaxially driven by the reversing mechanism, that is, the upper rotor system is arranged around the upper main drive shaft 151 (see FIG. 2 ) under the action of the reversing mechanism; The mechanism is arranged around the lower main drive shaft 152 (see FIG. 2 ) under the action of the mechanism. The reversing mechanism is arranged inside the fuselage 2 and includes a differential 30 with three bevel gears of equal transmission ratio, a clutch 32 and a motor 31 . Wherein, the differential 30 is connected with the upper and lower main transmission shafts 151, 152 coaxially and reversely, that is, the upper and lower main transmission shafts 151, 152 extend upwards and downwards from the differential 30 respectively in the vertical direction and Stretch out of the fuselage 2, thereby realizing the coaxial reversal of the upper and lower main transmission shafts 151, 152, the upper rotor head 11 and the lower rotor head 12 are symmetrically arranged on the upper and lower sides of the fuselage 2 and connected to the upper and lower rotor heads respectively. The main transmission shafts 151, 152 extend out of one end of the fuselage 2, as shown in FIG. 1 .

As shown in Figure 1, the duct system is arranged at the tail of the fuselage 2 and is connected to the fuselage 2 through a tilting adjustment assembly 24, and the connection line between the duct system and the differential 30 is perpendicular to the upper and lower main transmission shafts 151, 152 axis.

The rotor system will be described in detail below. As shown in FIGS. 1-2 , the rotor heads 11 , 12 include cross discs 111 , 121 , side distance rods 115 , 125 , and rotor rods 112 , 122 . The rotor heads 11, 12 are respectively connected to the upper and lower main transmission shafts 151, 152 through the cross disks 111, 121, the cross disks 111, 121 are connected to the steering gear adjustment assembly 16 through the margin pull rods 115, 125, and the cross disks 111 , 121 are also provided with some blades 114,124 on the side far away from the fuselage 2, and one end of the blades 114,124 close to the upper and lower main drive shafts 151,152 passes through the rotor rods 112,122 and the cross discs 111,121 connected.

The dual-rotor system controls the rotation angles of the cross disks 111 and 121 through the same rotor servos 13 and 14 respectively, so as to maintain the same tilting state of the blades 114 and 124 and adapt to different flight state requirements. The upper and lower main transmission shafts 151, 152 input the power to the rotor system to drive the upper and lower rotor heads 11, 12 to rotate, and the upper and lower steering gears 13, 14 control the up and down pull of the margin pull rods 115, 125 through the steering gear adjustment assembly 16 to make the cross circle The disks 111 and 121 are tilted to a certain extent, so that the tilt angles of the blades 114 and 124 are adjusted through the rotor rods 112 and 122 .

As shown in Figure 1, Figure 2 and Figure 5, the dual-rotor system also includes a pair of auxiliary wings 116, 126 and stabilizer bar groups 113, 123 respectively, and the auxiliary wings 116, 126 are arranged on the upper and lower main transmission shafts 151, 152 away from The outermost end of the fuselage 2 and its plane is parallel to the plane where the blades 114, 124 are located. 124 connected. The stabilizer bar group 113,123 is retractable, and when each blade 114,124 is connected with the main body of the rotor head 11,12, the stabilizer bar group also has the function of stabilizing the blade 114,124 and the auxiliary wing 116,126. effect.

As shown in Figure 3, the differential 30 is connected to the clutch 32 through one of the bevel gears, the clutch 32 is connected to the electric motor 31, the electric motor 31 is fixed inside the fuselage, and the differential 30 with equal transmission ratio realizes coaxial reversal, thereby The torque generated by the upper rotor system and the lower rotor system is offset, and the power control of the rotor by the clutch 32 is used to realize the conversion between the two modes (helicopter mode and rotorcraft mode) of the aircraft during flight.

As shown in Figures 1 and 4, the duct system includes a duct 21, a duct steering gear 22 and a duct steering gear arm 23, and the duct steering gear 22 is fixedly connected to the tail of the fuselage 2 through the steering gear seat and passed through the duct. The steering gear output shaft is connected to the ducted steering gear arm 23 to control the tilt angle of the aircraft when flying. The ducted servo arm 23 is connected to the duct 21 through the tilt adjustment assembly 24; the duct 21 is located directly behind the aircraft 1, on the same horizontal line as the differential 30, the clutch 32, and the motor 31, and they are located on the side of the fuselage 2 at the same time. In the center, to keep the overall mass balance of the aircraft 1. As shown in Figure 4, duct 21 comprises duct blade 212, duct wind head 213, duct motor 214 and casing 211, and casing 211 links to each other with duct steering gear arm 23, and duct motor 214 is set in casing 211 , the ducted motor 214 has a rotating shaft parallel to the horizontal central axis of the fuselage 2, and the end of the rotating shaft away from the fuselage 2 is connected to the ducted blade 212, and the outer end of the ducted blade 212 is covered with a ducted wind head 213. The duct system can adjust the angle arbitrarily through the tilting adjustment assembly 24 to meet the position adjustment under the two flight states and ensure the flight attitude.

As shown in Figure 1, the aircraft also includes a control circuit board 41 and a lithium battery 40, the lithium battery 40 is arranged directly behind the fuselage 2, and is connected with the upper rotor steering gear 13, the lower rotor steering gear 14, the ducted steering gear 22, the electric motor 31 and the ducted motor 214 are electrically connected to drive the upper rotor steering gear 13, the lower rotor steering gear 14, the ducted steering gear 22, the motor 31 and the ducted motor 214, and the control circuit board 41 is arranged on the lithium battery 40 top.

Aircraft 1 also comprises landing gear system, and landing gear system is made up of two landing gears 50, bearing assembly 51 and three wheels 52, and bearing assembly 51 is arranged on the bottom of rotor head 12 along the direction that lower main transmission shaft 152 extends, so that The rotation of the rotor is not disturbed by the ground during landing; the bottom end of the bearing assembly 51 is connected with one of the wheels 52, and the two landing gears 50 are distributed on both sides of the tail of the fuselage 2 and their bottom ends are connected with the other two wheels 52 respectively. Each wheel 52 is an isosceles triangle structure.

The landing frames 50 are all hinged and formed by three connecting rods. During flight, the landing gear 50 can be stowed.

The utility model has two flight modes. In the helicopter mode, the aircraft flies with the flight principle of a standard coaxial twin-screw helicopter, and can have a duct auxiliary propulsion function. The power of the aircraft is mainly provided by the dual rotor heads driven by the motor. In the rotorcraft mode, the aircraft flies according to the flight principle of the rotorcraft. The unpowered spin of the rotors provides the lift of the aircraft. The dual rotors and the motor are disconnected through the clutch, and the propulsion is provided by the ducted fan. In the switching mode, the aircraft completes the switching between the helicopter mode and the rotorcraft mode, and the switching process is completed during the flight. The key to the switching is the switching of the rotor power and the switching of the positive and negative angles of attack of the blades.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the scope of the present utility model, and various changes can also be made to the above-mentioned embodiments of the present utility model. That is to say, all simple and equivalent changes and modifications made according to the claims of the utility model application and the contents of the description all fall within the protection scope of the claims of the utility model patent. What the utility model does not describe in detail is conventional technical contents.

Claims (10)

1. A kind of coaxial double-rotor type small micro-aircraft, it is characterized in that, this aircraft comprises fuselage, double-rotor system and duct system, and described double-rotor system comprises symmetrically arranged on both sides up and down of described fuselage The upper rotor system and the lower rotor system, the upper rotor system and the lower rotor system realize the reverse drive of the upper and lower main transmission shafts through the reversing mechanism. The reversing mechanism is located inside the fuselage and has three A differential with equal transmission ratios of bevel gears, the differential is coaxially connected to the upper and lower main transmission shafts in reverse; the duct system is arranged at the tail of the fuselage and adjusted by a tilting The assembly is connected with the fuselage, and the connection line between the duct system and the differential is perpendicular to the axes of the upper and lower main transmission shafts. 2. coaxial double-rotor type micro-aircraft according to claim 1, is characterized in that, described upper rotor system comprises upper rotor head and upper rotor steering gear; Described lower rotor system comprises lower rotor head and lower rotor rudder machine; the upper rotor steering gear and the lower rotor steering gear are symmetrically arranged on the upper and lower sides of the inside of the fuselage and are respectively connected to the upper rotor head and the lower rotor head through the steering gear adjustment assembly. 3. The coaxial double-rotor type small and micro aircraft according to claim 2, wherein, the upper rotor head and the lower rotor head respectively comprise a cross disk, a side distance rod and a rotor rod, and the upper rotor head The head and the lower rotor head are connected with the upper and lower main transmission shafts through the cross disk, and the cross disk is connected with the steering gear adjustment assembly through the margin rod, and the cross disk is far away from One side of the fuselage is also provided with several paddles, and the ends of the paddles close to the upper and lower main drive shafts are connected to the cross disk through the rotor tie rods. 4. The coaxial double-rotor type micro-aircraft according to claim 3, wherein the dual-rotor system also includes a pair of auxiliary wings and a stabilizer bar set, and the auxiliary wings are arranged on the upper and lower main wings. The transmission shaft is far away from the outermost end of the fuselage and its plane is parallel to the plane of the blades. The end of the auxiliary wing close to the upper and lower main transmission shafts is connected to the upper and lower main transmission shafts through the stabilizer bar group. The lower main drive shaft is connected. 5. The coaxial dual-rotor type micro-aircraft according to claim 1, wherein the ducted system comprises a duct, a ducted steering gear and a ducted steering gear arm, and the ducted steering gear is arranged on The rear part of the fuselage is connected with the duct by the duct steering gear arm; The steering gear arms are connected, and a ducted motor is arranged in the casing. The ducted motor has a rotating shaft parallel to the horizontal center axis of the fuselage. The end of the rotating shaft away from the fuselage is connected to the ducted blade. , the outer ends of the duct blades are covered with the duct wind heads. 6. The coaxial dual-rotor small micro-aircraft according to claim 5, wherein the ducted steering gear is fixedly connected to the fuselage through the steering gear base, and is connected to the airframe through the ducted steering gear output shaft. The ducted rudder arm is used to control the tilt angle of the aircraft during flight. 7. The coaxial double-rotor micro-aircraft according to claim 1, wherein the differential is connected to a clutch through one of the bevel gears, and the clutch is connected to an electric motor, and the electric motor is fixed on Inside the fuselage. 8. The coaxial dual-rotor micro-aircraft according to claim 1, wherein the aircraft also includes a control circuit board and a lithium battery, the lithium battery is arranged directly behind the fuselage, and the control The circuit board is arranged above the lithium battery. 9. The coaxial dual-rotor type micro-aircraft according to claim 1, wherein the aircraft also includes a landing gear system, and the landing gear system is composed of two landing gears, a bearing assembly and three wheels , the bearing assembly is arranged at the bottom of the lower rotor system along the direction in which the lower main drive shaft extends, the bottom end of the bearing assembly is connected to one of the wheels, and the two landing gears are distributed on the machine Both sides of body tail and its bottom are respectively connected with other two described wheels, and three described wheels are in the structure of isosceles triangle. 10. The coaxial dual-rotor micro-aircraft according to claim 9, wherein each of the landing frames is formed by three connecting rods.