CN204660020U - One is distributed independently controls multi-rotor aerocraft - Google Patents

Abstract

The utility model relates to a distributed independent control multi-rotor aircraft, including four main rotors providing lift, a front rotor and a rear rotor providing forward power, a butterfly fuselage, a body device, a control panel, a gear transmission mechanism, and a motor Motor device, radial arm. Four main rotors, a front rotor and a rear rotor are connected around the butterfly-shaped fuselage, and there are grooves and annular gaps on the fuselage for nesting six motor motor devices, so that the motor motor devices can be placed on the fuselage. sliding in the groove; the front rotor and the rear rotor rotate in opposite directions; the inside of the body device and the control panel have gear mechanisms that mesh with each other, and the control panel is driven to rotate 360 degrees around the body device, so that the aircraft can be controlled. Direction; the beneficial effect of the utility model: the control method combining the rotor and the machinery is adopted, which overcomes the way that the existing rotorcraft controls the direction by changing the rotational speed of the rotor; secondly, the butterfly-shaped fuselage can be used as the landing gear of the aircraft , and the lower center of gravity of the aircraft makes its flight more stable.

Description

A Distributed Independently Controlled Multi-rotor Aircraft

technical field

The utility model relates to a rotor aircraft, in particular to a distributed independently controlled multi-rotor aircraft.

Background technique

With the rapid development of modern aviation and the acceleration of my country's modernization process, unmanned aerial vehicles are also developing rapidly under modern high-tech conditions. Unmanned aerial vehicles are generally divided into three types: fixed-wing, flapping-wing and rotary-wing. In fact, rotorcraft has formed an extensive commercial chain. The most widely used is undoubtedly the quadrotor, but there are many quadrotors. Insufficient part, thereby derived many improved rotorcrafts.

Compared with ordinary fixed-wing aircraft, rotorcraft has many advantages, such as strong maneuverability, hovering, vertical take-off and landing, and easy control, etc., but its left and right yaw control is controlled by changing the rotor speed. A rotor with a high rotational speed will inevitably cause the fuselage to generate a tilting moment, which will cause the fuselage to tilt in the direction of low rotor speed. Frequent control of the direction means that the fuselage needs to be tilted frequently. Frequent replacement of the inclined plane does not meet the high shooting requirements for UAVs that need to shoot in a normal cruising state; secondly, the conventional quadrotor does not have a large cruising speed, because its cruising speed A horizontal component of force resulting from rotor roll or angle of attack. Therefore, based on this, this paper proposes a control method combining rotor and machinery to solve the above problems. By adding the front rotor and the rear rotor on the basis of the conventional quadrotor, the aircraft can have the power in the forward direction. The front rotor and the four The main rotor is connected to the control panel through the radial force arm. The gear mechanism is processed under the control panel, and the motor in the body device is driven to drive the gear mechanism to rotate, thereby driving the control panel to rotate. The control panel drives the front and rear rotors and the four rotors through the radial force arm. The two main rotors rotate synchronously, the control panel, the radial arm, the four main rotors, the front rotor, and the rear rotor rotate around the centerline of the aircraft as a rigid body structure. Since the forward direction of the aircraft is completely determined by the front rotor, it can pass Control the direction of the front and rear rotors to control the direction of the entire aircraft. Secondly, the direction of rotation of the two rotors of the main rotor is opposite to neutralize the total moment of the aircraft, and the opposite direction of rotation of the front rotor and the rear rotor can neutralize the moment of the aircraft in the horizontal direction. The aircraft is improved on the basis of quadrotor aircraft and propeller aircraft, but it has incomparable advantages over quadrotor aircraft and propeller aircraft.

The Chinese patent authorization announcement number is CN 203005746 U, which discloses a compound multi-rotor aircraft. Although the moment neutralization layout of the main and auxiliary rotors is adopted, the change of its heading is still controlled by changing the speed of the rotors. The body still needs to lean.

The Chinese patent authorization announcement number is CN 203094441 U, which discloses an improved four-rotor aircraft. Its driving method is not substantially different from that of conventional four-rotor aircraft. Roll the fuselage.

Contents of the invention

The purpose of this utility model is to provide a distributed independently controlled multi-rotor aircraft. In order to overcome the insufficient wind resistance of conventional four-rotor aircraft and the insufficient speed of forward flight cruise, it is necessary to generate a roll by tilting the fuselage when changing the course. It is designed to control the direction and speed by component force; frequent tilting of the fuselage will cause the picture taken by the aerial vehicle to be unclear and cause shaking. To change the heading by tilting the fuselage, you only need to mechanically turn the control panel to control the direction of the front rotor and rear rotor, so that the fuselage is always in a horizontal flying state.

The utility model is realized in this way, a distributed independent control multi-rotor aircraft mainly includes four main rotors, a front rotor, a rear rotor, a butterfly fuselage, a motor motor device, a radial force arm, a control panel, and a body device, connecting rod, connecting block, pin and the gear transmission mechanism installed inside the body device; it is characterized in that: the body device is connected to the connecting block through the connecting rod, and the connecting block is welded on the butterfly body, so that the connecting rod and The body device is an integral rigid body structure, and the body device is located directly below the control panel so that the center of gravity of the aircraft is the geometric center of the aircraft; the circumference of the control panel is provided with six radial arms, of which there are four radial arms Evenly distributed in the circumferential surface of the control panel, the other two radial force arms are distributed on the diagonal of the four radial force arms, the six radial force arms are connected to six motor devices, and the six motor motor devices are respectively Connect four main wings, a front rotor and a rear rotor; the rotation directions of the front rotor and the rear rotor are opposite; controlling the direction of the front rotor can control the direction of the whole aircraft.

Further, there is a groove in the middle of the butterfly-shaped fuselage, the bottom of the groove is coated with some lubricating oil, and six motor devices are installed in the groove, the diameter of the motor device is equal to the width of the groove, so that the motor The device can slide within the circumference of the groove. There is an annular gap around the fuselage in the lateral circumference of the butterfly-shaped fuselage, and six pins are nested in the annular gap, so that the diameter of the pins is equal to the height of the annular gap, and the pins are processed on the motor device A protruding structure comes out, so the pin and the motor device are a rigid body structure, the pin can do circular sliding in the annular gap, through the function of the pin, the motor device can be nested in the groove of the butterfly body so that only One degree of freedom for sliding in the circumferential direction. The butterfly fuselage can be connected to the fuselage device through connecting blocks and connecting rods, making it a rigid body structure.

Further, there are six radial moment arms distributed on the circumference of the control panel, the radial moment arms of the four main rotors are evenly distributed on the circumference of the control panel, and the radial moment arms of the front rotor and the rear rotor are distributed on the four main rotors. On the diagonal line of the radial force arm, a helical bevel gear is processed at the bottom of the control panel. The helical bevel gear is milled out with a milling cutter. Two connecting gears are installed in the direction perpendicular to the axis of the bevel bevel gear. The connecting gear and the The meshing of the helical bevel gears is used to drive the rotation of the helical bevel gears. There is a main driving gear meshed under the connecting gear. The main driving gear is driven by the motor installed inside the body device. The connecting gear drives the helical bevel gears to rotate together, so that the control The panel can freely rotate 360 degrees on the body device, and each gear mechanism is located inside the body device.

Further, the two rotors on the diagonals of the four main rotors have the same direction of rotation, the rotors on two different diagonals have opposite directions of rotation, and the rotation planes of the four main rotors are parallel to the horizontal ground; the front and rear rotors The rotors are located on the same diagonal of the body and their directions of rotation are opposite. The rotation planes of the front rotor and the rear rotor are perpendicular to the rotation plane of the main rotor. Both the front rotor and the rear rotor provide the power for the aircraft to fly forward, and the front rotor provides pulling force. provide thrust.

The utility model has the advantages that it is not necessary to control the rotation speed of the four-rotor to cause the aircraft to tilt so as to achieve the purpose of changing the direction and increasing the cruising speed, and only needs to mechanically rotate the control panel to control the direction of the front rotor and the rear rotor. The fuselage is always in a horizontal flight state, and the control method combining rotor and machinery is adopted, so that the fuselage will not roll when the aircraft turns; The aircraft has a certain wind resistance, and the design of its butterfly fuselage eliminates the use of landing gear, and the larger force-bearing area of the fuselage makes the landing of the aircraft more stable. The technical problems solved are the design of the butterfly fuselage, the design of the gear transmission mechanism, the coordination of the control panel and the body device, and the airflow interference between the rotors when rotating.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the aircraft of the utility model.

Fig. 2 is a schematic front view of the overall structure of the aircraft of the utility model.

Fig. 3 is a schematic left view of the overall structure of the aircraft of the utility model.

Fig. 4 is a top view schematic diagram of the overall structure of the aircraft of the utility model.

Fig. 5 is a schematic diagram of the internal structure of the butterfly fuselage and the nesting of the motor device of the utility model.

Figure 6 is a schematic diagram of each rotor of the utility model aircraft.

Fig. 7 is a schematic diagram of the gear transmission mechanism of the control panel of the present invention.

Fig. 8 is a schematic diagram of the wind resistance performance of the aircraft of the present invention.

The names of each mark in the figure are: 1, 2, 3, 4 main rotor; 5 front rotor; 6 rear rotor; 7 control panel; 8 butterfly fuselage; 9 body device; 10 connecting rod; 11 motor motor device; Main rotor radial arm; 13 connecting block; 14 pin; 15 groove; 16 annular gap; 17 rear rotor radial arm; 18 front rotor radial arm; 19, 20, 21 main rotor radial arm; 22 helical bevel gears; 23, 24 connecting gears; 25 main drive gears.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is further described.

As shown in Figure 1, the overall structure of the aircraft includes main rotors 1, 2, 3, 4, front rotor 5, rear rotor 6, control panel 7, butterfly fuselage 8, body device 9, connecting rod 10, motor Motor device 11, radial force arm 12, connecting block 13, pin 14, annular gap 15, groove 16, and the gear transmission mechanism installed inside the body device. It is characterized in that the body device 9 is connected to the connecting block 13 through the connecting rod 10, and the connecting block is welded on the butterfly fuselage 8, so that the body device, the connecting rod, the connecting block, and the butterfly fuselage are a rigid body structure, and the body The device 9 is positioned directly below the control panel 7 so that the center of gravity of the aircraft is the geometric center of the aircraft;

The weight of the butterfly fuselage is greater than the weight of each rotor so that the center of gravity of the aircraft is lower, and the lower center of gravity has a certain stability, so that the aircraft has a certain wind resistance and moment self-recovery ability (its wind resistance and moment The self-recovering ability is shown in Figure 6 below), and the large bottom force-bearing area of the butterfly fuselage can make the aircraft land on the ground more smoothly and can be directly used as the landing gear of the aircraft; the control panel 7 can be installed on the body device 9 Rotate on its own axis; the front rotor 5 and the rear rotor 6 are respectively arranged on the main rotor 1 and 2, the diagonal between the main rotor 3 and 4, the front rotor 5 and the rear rotor 6 are similar to the propeller aircraft The front propeller produces a forward pulling force, so controlling the direction of the front rotor and the rear rotor can control the direction of the entire aircraft.

As shown in Figure 2, it is a schematic front view of the overall structure of the aircraft of the present invention.

As shown in FIG. 3 , it is a schematic diagram of the left view of the general structure of the aircraft of the present invention.

As shown in FIG. 4 , it is a schematic top view of the overall structure of the aircraft of the present invention.

As shown in Figure 5, there is a groove 16 in the middle of the butterfly-shaped fuselage 8, the bottom of the groove 16 is coated with some lubricating oil, and six motor motor devices 11 are installed in the groove 16 (the six motor motor devices are collectively referred to as 11), the diameter of the motor device 11 is equal to the width of the groove 16, so that the motor device 11 can slide within the circumference of the groove 16. There is an annular gap 15 around the fuselage in the lateral circumference of the butterfly-shaped fuselage 8, and six pins 14 (the six pins are collectively referred to as 14) are nested in the annular gap 15, so that the diameter of the pins 14 is equal to The height of the annular gap 15, the pin 15 is a protruding structure processed on the motor device 11, so the pin 15 and the motor device 11 are a rigid body structure, the pin 11 can slide in the circular gap 15, pass the pin 14 The effect of this can make the motor motor device 11 nested in the groove 16 of the butterfly-shaped fuselage 8 so that it has only one degree of freedom to slide along the circumferential direction. The butterfly fuselage 8 can be connected to the body device 9 through the connecting block 13 and the connecting rod 10, so that it becomes a rigid body structure.

As shown in Figure 6, the two rotors on the diagonals of the four main rotors 1, 2, 3, and 4 have the same direction of rotation, and the rotors on two different diagonals have opposite directions of rotation, that is, the main rotors 1 and 3 are reversed. Clockwise rotation, main rotors 2 and 4 are clockwise rotation, the rotation speeds of main rotors 1, 2, 3, and 4 are equal, and the rotation planes of four main rotors 1, 2, 3, and 4 are parallel to the horizontal ground; The front rotor 5 and the rear rotor 6 are located on the same diagonal of the body and their directions of rotation are opposite, that is, the front rotor 5 rotates counterclockwise, the rear rotor 6 rotates clockwise, and the rotation speeds of 5 and 6 are equal. The plane of rotation of 5 and rear rotor 6 is perpendicular to the plane of rotation of main rotor 1, 2, 3, 4, and front rotor 5 and rear rotor 6 all provide the power of aircraft flying forward, and front rotor 5 provides pulling force and rear rotor 6 provides thrust; Described main rotor 1,2,3,4, front rotor 5, rear rotor 6 are respectively connected to radial force arm 20,21,12,19,18,17, radial force arm 20,21,12,19, 18,17 are connected on the control panel 7, and the rotation of the driving control panel 7 can drive the rotors 1, 2, 3, 4, 5, 6 to do revolution around the circumference; drive the main rotors 1, 2, 3, 4, and simultaneously The rotating speed of main rotor 1, 2, 3, 4 makes the lift generated by the rotor be greater than the total weight of the aircraft, then the aircraft rises vertically, and the rotating speed of main rotor 1, 2, 3, 4 is reduced so that the lift generated by the rotor is equal to the total weight of the aircraft. Aircraft is in hover state, continues to reduce the rotating speed of main rotor 1, 2, 3, 4 to make the lift that rotor produces be less than the gross weight of aircraft then aircraft descends vertically, drives front rotor 5 and rear rotor 6 when aircraft is in hover state Rotate and the aircraft can fly forward.

As shown in Figure 7, there are six radial force arms 20, 21, 12, 19, 18, 17 distributed around the 7th circumference of the control panel, and the radial force arms 20, 21, 12, 19 of the four main rotors are all Distributed on the circumference of the control panel 7, the radial moment arm 18 of the front rotor 5 is distributed on the diagonal between the radial moment arms 20 and 21, and the radial moment arm 17 of the rear rotor 6 is distributed on the radial moment arm 12 on the diagonal between and 19. A helical bevel gear 22 is processed at the bottom of the control panel 7, and the helical bevel gear 22 is milled out with a milling cutter, so the helical bevel gear 22 and the control panel 7 are a rigid structure, installed in a direction perpendicular to the axis of the helical bevel gear 22 There are two connecting gears 23 and 24, the connecting gears 23, 24 are engaged with the helical bevel gear for driving the rotation of the helical bevel gear 22, and a main driving gear 25 is meshed under the connecting gears 23, 24, and the main driving gear 25 is formed by The motor installed in the body device 9 drives the helical bevel gear 22 to rotate together through the connecting gears 23 and 24, so that the control panel 7 can freely rotate 360 degrees on the body device, and each gear mechanism is located at the body device 9 internal. The overall driving effect of the aircraft is: the main drive gear 25 is driven by the motor located in the body device 7 to rotate, the gear 25 drives the helical bevel gear 22 to rotate through the connecting gears 23, 24, the gear 22 and the control panel 7 rotate together, and the control panel 7 drives six radial force arms 20, 21, 12, 19, 18, 17 to rotate together, and the radial force arms are connected to six motor motor devices 11, thereby driving the motor motor device 11 in the concave position of the butterfly body 8 Rotate in groove 16, thereby drive rotor 1,2,3,4,5,6 to rotate, control the rotation of front rotor 5 and rear rotor 6 and just can control the direction of aircraft.

As shown in Figure 8, the aircraft has strong wind resistance. At first the design of the butterfly fuselage is conducive to the wind resistance of the aircraft. Assuming that the rotorcraft is affected by the left side wind, since the main windward side of the aircraft is the butterfly fuselage 8 and the rotors 1, 2, 3, 4, 5, 6. Therefore, the wind speed of the incoming flow will cause the butterfly fuselage to generate a counterclockwise moment at the aerodynamic center of the aircraft, thereby causing the entire aircraft to roll to the left, and the main lift F of the rotor is vertical to the rotor plane upward, according to the decomposition principle of force The force F can be decomposed into F1 in the opposite direction to the gravity and F2 in the perpendicular direction to the gravity. Since the direction of F2 is opposite to the direction of the incoming wind force F3, the force of F2 to the left can neutralize part of the incoming wind force F3 Thereby reducing the impact of crosswinds on the aircraft and having certain wind resistance.

Second, the gravity effect of the aircraft itself can be utilized to improve its self-balancing performance. (As shown in the figure) Gravity G can be decomposed into component force M parallel to the rotor and component N perpendicular to the rotor. Since the main gravity of the aircraft is concentrated on the part of the butterfly fuselage 8, its center of gravity is relatively lower , the center of gravity has a certain distance from the aerodynamic centers of main rotors 1, 2, 3, and 4. When the aircraft rolls, the force component M will generate a relatively large moment around the aerodynamic centers of the rotors, which can make the aircraft automatically restore its balance.

Claims (3)

1. A distributed independent control multi-rotor aircraft, mainly including four main rotors, front rotor, rear rotor, butterfly fuselage, motor motor device, control panel, radial arm, body device, connecting rod, connecting block , a pin and a gear transmission mechanism installed inside the body device; it is characterized in that: among the six rotors, four main rotors provide upward lift, and the front rotor and the rear rotor provide the power for the aircraft to fly forward; on the butterfly-shaped fuselage Six motor devices are installed, and the motor devices can slide in the groove of the fuselage; the body device is connected to the connecting block through the connecting rod, and the connecting block and the butterfly body are welded together, so the Rod, connecting block, and butterfly fuselage are a rigid body structure, and the body device is located directly below the control panel so that the center of gravity of the aircraft is the geometric center of the aircraft; the circumference of the control panel is provided with six radial arms, six The radial arm is respectively connected with six motor devices; the weight of the butterfly fuselage is greater than the weight of the rotor, so that the center of gravity of the aircraft is located below the rotor, so it can be directly used as the landing gear of the aircraft to land on the ground and the landing is relatively stable . 2. A kind of distributed independently controlled multi-rotor aircraft according to claim 1, characterized in that: there is a groove in the middle of the butterfly-shaped fuselage, the bottom of the groove is coated with some lubricating oil, and the inside of the groove is equipped with Six motor devices, the diameter of the motor device is equal to the width of the groove, so that the motor device can slide in the circumference of the groove; there is an annular gap around the fuselage in the lateral circumference of the butterfly-shaped fuselage , there are six pins nested in the annular gap, so that the diameter of the pin is equal to the height of the annular gap, and the pin is a protruding structure processed on the motor device, so the pin and the motor device are a rigid body structure, and the pin can be placed in the ring Circumferential sliding is performed in the gap; the butterfly fuselage can be connected to the fuselage device through connecting blocks and connecting rods, making it a rigid body structure. 3. A kind of distributed independently controlled multi-rotor aircraft according to claim 1, characterized in that: said control panel is distributed with six radial moment arms, and the radial moment arms of the four main rotors are evenly distributed on the control panel. The circumference of the panel, the radial arm of the front rotor and the rear rotor are distributed on the diagonal of the radial arm of the four main rotors, a helical bevel gear is processed at the bottom of the control panel, and a Two connecting gears, the connecting gear meshes with the helical bevel gear to drive the rotation of the helical bevel gear, and there is a main driving gear meshed under the connecting gear. The main driving gear is driven by a motor installed inside the body device, so that the connecting gear drives The helical bevel gears rotate together, and each gear mechanism is located inside the body device. 4. According to any one of claims 1-3, a distributed independent control multi-rotor aircraft is characterized in that: the two rotors on the diagonals of the four main rotors have the same direction of rotation, and the two rotors on the two different diagonals have the same direction of rotation. The rotation direction of the rotors is opposite, and the rotation planes of the four main rotors are parallel to the horizontal ground; The plane is vertical, both the front rotor and the rear rotor provide the power for the aircraft to fly forward, and the front rotor provides pulling force and the rear rotor provides thrust.