Horizontal and double vertical tail rotor multi-rotor aircraft

Abstract

A right small rotor is connected to the upper portion of the right end of a right arm, a right large rotor is connected to the upper portion of the middle section of the right arm, a left small rotor is connected to the upper portion of the left end of a left arm, a left large rotor is connected to the upper portion of the middle section of the left arm, and a horizontal tail rotor is connected to the upper end of a vertical tail arm. The vertical right tail rotor wing is connected to the right end of the right horizontal tail machine arm, the vertical left tail rotor wing is connected to the left end of the left horizontal tail machine arm, the lifting force of the right small rotor wing, the right large rotor wing, the left small rotor wing and the left large rotor wing is upward, the lifting force of the horizontal tail rotor wings is downward, the lifting force of the vertical right tail rotor wing is leftward, and the lifting force of the vertical left tail rotor wing is rightward. The lift force differential motion of the vertical right tail rotor wing and the vertical left tail rotor wing causes torque differential motion to control the course of the aircraft; pitching, rolling and heading of the aircraft are controlled through torque changes, and the aircraft is suitable for being combined with a fixed wing to form a vertical take-off and landing fixed wing aircraft, has the advantages of being high in wind resistance and long in endurance time and becomes a universal vertical take-off and landing flight platform.

Description

Technical Field

[0001] The present invention relates to a multi-rotor aircraft, in particular to a multi-rotor aircraft with horizontal and double vertical tail rotors which utilizes a tail rotor with one horizontal rotating surface and two vertical rotating surfaces to control the pitch and heading of the aircraft. Background Art

[0002] Currently known multi-rotor aircraft, such as quadrotors, use the lift differential between the two front rotors and the two rear rotors to cause a torque differential to control pitch, the lift differential between the two right rotors and the two left rotors to cause a torque differential to control roll, and the lift differential between the two rotors in one diagonal pair and the two rotors in the other diagonal pair to cause a counter-torque differential to control heading; the roll and pitch of the aircraft are controlled by using the torque differential caused by the rotor lift differential, and the heading of the aircraft is controlled by using the counter-torque differential caused by the rotor lift differential. Since the torque is larger than the counter-torque, the ability to control the roll and pitch of the aircraft is strong, the ability to control the heading of the aircraft is relatively weak, and the ability to resist wind is weak. Summary of the Invention

[0003] In order to solve the problem that the heading control capability of existing multi-rotor aircraft is relatively weak, the present invention provides a multi-rotor aircraft with horizontal and dual vertical tail rotors, which uses the torque difference caused by the lift difference of the two tail rotors with perpendicular rotating planes to control the heading, thereby improving the ability to control the heading of the aircraft.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a landing gear is connected under the fuselage, a right arm is connected to the right side of the fuselage slightly behind the center of gravity of the aircraft, a right small motor mounting seat, a right small motor, and a right small rotor are sequentially connected above the right end of the right arm, the rotation surface of the right small rotor is horizontal, and the lift of the right small rotor is vertically upward; a right large motor mounting seat, a right large motor, and a right large rotor are sequentially connected above the middle section of the right arm, the rotation surface of the right large rotor is horizontal, and the lift of the right large rotor is vertically upward.

[0005] The left arm is connected to the left side of the fuselage slightly behind the center of gravity of the aircraft. The left small motor mounting base, the left small motor, and the left small rotor are connected in sequence above the left end of the left arm. The rotation surface of the left small rotor is horizontal, and the lift of the left small rotor is vertically upward; the left large motor mounting base, the left large motor, and the left large rotor are connected in sequence above the middle section of the left arm. The rotation surface of the left large rotor is horizontal, and the lift of the left large rotor is vertically upward.

[0006] The rear fuselage is longitudinally connected to the rear arm. The four-way tube seat consists of a longitudinal arm joint, a vertically upward arm joint, a transverse right arm joint and a transverse left arm joint. The longitudinal arm joint of the four-way tube seat is connected to the rear end of the rear arm.

[0007] The vertically upward arm joint of the four-way pipe seat is connected to the vertical tail arm, and the horizontal tail motor mounting seat, the horizontal tail motor, and the horizontal tail rotor are sequentially connected to the upper end of the vertical tail arm. The rotating surface of the horizontal tail rotor is horizontal, and the lift of the horizontal tail rotor is vertically downward.

[0008] The horizontal right arm joint of the four-way tube seat is connected to the right horizontal tail arm, and the vertical right tail motor mounting seat, the vertical right tail motor, and the vertical right tail rotor are connected in sequence to the right end of the right horizontal tail arm. The rotation plane of the vertical right tail rotor is vertical, and the lift of the vertical right tail rotor is horizontal to the left.

[0009] The horizontal left arm joint of the four-way pipe seat is connected to the left horizontal tail arm, and the vertical left tail motor mounting seat, the vertical left tail motor, and the vertical left tail rotor are connected in sequence to the left end of the left horizontal tail arm. The rotation plane of the vertical left tail rotor is vertical, and the lift of the vertical left tail rotor is horizontal to the right.

[0010] Seven ESCs are connected to seven motors, and a flight controller is connected to the seven ESCs. The flight controller controls the output voltage of the ESCs to change the speed of the motors, driving the lift of the rotors to change, thereby changing the flight attitude of the aircraft. This constitutes a horizontal and dual vertical tail rotor multi-rotor aircraft.

[0011] The lift difference between the right rotor and the left rotor causes a torque difference to control the roll of the aircraft.

[0012] The lift differential between the horizontal tail rotor and the right and left rotor blades causes a torque differential to control the pitch of the aircraft.

[0013] The lift difference between the vertical right tail rotor and the vertical left tail rotor causes a torque difference to control the heading of the aircraft.

[0014] The moment of the vertical right tail rotor with horizontal lift to the left relative to the center of gravity of the aircraft causes the aircraft to turn right, and the moment of the vertical left tail rotor with horizontal lift to the right relative to the center of gravity of the aircraft causes the aircraft to turn left; when the lift of the vertical right tail rotor and the vertical left tail rotor are the same, the moments of the vertical right tail rotor and the vertical left tail rotor relative to the center of gravity of the aircraft are the same, and the heading of the aircraft remains stable. When the lift of the vertical right tail rotor is greater than the lift of the vertical left tail rotor, the moment of the vertical right tail rotor relative to the center of gravity of the aircraft is greater than the moment of the vertical left tail rotor relative to the center of gravity of the aircraft, and the aircraft turns to the right. When the lift of the vertical right tail rotor is less than the lift of the vertical left tail rotor, the moment of the vertical right tail rotor relative to the center of gravity of the aircraft is less than the moment of the vertical left tail rotor relative to the center of gravity of the aircraft, and the aircraft turns to the left, thereby achieving control of the aircraft heading.

[0015] The roll, pitch and heading of horizontal and dual vertical tail rotor multi-rotor aircraft are all controlled by the torque differential of the rotors, thereby enhancing the heading control capability.

[0016] The technical solution of the present invention is to set a vertical right tail rotor with lift horizontally to the left and a vertical left tail rotor with lift horizontally to the right, and use the torque difference caused by the lift difference of the vertical right tail rotor and the vertical left tail rotor to control the heading of the aircraft, thereby improving the heading control capability of the aircraft. Due to the strong heading control capability, the wind resistance of the aircraft is enhanced.

[0017] Similar to existing conventional multi-rotor aircraft, connecting universal folding components to the arms can reduce the space occupied by horizontal and dual vertical tail rotor multi-rotor aircraft during storage.

[0018] Horizontal and dual vertical tail rotor multi-rotor aircraft, due to their strong heading control capabilities, are very suitable for being combined with fixed-wing aircraft to form vertical take-off and landing fixed-wing aircraft. They have the advantages of compact structure and strong wind resistance, becoming a universal vertical take-off and landing flight platform with a new architecture, which is used in manned and cargo transportation, agricultural operations, forestry operations, surveying, exploration and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings and examples.

[0020] Figure 1 It is a schematic structural diagram of a horizontal and dual vertical tail rotor multi-rotor aircraft according to a first embodiment of the present invention.

[0021] Figure 2 It is a schematic diagram of the working principle of the horizontal and dual vertical tail rotor multi-rotor aircraft of the first embodiment of the present invention.

[0022] Figure 3 1 is a schematic diagram of the structure of a multi-rotor aircraft with horizontal and dual vertical tail rotors according to a second embodiment of the present invention.

[0023] Figure 4 1 is a schematic diagram of the structure of a multi-rotor aircraft with horizontal and dual vertical tail rotors according to a third embodiment of the present invention.

[0024] Figure 5 1 is a schematic diagram of the structure of a horizontal and dual vertical tail rotor multi-rotor aircraft according to the fourth embodiment of the present invention.

[0025] Figure 6 1 is a schematic diagram of the transitional flight phase of a horizontal and dual vertical tail rotor multi-rotor aircraft according to the fourth embodiment of the present invention.

[0026] Figure 7 1 is a schematic diagram of a fixed-wing flight mode of a horizontal and dual vertical tail rotor multi-rotor aircraft according to a fourth embodiment of the present invention.

[0027] Figure 8 It is a schematic diagram of the connection of the main tail components of the horizontal and dual vertical tail rotor multi-rotor aircraft of the present invention.

[0028] Figure 9 It is a schematic diagram of the connection of the arms of the horizontal and dual vertical tail rotor multi-rotor aircraft of the present invention.

[0029] Figure 10 It is a schematic diagram of the rotor connection of the horizontal and dual vertical tail rotor multi-rotor aircraft of the present invention.

[0030] Figure 11 It is a schematic diagram of the structure of the tilt mechanism used in the horizontal and dual vertical tail rotor multi-rotor aircraft of the present invention.

[0031] In the figure, 1. Right small rotor, 1-1. Rotor hub, 2. Left small rotor, 3. Horizontal tail rotor, 4. Vertical right tail rotor, 5. Vertical left tail rotor, 6. Right main rotor, 7. Left main rotor, 8. Front rotor, 11. Right small motor, 12. Left small motor, 13. Horizontal tail motor, 14. Vertical right tail motor, 15. Vertical left tail motor, 16. Right main motor, 17. Left main motor, 18. Fuel engine, 21. Right small motor mounting bracket, 22. Left small motor mounting bracket, 23. Horizontal tail motor mounting bracket, 24. Vertical right tail motor mounting bracket, 25. Vertical left tail motor mounting bracket, 26. Right main motor mounting bracket, 26-1. Right tilt mechanism, 26-2. Rear fairing, 26-3. Front fairing, 27. Left large motor mounting bracket, 27-1. Left tilt mechanism, 31. Right arm, 32. Left arm, 33. Rear arm, 34. Vertical tail arm, 35. Right horizontal tail arm, 36. Left horizontal tail arm, 37. Cross-tube mount, 37-1. Longitudinal arm joint of the cross-tube mount, 37-2. Vertical upward arm joint, 37-3. Transverse right arm joint of the cross-tube mount, 37-4. Transverse left arm joint of the cross-tube mount, 38. Landing gear, 38-1. Wheeled landing gear, 39. Fuselage, 40. Fixed wing, 40-1. Right wing, 40-2. Left wing, 41. Right flap, 42. Left flap, 43. Right aileron, 44. Left aileron, 45. Vertical tail, 46. Horizontal tail, 47. Vertical tail flap, 48. Horizontal tail flap, 49. Mounting hole, 50. Pipe hole, 51. Screw, 52. Contraction seam, 53. Rivet, 54. Long screw, 55. Nut, 56. Pipe clamp, 57. Fuselage plate, 58. Fuselage layer, 67. Electric cylinder, 68. Tilt mechanism horizontal bracket, 69. Tilt mechanism swing bracket, 70. Wing spar connector, 71. Fairing mounting ring, 73. Fairing mounting ear, 74. Electric cylinder bottom hinge shaft, 75. Electric cylinder push rod, 76. Tilt mechanism swing bracket hinge ear, 77. Tilt mechanism hinge shaft, F1. Lift of right rotor blade, F2. Lift of left rotor blade, F3. Lift of horizontal tail rotor, F4. Lift of vertical right tail rotor, F5. Lift of the vertical left tail rotor, F6. Lift of the right main rotor, F7. Lift of the left main rotor, Y. Longitudinal line through the aircraft's center of gravity, X. Transverse line through the aircraft's center of gravity, Z. Vertical line, V. Horizontal line, x3. Distance from the horizontal tail rotor's center of rotation to the aircraft's center of gravity, x4. Distance from the vertical right tail rotor's center of rotation to the aircraft's center of gravity, x5. Distance from the vertical left tail rotor's center of rotation to the aircraft's center of gravity, x21.Distance from the midpoint of the line connecting the right and left rotor centers of rotation to the vehicle's center of gravity, x67. Distance from the midpoint of the line connecting the right and left rotor centers of rotation to the vehicle's center of gravity, Y1. Distance from the right rotor center of rotation to a longitudinal line passing through the vehicle's center of gravity, Y2. Distance from the left rotor center of rotation to a longitudinal line passing through the vehicle's center of gravity, Y4. Distance from the right tail rotor center of rotation to a longitudinal line passing through the vehicle's center of gravity, Y5. Distance from the left tail rotor center of rotation to a longitudinal line passing through the vehicle's center of gravity, Y6. Distance from the right rotor center of rotation to a longitudinal line passing through the vehicle's center of gravity, Y7. Distance from the left rotor center of rotation to a longitudinal line passing through the vehicle's center of gravity, T. Vehicle nose direction, P. Vehicle center of gravity, N. Rotor rotation counterclockwise, S. Rotor rotation clockwise, ɑ. The angle between the lift of the right or left rotor and the vertical line. The circle with an arrow is the virtual circle of rotor tip rotation. The arrow represents the direction of rotor rotation, and the small dot within the virtual circle represents the rotor's center of rotation. The ellipse with an arrow is the virtual ellipse of rotor tip rotation perpendicular to the plane of rotation. The small dot within the virtual ellipse represents the rotor's center of rotation, and the arrow represents the direction of rotor rotation. The small dot before the F indicates lift, as if the arrow is pointing toward the reader. The × within the small circle before the F (like an arrow tail) indicates lift, as if the arrow is pointing away from the reader. Implementation Method

[0032] Figure 1 It is a schematic structural diagram of a horizontal and dual vertical tail rotor multi-rotor aircraft according to a first embodiment of the present invention.

[0033] Figure 1 In, see Figure 2 The fuselage 39 is connected to the landing gear 38 at the bottom, and the right arm 31 is connected to the right side of the fuselage 39 slightly behind the center of gravity P of the aircraft. The right small motor mounting seat 21 is connected to the upper right end of the right arm 31, and the right small motor 11 is connected to the right small motor 11, and the right small motor 11 is connected to the right small rotor 1. The rotation surface of the right small rotor 1 is horizontal, and the lift F1 of the right small rotor 1 is vertically upward; the right large motor mounting seat 26 is connected to the upper middle section of the right arm 31, and the right large motor 16 is connected to the right large motor 16, and the right large motor 16 is connected to the right large rotor 6. The rotation surface of the right large rotor 6 is horizontal, and the lift F6 of the right large rotor 6 is vertically upward.

[0034] The left side of the fuselage 39 slightly behind the center of gravity P of the aircraft is connected to the left arm 32, the left small motor mounting seat 22 is connected to the upper left end of the left arm 32, the left small motor 12 is connected to the left small motor mounting seat 22, the left small motor 12 is connected to the left small rotor 2, the rotation surface of the left small rotor 2 is horizontal, and the lift F2 of the left small rotor 2 is vertically upward; the left large motor mounting seat 27 is connected to the upper middle section of the left arm 32, the left large motor 17 is connected to the left large motor mounting seat 27, and the left large motor 17 is connected to the left large rotor 7, the rotation surface of the left large rotor 7 is horizontal, and the lift F7 of the left large rotor 7 is vertically upward.

[0035] The rear of the fuselage 39 is longitudinally connected to the rear arm 33, the four-way pipe seat 37 (see Figure 8 ) consists of a longitudinal arm joint 37-1, a vertically upward arm joint 37-2, a transverse right arm joint 37-3 and a transverse left arm joint 37-4. The longitudinal arm joint 37-1 of the four-way pipe seat 37 is connected to the rear end of the rear arm 33.

[0036] The vertically upward arm joint 37-2 of the four-way pipe seat 37 is connected to the vertical tail arm 34, the horizontal tail motor mounting seat 23 is connected to the upper end of the vertical tail arm 34, the horizontal tail motor mounting seat 23 is connected to the horizontal tail motor 13, and the horizontal tail motor 13 is connected to the horizontal tail rotor 3. The rotation plane of the horizontal tail rotor 3 is horizontal, and the lift F3 of the horizontal tail rotor 3 is vertically downward.

[0037] The horizontal right-facing arm joint 37-3 of the four-way pipe seat 37 is connected to the right horizontal tail arm 35, the vertical right tail motor mounting seat 24 is connected to the right end of the right horizontal tail arm 35, the vertical right tail motor mounting seat 24 is connected to the vertical right tail motor 14, and the vertical right tail motor 14 is connected to the vertical right tail rotor 4. The rotation plane of the vertical right tail rotor 4 is vertical, and the lift F4 of the vertical right tail rotor 4 is horizontally to the left.

[0038] The horizontal left arm joint 37-4 of the four-way pipe seat 37 is connected to the left horizontal tail arm 36, the vertical left tail motor mounting seat 25 is connected to the left end of the left horizontal tail arm 36, the vertical left tail motor mounting seat 25 is connected to the vertical left tail motor 15, and the vertical left tail motor 15 is connected to the vertical left tail rotor 5. The rotation plane of the vertical left tail rotor 5 is vertical, and the lift F5 of the vertical left tail rotor 5 is horizontally to the right.

[0039] Set up seven ESCs connected to seven motors, and the flight controller connected to the seven ESCs. The flight controller controls the output voltage of the ESCs to change the speed of the motors, drive the lift of the rotors to change, and thus change the flight attitude of the aircraft. This constitutes a horizontal and dual vertical tail rotor multi-rotor aircraft. The flight principle is shown in Figure 2 .

[0040] Figure 2This is a simplified top view of the horizontal and dual vertical tail rotor multi-rotor aircraft of the first embodiment of the present invention, which is convenient for demonstrating the flight principle.

[0041] Figure 2 In, see Figure 1 The fuselage 39 is simplified into a longitudinal thick black line 39, the rear arm 33 is simplified into a longitudinal thick black line 33, the right arm 31 is simplified into a horizontal rightward thick black line 31, the left arm 32 is simplified into a horizontal leftward thick black line 32, the right large rotor 6 and the left large rotor 7 are simplified into large circles with arrows, the right small rotor 1, the left small rotor 2, and the horizontal tail rotor 3 are simplified into small circles with arrows, the direction of the arrow represents the direction of rotation of the rotor, and the vertical right tail rotor 4 and the vertical left tail rotor 5 are simplified into ellipses with arrows.

[0042] The right large rotor 6 and the left large rotor 7 are set to rotate in opposite directions. Figure 2 In the example, the right large rotor 6 rotates counterclockwise N and the left large rotor 7 rotates clockwise S.

[0043] The right small rotor 1, the left small rotor 2 and the horizontal tail rotor 3 have at least two rotors with the same rotation direction. Figure 2 In the example, the right rotor 1 rotates clockwise by S, the left rotor 2 rotates counterclockwise by N, and the horizontal tail rotor 3 rotates counterclockwise by N.

[0044] The bottom blades of the vertical right tail rotor 4 and the vertical left tail rotor 5 move forward or backward, Figure 2 The bottom blades of the vertical right tail rotor 4 and the vertical left tail rotor 5 are taken as an example.

[0045] The vertical right tail rotor 4 and the vertical left tail rotor 5 have the same size and the corresponding drive motor parameters are the same. At the same throttle, the vertical right tail rotor 4 and the vertical left tail rotor 5 have the same lift and the counter-torques cancel each other out.

[0046] The right small rotor 1 and the left small rotor 2 have the same size and the corresponding drive motor parameters are the same. When the throttle is the same, the lift of the right small rotor 1 and the left small rotor 2 is the same, and the counter-torques cancel each other out.

[0047] The right large rotor 6 and the left large rotor 7 have the same size and the corresponding drive motor parameters are the same. When the throttle is the same, the lift of the right large rotor 6 and the left large rotor 7 is the same, and the counter-torques cancel each other out.

[0048] The sizes of the right small rotor 1 , the left small rotor 2 , the horizontal tail rotor 3 , and the vertical right tail rotor 4 are smaller than those of the right large rotor 6 .

[0049] At the same throttle, the total lift of the right large rotor 6 and the left large rotor 7 is greater than the total lift of the right small rotor 1, the left small rotor 2, the horizontal tail rotor 3, the vertical right tail rotor 4, and the vertical left tail rotor 5. The right large rotor 6 and the left large rotor 7 provide most of the lift required by the aircraft, that is: F6+F7>F1+ F2+F3+F4+F5.

[0050] The balance equation for the lift of an aircraft is: F6+F7+F1+ F2-F3=HP……………………(1).

[0051] In the above formula, HP is the weight of the aircraft.

[0052] The aircraft's ascent equation is: (F6+df)+(F7+df)+(F1+df)+(F2+df)-(F3+df)>HP…………(1-1).

[0053] In the above formula, df is the change in rotor lift, and the aircraft descent equation is: (F6-df)+(F7-df)+(F1- df)+(F2-df)-(F3-df)<HP………(1-2).

[0054] Equations (1), (1-1), and (1-2) represent the lift linkage control of the right small rotor 1, the left small rotor 2, the horizontal tail rotor 3, the right large rotor 6, and the left large rotor 7 for the ascent and descent of the aircraft.

[0055] The lift F6 of the right large rotor 6 and the lift F7 of the left large rotor 7 are vertically upward, and the forward pitching moment generated is: F6*x67+ F7*x67.

[0056] In the above formula, x67 is the distance from the midpoint of the line connecting the rotation centers of the right large rotor 6 and the left large rotor 7 to the center of gravity P of the aircraft. x67>0, that is, the midpoint of the line connecting the rotation centers of the right large rotor 6 and the left large rotor 7 is behind the center of gravity P of the aircraft and close to the center of gravity P.

[0057] The lift F1 of the right rotor 1 and the lift F2 of the left rotor 2 are vertically upward, and the forward pitching moment generated is: F1*x21+ F2*x21.

[0058] In the above formula, x21 is the distance from the midpoint of the line connecting the rotation centers of the right small rotor 1 and the left small rotor 2 to the center of gravity P of the aircraft, and x21≥x67, that is, the midpoint of the line connecting the rotation centers of the right small rotor 1 and the left small rotor 2 is behind and close to the midpoint of the line connecting the rotation centers of the right large rotor 6 and the left large rotor 7. At this time, the right arm 31 and the left arm 32 are swept back, or the midpoint of the line connecting the rotation centers of the right small rotor 1 and the left small rotor 2 overlaps with the midpoint of the line connecting the rotation centers of the right large rotor 6 and the left large rotor 7.

[0059] The lift F3 of the horizontal tail rotor 3 is vertically downward, and the pitching moment generated is: F3*x3.

[0060] In the above formula, x3 is the distance from the rotation center of the horizontal tail rotor 3 to the center of gravity P of the aircraft.

[0061] The pitch balance equation of the aircraft is: F6*x67+ F7*x67 +F1*x21+ F2*x21=F3*x3……………………(2).

[0062] The equation for the aircraft to pitch forward is: F6*x67+ F7*x67 + (F1+df)*x21+ (F2+df)*x21> (F3-df)*x3…………(2-1).

[0063] The equation for the aircraft's pitch back is: F6*x67+ F7*x67 + (F1-df)*x21+ (F2-df)*x21<(F3+df)*x3…………(2-2).

[0064] Equations (2), (2-1), and (2-2) represent the moment differential control of the aircraft's pitch caused by the lift differential of the right rotor 1, the left rotor 2, and the horizontal tail rotor 3.

[0065] The lift F1 of the right small rotor 1 and the lift F6 of the right large rotor 6 are vertically upward, and the rolling moment to the left is: F1*Y1+ F6*Y6.

[0066] In the above formula, Y1 is the distance from the rotation center of the right rotor blade 1 to the longitudinal axis Y passing through the center of gravity P of the aircraft.

[0067] In the above formula, Y6 is the distance from the rotation center of the right large rotor 6 to the longitudinal axis Y passing through the center of gravity P of the aircraft.

[0068] The lift F2 of the left small rotor 2 and the lift F7 of the left large rotor 7 are vertically upward, and the rightward rolling moment generated is: F2*Y2+ F7*Y7.

[0069] In the above formula, Y2 is the distance from the rotation center of the left rotor 2 to the longitudinal axis Y passing through the center of gravity P of the aircraft.

[0070] In the above formula, Y7 is the distance from the rotation center of the left large rotor 7 to the longitudinal axis Y passing through the center of gravity P of the aircraft.

[0071] Set Y1=Y2, Y6=Y7.

[0072] The roll balance equation of an aircraft is: F1*Y1+ F6*Y6 = F2*Y2+ F7*Y7……………………(3).

[0073] The equation for the aircraft rolling to the left is: (F1+df)*Y1+ F6*Y6 > (F2-df)*Y2+ F7*Y7……………………(3-1).

[0074] The equation for the aircraft to roll to the right is: (F1-df)*Y1+ F6*Y6<(F2+df)*Y2+ F7*Y7……………………(3-2).

[0075] Equations (3), (3-1), and (3-2) represent the moment differential control of the aircraft's roll caused by the lift differential between the right rotor 1 and the left rotor 2.

[0076] The right large rotor 6 and the left large rotor 7 rotate in opposite directions, and the counter-torques cancel each other out; the right small rotor 1 and the left small rotor 2 rotate in opposite directions, and the counter-torques cancel each other out. The remaining counter-torque of the horizontal tail rotor 3 affects the heading of the aircraft. Since the horizontal tail rotor 3 is small in size, has small lift, and has small counter-torque, in order to simplify the explanation, the influence of the counter-torque of the horizontal tail rotor 3 on the heading of the aircraft is ignored.

[0077] The lift F4 of the vertical right tail rotor 4 is horizontally directed to the left. The moment of the lift F4 of the vertical right tail rotor 4 relative to the center of gravity P causes the aircraft to turn right. The moment causing the aircraft to turn right is: F4*x4.

[0078] In the above formula, x4 is the distance from the rotation center of the vertical right tail rotor 4 to the center of gravity P of the aircraft.

[0079] The lift F5 of the vertical left tail rotor 5 is directed horizontally to the right. The moment of the lift F5 of the vertical left tail rotor 5 relative to the center of gravity P causes the aircraft to turn left. The moment causing the aircraft to turn left is: F5*x5.

[0080] In the above formula, x5 is the distance from the rotation center of the vertical left tail rotor 5 to the center of gravity P of the aircraft.

[0081] Set x3 = x4, x4 = x5.

[0082] The aircraft heading balance equation is: F4*x4= F5*x5……………………(4).

[0083] The equation for turning the aircraft to the right is: (F4+df)*x4>(F5-df)*x5……………………(4-1).

[0084] The equation for turning the aircraft to the left is: (F4-df)*x4<(F5+df)*x5……………………(4-2).

[0085] Equations (4), (4-1), and (4-2) represent how the moment difference caused by the lift difference between the vertical right tail rotor 4 and the vertical left tail rotor 5 controls the heading of the aircraft.

[0086] From the above description, it can be seen that the pitch, roll and heading of the aircraft are all controlled by the torque changes caused by the lift changes. Therefore, the controllability of heading is enhanced.

[0087] During the process of manipulating the pitch, roll and heading of the aircraft, the lift of the right large rotor 6 and the left large rotor 7 remains in its original state. Therefore, the speed change requirements for the right large rotor 6 and the left large rotor 7 are not high. The right large rotor 6 and the left large rotor 7 can use large-diameter rotors to increase the load capacity of the aircraft. The right large rotor 6 and the left large rotor 7 can be driven by a fuel engine to form a direct oil-electric hybrid aircraft, thereby increasing the flight time.

[0088] Figure 3 1 is a schematic diagram of the structure of a multi-rotor aircraft with horizontal and dual vertical tail rotors according to a second embodiment of the present invention.

[0089] Figure 3 In the figure above, see Figure 2 、 Figure 1 The wheeled landing gear 38-1 is connected to the bottom of the fuselage 39, and the right arm 31 is connected to the right side of the fuselage 39 slightly behind the center of gravity P of the aircraft. The right small motor mounting seat 21 is connected to the upper right end of the right arm 31, and the right small motor 11 is connected to the right small motor 11. The rotation plane of the right small rotor 1 is horizontal, and the lift F1 of the right small rotor 1 is vertically upward; the right large motor mounting seat 26 is connected to the upper middle section of the right arm 31, and the right large motor 16 is connected to the right large motor 16, and the right large motor 16 is connected to the right large rotor 6. The rotation plane M6 of the right large rotor 6 is slightly tilted backward, and the angle between the rotation plane M6 of the right large rotor 6 and the horizontal plane V is ɑ (see the figure below), the lift F6 of the right large rotor 6 is slightly tilted backward, and the angle between the lift F6 of the right large rotor 6 and the vertical line Z is ɑ, ɑ<15°.

[0090] The left side of the fuselage 39 slightly behind the center of gravity P of the aircraft is connected to the left arm 32, the left small motor mounting seat 22 is connected to the upper left end of the left arm 32, the left small motor 12 is connected to the left small motor mounting seat 22, the left small motor 12 is connected to the left small rotor 2, the rotation plane of the left small rotor 2 is horizontal, and the lift F2 of the left small rotor 2 is vertically upward; the left large motor mounting seat 27 is connected to the upper middle section of the left arm 32, the left large motor 17 is connected to the left large motor mounting seat 27, and the left large motor 17 is connected to the left large rotor Wing 7, the rotating surface M7 of the left large rotor 7 is slightly inclined backward, and the angle between the rotating surface M7 of the left large rotor 7 and the horizontal plane V is ɑ (see the figure below, which is invisible in the side view due to the obstruction of the right large rotor 6, the rotating surface M7 of the left large rotor 7 overlaps with the rotating surface M6 of the right large rotor 6, and the lift F7 of the left large rotor 7 overlaps with the lift F6 of the right large rotor 6), the lift F7 of the left large rotor 7 is slightly inclined backward, and the angle between the lift F7 of the left large rotor 7 and the vertical line Z is ɑ, ɑ<15°.

[0091] The rear of the fuselage 39 is longitudinally connected to the rear arm 33, and the longitudinal arm joint 37-1 of the four-way pipe seat 37 is connected to the rear end of the rear arm 33 (see Figure 8 ).

[0092] The vertical upward arm joint 37-2 of the four-way pipe seat 37 is connected to the vertical tail arm 34, the horizontal tail motor mounting seat 23 is connected to the upper end of the vertical tail arm 34, the horizontal tail motor mounting seat 23 is connected to the horizontal tail motor 13, and the horizontal tail motor 13 is connected to the horizontal tail rotor 3. The rotation plane of the horizontal tail rotor 3 is horizontal, and the lift F3 of the horizontal tail rotor 3 is vertically downward (see the figure below, Figure 2 、 Figure 8 ).

[0093] The right-facing arm joint 37-3 of the four-way pipe seat 37 is connected to the right horizontal tail arm 35. The right vertical tail motor mounting seat 24 is connected to the right end of the right horizontal tail arm 35. The right vertical tail motor mounting seat 24 is connected to the right vertical tail motor 14. The right vertical tail motor 14 is connected to the right vertical tail rotor 4. The rotation plane of the right vertical tail rotor 4 is vertical. The lift F4 of the right vertical tail rotor 4 is horizontally directed to the left (see the figure below). Figure 2 、 Figure 8 ).

[0094] The horizontal left arm joint 37-4 of the four-way pipe seat 37 is connected to the left horizontal tail arm 36. The vertical left tail motor mounting seat 25 is connected to the left end of the left horizontal tail arm 36. The vertical left tail motor mounting seat 25 is connected to the vertical left tail motor 15. The vertical left tail motor 15 is connected to the vertical left tail rotor 5. The rotation plane of the vertical left tail rotor 5 is vertical, and the lift F5 of the vertical left tail rotor 5 is horizontally to the right (see Figure 2 , Figure 8 ).

[0095] The front nose of the fuselage 39 is connected to the fuel engine 18, and the front of the fuel engine 18 is connected to the front rotor 8, and the lift of the front rotor 8 is forward (see the figure below).

[0096] Seven electronic speed controllers are connected to seven motors, and a flight controller is connected to the seven electronic speed controllers. The flight controller controls the output voltage of the electronic speed controllers to change the rotation speed of the motors, thereby driving the lift of the rotors to change, thereby changing the flight attitude of the aircraft. A servo is connected to the throttle lever of the fuel engine, and the flight controller is connected to the servo. The flight controller manipulates the swing arm of the servo to change the throttle amount of the fuel engine, changes the rotation speed of the fuel engine, drives the lift of the front rotor to change, and changes the forward flight driving force of the aircraft. This constitutes the horizontal and dual vertical tail rotor multi-rotor aircraft of the second embodiment.

[0097] Figure 3 In the figure below, the lift F8 of the front rotor 8 is forward, the lift F3 of the horizontal tail rotor 3 is vertically downward, the lift F4 of the vertical right tail rotor 4 is to the left, as shown away from the reader, and the lift F5 of the vertical left tail rotor 5 is to the right, which is not visible because it is blocked by the lift F4 of the vertical right tail rotor 4 (see Figure 2 ), the lift F1 of the right rotor 1 is vertically upward, and the lift F2 of the left rotor 2 is vertically upward. It is not visible because the lift F1 of the right rotor 1 blocks it (see Figure 2 ).

[0098] The angle between the lift F6 of the right large rotor 6 and the vertical line Z is ɑ, and the angle between the lift F7 of the left large rotor 7 and the vertical line Z is ɑ. It cannot be seen because it is blocked by the lift F6 of the right large rotor 6.

[0099] When the fuel engine 18 is not started or is at idle speed, the flight mode of the horizontal and dual vertical tail rotor multi-rotor aircraft of the second embodiment is the same as that of the horizontal and dual vertical tail rotor multi-rotor aircraft of the first embodiment, and the flight principle is the same. Figure 2 It is explained that when the horizontal and dual vertical tail rotor multi-rotor aircraft of the second embodiment is hovering in the air in the flight mode of the horizontal and dual vertical tail rotor multi-rotor aircraft of the first embodiment, the flight controller starts the fuel engine 18 to rotate, causing the front rotor 8 to generate lift to drive the aircraft forward. Since the rotation planes M6 and M7 of the right large rotor 6 and the left large rotor 7 are slightly tilted backward by ɑ°, this is equivalent to increasing the angle of attack of the right large rotor 6 and the left large rotor 7. At the same rotation speed, the lift of the right large rotor 6 and the left large rotor 7 is increased. When the aircraft flies forward horizontally, the rotation speed of the right large rotor 6 and the left large rotor 7 can be reduced while generating the same lift. Therefore, the forward flight mode driven by the lift of the front rotor 8 improves the lift efficiency of the right large rotor 6 and the left large rotor 7 and increases the flight time of the aircraft. Similarly, if the front rotor 8 is driven by an electric motor, the lift efficiency of the right large rotor 6 and the left large rotor 7 can also be improved.

[0100] Figure 4 1 is a schematic diagram of the structure of a multi-rotor aircraft with horizontal and dual vertical tail rotors according to a third embodiment of the present invention.

[0101] Figure 4 In the figure above, see Figure 8 、 Figure 2 、 Figure 1 The wheeled landing gear 38-1 is connected to the fuselage 39 below, and the fixed wing 40 is connected to the fuselage 39 above the center of gravity P of the aircraft. The right wing 40-1 of the fixed wing 40 is provided with a right aileron 43 and a right flap 41, and the left wing 40-2 of the fixed wing 40 is provided with a left aileron 44 and a left flap 42.

[0102] Figure 4 In the figure below, see Figure 3 The right small motor mounting seat 21 is connected to the right side of the right wing 40-1 of the fixed wing 40, close to the right end wing beam, the right small motor mounting seat 21 is connected to the right small motor 11, the right small motor 11 is connected to the right small rotor 1, the rotation surface of the right small rotor 1 is horizontal, and the lift F1 of the right small rotor 1 is vertically upward; the right large motor mounting seat 26 is connected to the middle section of the right side of the right wing 40-1 of the fixed wing 40, the right large motor mounting seat 26 is connected to the right large motor 16, the right large motor 16 is connected to the right large rotor 6, the rotation surface of the right large rotor 6 is horizontal, and the lift F6 of the right large rotor 6 is vertically upward.

[0103] The left small motor mounting seat 22 is connected to the left side of the left wing 40-2 of the fixed wing 40, near the left end wing beam. The left small motor mounting seat 22 is connected to the left small motor 12, and the left small motor 12 is connected to the left small rotor 2. The rotation surface of the left small rotor 2 is horizontal, and the lift F2 of the left small rotor 2 is vertically upward; the left large motor mounting seat 27 is connected to the bottom middle section of the left wing beam of the left wing 40-2 of the fixed wing 40. The left large motor mounting seat 27 is connected to the left large motor 17, and the left large motor 17 is connected to the left large rotor 7. The rotation surface of the left large rotor 7 is horizontal, and the lift F7 of the left large rotor 7 is vertically upward.

[0104] The rear of the fuselage 39 is longitudinally connected to the rear arm 33, and the longitudinal arm joint 37-1 of the four-way pipe seat 37 is connected to the rear end of the rear arm 33 (see Figure 8 , Figure 3 ).

[0105] The vertical upward arm joint 37-2 of the four-way pipe seat 37 is connected to the vertical tail arm 34. The horizontal tail motor mounting seat 23 is connected to the upper end of the vertical tail arm 34. The horizontal tail motor mounting seat 23 is connected to the horizontal tail motor 13. The horizontal tail motor 13 is connected to the horizontal tail rotor 3. The rotation plane of the horizontal tail rotor 3 is horizontal, and the lift F3 of the horizontal tail rotor 3 is vertically downward (see Figure 3 、 Figure 2 、 Figure 8 ); The vertical tail 45 is connected to the vertical tail arm 34 under the horizontal tail motor mounting seat 23, and a vertical tail flap 47 is set on the vertical tail 45 (see the above figure).

[0106] The rightward-facing arm joint 37-3 of the four-way pipe seat 37 is connected to the right horizontal tail arm 35. The right vertical tail motor mounting seat 24 is connected to the right end of the right horizontal tail arm 35. The right vertical tail motor mounting seat 24 is connected to the right vertical tail motor 14. The right vertical tail motor 14 is connected to the right vertical tail rotor 4. The rotation plane of the right vertical tail rotor 4 is vertical. The lift F4 of the right vertical tail rotor 4 is horizontally directed to the left (see FIG. Figure 3 、 Figure 2 、 Figure 8 ).

[0107] The horizontal left arm joint 37-4 of the four-way pipe seat 37 is connected to the left horizontal tail arm 36. The vertical left tail motor mounting seat 25 is connected to the left end of the left horizontal tail arm 36. The vertical left tail motor mounting seat 25 is connected to the vertical left tail motor 15. The vertical left tail motor 15 is connected to the vertical left tail rotor 5. The rotation plane of the vertical left tail rotor 5 is vertical, and the lift F5 of the vertical left tail rotor 5 is horizontally to the right (see Figure 3 、 Figure 2 、 Figure 8 ).

[0108] A horizontal tail 46 is connected to the right horizontal tail arm 35 and the left horizontal tail arm 36 between the vertical right tail motor mounting base 24 and the vertical left tail motor mounting base 25 , and a horizontal tail flap 48 is provided on the horizontal tail 46 (see the above figure).

[0109] The front nose of the fuselage 39 is connected to the fuel engine 18, and the front of the fuel engine 18 is connected to the front rotor 8. The lift of the front rotor 8 is forward (see Figure 3 (see the figure below).

[0110] Seven electronic regulators are set to connect to seven motors, and a flight controller is connected to the seven electronic regulators. The flight controller controls the output voltage of the electronic regulators to change the rotation speed of the motors, driving the lift of the rotor to change, thereby changing the flight attitude of the aircraft. A servo is set to connect to the throttle lever of the fuel engine, and the flight controller is connected to the servo. The flight controller manipulates the swing arm of the servo to change the throttle amount of the fuel engine, changes the rotation speed of the fuel engine, drives the lift of the front rotor to change, and changes the forward flight driving force of the aircraft. The flight controller is connected to the flap controllers of the fixed wings, and the flight controller manipulates each flap to change the lift of the corresponding wing surface, and manipulates the flight attitude of the aircraft when it enters the fixed-wing mode. This constitutes the horizontal and dual vertical tail rotor multi-rotor aircraft of the third embodiment.

[0111] When the fuel engine 18 is not started or is at idle speed, the flight mode of the horizontal and dual vertical tail rotor multi-rotor aircraft of the third embodiment is the same as that of the horizontal and dual vertical tail rotor multi-rotor aircraft of the first embodiment, and the flight principle is the same. Figure 2 It is explained that when the horizontal and dual vertical tail rotor multi-rotor aircraft of the third embodiment is hovering in the air in the flight mode of the horizontal and dual vertical tail rotor multi-rotor aircraft of the first embodiment, the flight controller starts the fuel engine 18, so that the front rotor 8 generates lift to drive the aircraft forward. As the forward speed of the aircraft increases, the fixed wing 40 generates lift, and the aircraft flies upward and forward. When the forward speed of the aircraft exceeds the stall speed of the fixed wing, the flight controller turns off the drive motors of the right small rotor 1, the left small rotor 2, the horizontal tail rotor 3, the vertical right tail rotor 4, the vertical left tail rotor 5, the right large rotor 6 and the left large rotor 7, so that the right small rotor 1, the left small rotor 2, the horizontal tail rotor 3, the vertical right tail rotor 4, the vertical left tail rotor 5, the right large rotor 6 and the left large rotor 7 are turned on. The vertical left tail rotor 5, the right large rotor 6 and the left large rotor 7 stop rotating and enter a fixed-propeller state, that is, the blade span direction of the right small rotor 1, the left small rotor 2, the horizontal tail rotor 3, the vertical right tail rotor 4, the vertical left tail rotor 5, the right large rotor 6 and the left large rotor 7 is parallel to the longitudinal line of the fuselage, reducing the resistance of the right small rotor 1, the left small rotor 2, the horizontal tail rotor 3, the vertical right tail rotor 4, the vertical left tail rotor 5, the right large rotor 6 and the left large rotor 7, and the aircraft enters a fixed-wing flight mode. At this time, the fixed wing 40 generates lift to balance the weight of the aircraft, the right flap 41 and the left flap 42 of the fixed wing 40 control the roll of the aircraft, the horizontal tail flap 48 controls the pitch of the aircraft, and the vertical tail flap 47 controls the heading of the aircraft.

[0112] When the horizontal and dual vertical tail rotor multi-rotor aircraft of the third embodiment in fixed-wing mode flight needs to land, the flight controller shuts down the fuel engine 18, the front rotor 8 no longer generates lift, and the forward flight speed of the aircraft decreases. When it drops to a speed close to the stall speed of the fixed wing, the flight controller starts the drive motors of the right small rotor 1, the left small rotor 2, the horizontal tail rotor 3, the vertical right tail rotor 4, the vertical left tail rotor 5, the right large rotor 6 and the left large rotor 7. The right small rotor 1, the left small rotor 2, the horizontal tail rotor 3, the vertical right tail rotor 4, the vertical left tail rotor 5, the right large rotor 6 and the left large rotor 7 generate lift, and the aircraft returns to multi-rotor mode flight and lands vertically.

[0113] Since the efficiency of the fixed wing in generating lift is higher than that of the right large rotor 6 and the left large rotor 7, the aircraft entering the fixed wing mode increases the flight time of the aircraft. Similarly, the front rotor 8 is driven by the motor, which also increases the flight time of the aircraft.

[0114] Figure 51 is a schematic diagram of the structure of a horizontal and dual vertical tail rotor multi-rotor aircraft according to the fourth embodiment of the present invention.

[0115] Figure 5 In the figure above, see Figure 8 、 Figure 2 、 Figure 1 The wheeled landing gear 38-1 is connected to the fuselage 39 below, and the fixed wing 40 is connected to the fuselage 39 above the center of gravity P of the aircraft. The right wing 40-1 of the fixed wing 40 is provided with a right aileron 43 and a right flap 41, and the left wing 40-2 of the fixed wing 40 is provided with a left aileron 44 and a left flap 42.

[0116] Figure 5 In the lower figure, the right small motor mounting seat 21 is connected to the right side of the right wing 40-1 of the fixed wing 40, close to the right end of the wing beam, the right small motor mounting seat 21 is connected to the right small motor 11, the right small motor 11 is connected to the right small rotor 1, the rotation surface of the right small rotor 1 is horizontal, and the lift F1 of the right small rotor 1 is vertically upward; the right tilt mechanism 26-1 is connected to the bottom middle section of the right wing beam of the right wing 40-1 of the fixed wing 40, the right tilt mechanism 26-1 is connected to the right large motor 16, the right large motor 16 is connected to the right large rotor 6, the rotation surface of the right large rotor 6 is horizontal, and the lift F6 of the right large rotor 6 is vertically upward.

[0117] The left small motor mounting seat 22 is connected to the left side of the left wing 40-2 of the fixed wing 40, close to the left end wing beam. The left small motor mounting seat 22 is connected to the left small motor 12, and the left small motor 12 is connected to the left small rotor 2. The rotation surface of the left small rotor 2 is horizontal, and the lift F2 of the left small rotor 2 is vertically upward; the left tilt mechanism 27-1 is connected to the bottom middle section of the left wing beam of the left wing 40-2 of the fixed wing 40. The left tilt mechanism 27-1 is connected to the left large motor 17, and the left large motor 17 is connected to the left large rotor 7. The rotation surface of the left large rotor 7 is horizontal, and the lift F7 of the left large rotor 7 is vertically upward.

[0118] The rear of the fuselage 39 is longitudinally connected to the rear arm 33, and the longitudinal arm joint 37-1 of the four-way pipe seat 37 is connected to the rear end of the rear arm 33 (see Figure 8 , Figure 3 ).

[0119] The vertical upward arm joint 37-2 of the four-way pipe seat 37 is connected to the vertical tail arm 34. The horizontal tail motor mounting seat 23 is connected to the upper end of the vertical tail arm 34. The horizontal tail motor mounting seat 23 is connected to the horizontal tail motor 13. The horizontal tail motor 13 is connected to the horizontal tail rotor 3. The rotation plane of the horizontal tail rotor 3 is horizontal, and the lift F3 of the horizontal tail rotor 3 is vertically downward (see Figure 3 、 Figure 2 、 Figure 8); The vertical tail 45 is connected to the vertical tail arm 34 under the horizontal tail motor mounting seat 23, and a vertical tail flap 47 is set on the vertical tail 45 (see the above figure).

[0120] The rightward-facing arm joint 37-3 of the four-way pipe seat 37 is connected to the right horizontal tail arm 35. The right vertical tail motor mounting seat 24 is connected to the right end of the right horizontal tail arm 35. The right vertical tail motor mounting seat 24 is connected to the right vertical tail motor 14. The right vertical tail motor 14 is connected to the right vertical tail rotor 4. The rotation plane of the right vertical tail rotor 4 is vertical. The lift F4 of the right vertical tail rotor 4 is horizontally directed to the left (see FIG. Figure 3 、 Figure 2 、 Figure 8 ).

[0121] The horizontal left arm joint 37-4 of the four-way pipe seat 37 is connected to the left horizontal tail arm 36. The vertical left tail motor mounting seat 25 is connected to the left end of the left horizontal tail arm 36. The vertical left tail motor mounting seat 25 is connected to the vertical left tail motor 15. The vertical left tail motor 15 is connected to the vertical left tail rotor 5. The rotation plane of the vertical left tail rotor 5 is vertical, and the lift F5 of the vertical left tail rotor 5 is horizontally to the right (see Figure 3 、 Figure 2 、 Figure 8 ).

[0122] A horizontal tail 46 is connected to the right horizontal tail arm 35 and the left horizontal tail arm 36 between the vertical right tail motor mounting base 24 and the vertical left tail motor mounting base 25 , and a horizontal tail flap 48 is provided on the horizontal tail 46 (see the above figure).

[0123] Seven electronic regulators are provided to connect to seven motors, and a flight controller is connected to the seven electronic regulators. The flight controller controls the output voltage of the electronic regulators to change the rotation speed of the motors, thereby driving the lift of the rotor to change, thereby changing the flight attitude of the aircraft. The flight controller is connected to the right tilt mechanism and the left tilt mechanism. The flight controller manipulates the right tilt mechanism and the left tilt mechanism to tilt, thereby changing the lift direction of the right large rotor 6 and the left large rotor 7. The flight controller is connected to the flap controllers of the fixed wings. The flight controller manipulates each flap to change the lift of the corresponding wing surface, thereby manipulating the flight attitude of the aircraft when it enters the fixed-wing mode. This constitutes the horizontal and dual vertical tail rotor multi-rotor aircraft of the fourth embodiment.

[0124] In the initial state, the right tilt mechanism 26-1 and the left tilt mechanism 27-1 are not tilted, and the lift of the right large rotor 6 and the left large rotor 7 is vertically upward. The flight mode of the horizontal and dual vertical tail rotor multi-rotor aircraft of the fourth embodiment is the same as the flight mode of the horizontal and dual vertical tail rotor multi-rotor aircraft of the first embodiment, and the flight principle is the same, see Figure 2 illustrate.

[0125] Figure 6 1 is a schematic diagram of the transitional flight phase of a horizontal and dual vertical tail rotor multi-rotor aircraft according to the fourth embodiment of the present invention.

[0126] Figure 6 The above picture is an oblique view of the rear view. Figure 6 The following figure is an oblique view of the front view. Figure 6 When the horizontal and dual vertical tail rotor multi-rotor aircraft of the fourth embodiment hovers in the air in the same manner as the horizontal and dual vertical tail rotor multi-rotor aircraft of the first embodiment (see Figure 5 ), the flight controller controls the right tilt mechanism 26-1 and the left tilt mechanism 27-1 to tilt backward at the same speed, and the lift F6 of the right large rotor 6 and the lift F7 of the left large rotor 7 are transformed from vertically upward to tilt forward and upward (see Figure 11 The lift F6 of the right large rotor 6 tilted forward and upward and the lift F7 of the left large rotor 7 generate a horizontal component force to drive the aircraft forward. As the forward speed of the aircraft increases, the fixed wing 40 generates lift, and the aircraft flies upward and forward. When the forward speed of the aircraft exceeds the stall speed of the fixed wing, the flight controller turns off the drive motors of the right small rotor 1, the left small rotor 2, the horizontal tail rotor 3, the vertical right tail rotor 4, and the vertical left tail rotor 5, so that the right small rotor 1, the left small rotor 2, the horizontal tail rotor 3, the vertical right tail rotor 4, and the vertical left tail rotor 5 stop. Rotate and enter the fixed-propeller state, that is, the blade span direction of the right rotor 1, the left rotor 2, the horizontal tail rotor 3, the vertical right tail rotor 4, and the vertical left tail rotor 5 is parallel to the longitudinal line of the fuselage, reducing the resistance of the right rotor 1, the left rotor 2, the horizontal tail rotor 3, the vertical right tail rotor 4, and the vertical left tail rotor 5, and the aircraft enters the fixed-wing mode of flight. At this time, the fixed wing 40 generates lift to balance the weight of the aircraft, the right flap 41 and the left flap 42 of the fixed wing 40 control the roll of the aircraft, the horizontal tail flap 48 controls the pitch of the aircraft, and the vertical tail flap 47 controls the heading of the aircraft.

[0127] Figure 7 1 is a schematic diagram of a fixed-wing flight mode of a horizontal and dual vertical tail rotor multi-rotor aircraft according to a fourth embodiment of the present invention.

[0128] Figure 7 The above picture is an oblique view of the rear view. Figure 7 The following figure is an oblique view of the front view. Figure 7 in Figure 6 In the fourth embodiment of the horizontal and dual vertical tail rotor multirotor aircraft in the flight state shown, the flight controller continues to operate the right tilt mechanism 26-1 and the left tilt mechanism 27-1 to tilt backward at a constant speed, and the lift F6 of the right large rotor 6 and the lift F7 of the left large rotor 7 are transformed from tilting forward and upward to horizontal and forward (see Figure 11), the aircraft flies forward rapidly in fixed-wing mode.

[0129] When the horizontal and dual vertical tail rotor multirotor aircraft of the fourth embodiment in fixed-wing mode needs to land, the flight controller controls the right tilt mechanism 26-1 and the left tilt mechanism 27-1 to tilt forward and backward at the same speed, and the lift F6 of the right large rotor 6 and the lift F7 of the left large rotor 7 are changed from horizontal forward to forward and upward tilt (see Figure 11 (center picture), the aircraft returns Figure 6 In the flight state shown, the forward flight speed of the aircraft decreases. When it decreases to a speed close to the stall speed of the fixed wing, the flight controller starts the drive motors of the right small rotor 1, the left small rotor 2, the horizontal tail rotor 3, the vertical right tail rotor 4, and the vertical left tail rotor 5. The right small rotor 1, the left small rotor 2, the horizontal tail rotor 3, the vertical right tail rotor 4, and the vertical left tail rotor 5 generate lift; the flight controller controls the right tilt mechanism 26-1 and the left tilt mechanism 27-1 to continue to tilt forward and backward at a constant speed. The lift F6 of the right large rotor 6 and the lift F7 of the left large rotor 7 are transformed from tilting forward and upward to vertically upward (see Figure 11 (above), the aircraft returns Figure 5 The multirotor mode shown is flying and landing vertically.

[0130] Since the efficiency of the fixed wing in generating lift is higher than that of the right large rotor 6 and the left large rotor 7, the flight time of the aircraft is increased when the aircraft enters the fixed wing mode.

[0131] Figure 8 It is a schematic diagram of the connection of the main tail components of the horizontal and dual vertical tail rotor multi-rotor aircraft of the present invention.

[0132] Figure 8 The upper figure is a schematic diagram of the connection of the main components of the tail, and the lower figure is a partial enlarged view of the four-way pipe seat 37.

[0133] Figure 8 In the above figure, the longitudinal arm joint 37-1 of the cross-tube seat 37 is connected to the rear end of the rear arm 33, and the vertical upward arm joint 37-2 of the cross-tube seat 37 is connected to the vertical tail arm 34. The screw 51 tightens the contraction seam 52 of the vertical upward arm joint 37-2 (see the enlarged view in the figure below) to fasten the vertical upward arm joint 37-2 to the vertical tail arm 34. The rivet 53 is positioned to prevent the vertical upward arm joint 37-2 and the vertical tail arm 34 from sliding relative to each other.

[0134] The upper end of the vertical tail machine arm 34 is connected to the horizontal tail motor mounting base 23. The screw 51 tightens the contraction seam 52 of the horizontal tail motor mounting base 23 to fasten the horizontal tail motor mounting base 23 to the upper end of the vertical tail machine arm 34. The rivet 53 is positioned to prevent the horizontal tail motor mounting base 23 and the vertical tail machine arm 34 from sliding relative to each other.

[0135] The horizontal tail motor mounting base 23 is connected to the horizontal tail motor 13. The power line, control line and other pipelines of the horizontal tail motor 13 are connected to the flight controller in the fuselage through the pipeline hole 50 on the horizontal tail motor mounting base 23, the vertical tail arm 34, and the rear arm 33. The horizontal tail motor 13 is connected to the horizontal tail rotor 3. For connection methods, see Figure 10 .

[0136] The right-facing horizontal arm joint 37 - 3 of the four-way pipe socket 37 is connected to the right horizontal tail arm 35 . The screw 51 tightens the contraction seam 52 of the right-facing horizontal arm joint 37 - 3 (see the enlarged view below) to securely connect the right-facing horizontal arm joint 37 - 3 to the right horizontal tail arm 35 . The rivet 53 is positioned to prevent relative sliding between the right-facing horizontal arm joint 37 - 3 and the right horizontal tail arm 35 .

[0137] The right end of the right horizontal tail machine arm 35 is connected to the vertical right tail motor mounting base 24. The screw 51 tightens the contraction seam 52 of the vertical right tail motor mounting base 24 to fasten the vertical right tail motor mounting base 24 to the right end of the right horizontal tail machine arm 35. The rivet 53 is positioned to prevent the vertical right tail motor mounting base 24 and the right horizontal tail machine arm 35 from sliding relative to each other.

[0138] The vertical right tail motor mounting base 24 is connected to the vertical right tail motor 14. The power line, control line and other pipelines of the vertical right tail motor 14 are connected to the flight controller in the fuselage through the pipeline hole 50 on the vertical right tail motor mounting base 24, the right horizontal tail arm 35, and the rear arm 33. The vertical right tail motor 14 is connected to the vertical right tail rotor 4. For connection methods, see Figure 10 .

[0139] The lateral left arm joint 37 - 4 of the lateral left arm joint 37 is connected to the left horizontal tail arm 36 . The screw 51 tightens the contraction seam 52 of the lateral left arm joint 37 - 4 (see the enlarged view below) to securely connect the lateral left arm joint 37 - 4 to the left horizontal tail arm 36 . The rivet 53 is positioned to prevent the lateral left arm joint 37 - 4 and the left horizontal tail arm 36 from sliding relative to each other.

[0140] The left end of the left horizontal tail machine arm 36 is connected to the vertical left tail motor mounting base 25. The screw 51 tightens the contraction seam 52 of the vertical left tail motor mounting base 25 to fasten the vertical left tail motor mounting base 25 to the left end of the left horizontal tail machine arm 36. The rivet 53 is positioned to prevent the vertical left tail motor mounting base 25 and the left horizontal tail machine arm 36 from sliding relative to each other.

[0141] The vertical left tail motor mounting base 25 is connected to the vertical left tail motor 15. The power line, control line and other pipelines of the vertical left tail motor 15 are connected to the flight controller in the fuselage through the pipeline hole 50 on the vertical left tail motor mounting base 25, the left horizontal tail arm 36, and the rear arm 33. The vertical left tail motor 15 is connected to the vertical left tail rotor 5. For connection methods, see Figure 10 .

[0142] Figure 9 It is a schematic diagram of the connection of the arms of the horizontal and dual vertical tail rotor multi-rotor aircraft of the present invention.

[0143] Figure 9 In the middle, the long screw 54 passes through the fuselage upper plate 57, the pipe clamp 56, the fuselage layer 58, and the nut 55 from top to bottom to fasten the right machine arm 31 to the pipe clamp 56. The rivet 53 is positioned to prevent the right machine arm 31 and the pipe clamp 56 from sliding relative to each other. See the enlarged view in the figure below.

[0144] The connection method between the left arm 32 , the rear arm 33 and the fuselage 39 is the same as the connection method between the right arm 31 and the fuselage 39 .

[0145] The right large motor mounting base 26 is connected to the upper middle portion of the right machine arm 31, and the screw 51 tightens the contraction seam 52 of the right large motor mounting base 26 (see Figure 10 ), the right large motor mounting seat 26 is fastened to the middle section of the right machine arm 31, and the rivet 53 is positioned to prevent the right large motor mounting seat 26 and the right machine arm 31 from sliding relative to each other.

[0146] The right large motor 16 is connected to the right large motor mounting base 26. The power line, control line and other pipelines of the right large motor 16 are connected to the flight controller in the fuselage 39 through the pipeline hole 50 on the right large motor mounting base 26 and the right arm 31. The right large motor 16 is connected to the right large rotor 6. For connection methods, see Figure 10 .

[0147] The connection method between the left large motor mounting base 27 and the left machine arm 32 is the same as the connection method between the right large motor mounting base 26 and the right machine arm 31, see Figure 10 .

[0148] The connection method between the left large motor 17 and the left large motor mounting base 27 is the same as the connection method between the right large motor 16 and the right large motor mounting base 26, see Figure 10 .

[0149] The connection method between the left large rotor 7 and the left large motor 17 is the same as the connection method between the right large rotor 6 and the right large motor 16, see Figure 10 .

[0150] Figure 10 It is a schematic diagram of the rotor connection of the horizontal and dual vertical tail rotor multi-rotor aircraft of the present invention.

[0151] Figure 10 The upper picture is the exploded view of the rotor connection, and the lower picture is the completed connection view.

[0152] Figure 10 The connection of the right rotor 1 is taken as an example. The connection method of other rotors is the same as that of the right rotor 1. Figure 10 In the above figure, the screw 51 passes through the mounting hole 49 of the rotor hub 1-1 of the right small rotor 1 from top to bottom to fasten the right small rotor 1 to the right small motor 11, and the screw 51 passes through the motor mounting surface of the right small motor mounting seat 21 from bottom to top to fasten the right small motor 11 to the right small motor mounting seat 21.

[0153] The right small motor mounting base 21 is inserted into the right end of the right machine arm 31. The screw 51 tightens the contraction seam 52 of the right small motor mounting base 21, so that the right small motor mounting base 21 is fastened to the right end of the right machine arm 31. The mounting hole 49 at the right end of the right machine arm 31 is docked with the mounting hole 49 at the left end of the right small motor mounting base 21. The rivet 53 is positioned to prevent the right small motor mounting base 21 and the right machine arm 31 from sliding relative to each other.

[0154] The power line, control line and other pipelines of the right small motor 11 are connected to the flight controller in the fuselage 39 through the pipeline hole 50 on the right small motor mounting seat 21 and the right machine arm 31.

[0155] The tilting mechanism used in the composite aircraft has a variety of drive forms. The existing drive methods include steering gear drive, servo motor drive, hydraulic cylinder drive, electric cylinder drive, etc. The tilting mechanism driven by the electric cylinder is briefly described. Figure 11 illustrate.

[0156] Figure 11 It is a schematic diagram of the structure of the tilt mechanism used in the horizontal and dual vertical tail rotor multi-rotor aircraft of the present invention.

[0157] Figure 11 The tilt mechanism shown is based on the right tilt mechanism 26-1 as an example. The left tilt mechanism 27-1 is the same as the right tilt mechanism 26-1.

[0158] Figure 11 In the figure above, see Figure 5In the above figure, the interior of the front fairing 26-3 of the right tilt mechanism 26-1 is the tilt mechanism horizontal bracket 68, and the upper rear edge of the tilt mechanism horizontal bracket 68 is the wing spar connecting seat 70, which is connected to the middle wing spar of the right wing 40-1. The front and rear of the tilt mechanism horizontal bracket 68 are fairing mounting rings 71, which are used to connect to the front fairing 26-3 and are fastened by rivets 53. The front end of the tilt mechanism horizontal bracket 68 is connected to the bottom hinge shaft 74 of the electric cylinder 67.

[0159] Inside the rear end fairing 26-2 of the right tilt mechanism 26-1 is the tilt mechanism swing bracket 69. The upper right side of the tilt mechanism swing bracket 69 is the tilt mechanism hinge shaft 77. The tilt mechanism hinge shaft 77 hinges the tilt mechanism swing bracket 69 and the tilt mechanism horizontal bracket 68 together. The upper left side of the tilt mechanism swing bracket 69 is the tilt mechanism swing bracket hinge ear 76. The tilt mechanism swing bracket hinge ear 76 is hinged to the front end of the electric cylinder push rod 75. The tilt mechanism swing bracket 69 is provided with fairing mounting ears 73 above and below. The fairing mounting ears 73 are used to connect to the rear end fairing 26-2 and are fastened by rivets 53. The lower end of the tilt mechanism swing bracket 69 is the motor mounting seat. The screw 51 connects the right large motor 16 to the lower end of the tilt mechanism swing bracket 69, and the screw 51 connects the right large rotor 6 to the bottom of the right large motor 16.

[0160] In the initial state, the electric cylinder push rod 75 of the electric cylinder 67 is extended to the longest state, the axis of the tilt mechanism swing bracket 69 is vertical, the rotation axis of the right large motor 16 is vertical, the rotation plane of the right large rotor 6 is horizontal, and the lift F6 of the right large rotor 6 is vertically upward. Figure 5 shown.

[0161] Figure 11 In the middle figure, the flight controller controls the electric cylinder push rod 75 of the electric cylinder 67 to retract from its longest state. The electric cylinder push rod 75 pulls the tilt mechanism swing bracket hinge ear 76 to the right, causing the tilt mechanism swing bracket 69 to swing backward around the tilt mechanism hinge shaft 77, driving the right large motor 16 to tilt backward, and the rotating surface of the right large rotor 6 to tilt backward. The lift F6 of the right large rotor 6 tilts forward and upward, and the lift F6 of the right large rotor 6 generates a component force in the horizontal direction, as shown in FIG. Figure 6 shown.

[0162] Figure 11 In the figure below, the flight controller controls the electric cylinder push rod 75 of the electric cylinder 67 to retract to the shortest state, the axis of the tilt mechanism swing bracket 69 is horizontal, overlapping with the axis of the tilt mechanism horizontal bracket 68, driving the right large motor 16 to tilt backward to the level of the motor rotation axis, the rotation plane of the right large rotor 6 is vertically backward, and the lift F6 of the right large rotor 6 is horizontally forward, as if Figure 7 shown.

[0163] The flight controller controls the electric cylinder push rod 75 of the electric cylinder 67 to change from the retracted to the shortest state to the backward extension, driving the right large rotor 6 to return to the state shown in the middle figure. The flight controller controls the electric cylinder push rod 75 of the electric cylinder 67 to extend backward to the longest state, driving the right large rotor 6 to return to the state shown in the upper figure, completing a tilt cycle.

Claims

1. A multi-rotor aircraft with horizontal and dual vertical tail rotors, wherein the fuselage is connected to a landing gear, the right side of the fuselage slightly behind the center of gravity of the aircraft is connected to a right arm, the right small motor mounting seat, the right small motor, and the right small rotor are sequentially connected above the right end of the right arm, the rotation plane of the right small rotor is horizontal, and the lift of the right small rotor is vertically upward; the right large motor mounting seat, the right large motor, and the right large rotor are sequentially connected above the middle section of the right arm, the rotation plane of the right large rotor is horizontal, and the lift of the right large rotor is vertically upward; the left side of the fuselage slightly behind the center of gravity of the aircraft is connected to the left arm, the left small motor mounting seat, the left small motor, and the left small rotor are sequentially connected above the left end of the left arm, the rotation plane of the left small rotor is horizontal, and the lift of the left small rotor is vertically upward; the left large motor mounting seat, the left large motor, and the left large rotor are sequentially connected to the left Above the middle section of the arm, the rotation plane of the left large rotor is horizontal, and the lift of the left large rotor is vertically upward; the rear of the fuselage is longitudinally connected to the rear arm, and the longitudinal arm joint of the four-way tube seat is connected to the rear end of the rear arm; the vertical upward arm joint of the four-way tube seat is connected to the vertical tail arm, and the horizontal tail motor mounting seat, the horizontal tail motor, and the horizontal tail rotor are sequentially connected to the upper end of the vertical tail arm; the horizontal right arm joint of the four-way tube seat is connected to the right horizontal tail arm, and the vertical right tail motor mounting seat, the vertical right tail motor, and the vertical right tail rotor are sequentially connected to the right end of the right horizontal tail arm; the horizontal left arm joint of the four-way tube seat is connected to the left horizontal tail arm, and the vertical left tail motor mounting seat, the vertical left tail motor, and the vertical left tail rotor are sequentially connected to the left end of the left horizontal tail arm. The rotating surface of the horizontal tail rotor is horizontal, and the lift of the horizontal tail rotor is vertically downward. The rotating surface of the vertical right tail rotor is vertical, and the lift of the vertical right tail rotor is horizontally to the left. The rotating surface of the vertical left tail rotor is vertical, and the lift of the vertical left tail rotor is horizontally to the right. The lift difference between the right small rotor and the left small rotor causes a torque differential to control the roll of the aircraft. The lift difference between the horizontal tail rotor and the right small rotor and the left small rotor causes a torque differential to control the pitch of the aircraft. The vertical right tail rotor and the vertical The lift differential of the left tail rotor causes a torque differential to control the heading of the aircraft; the midpoint of the line connecting the rotation centers of the right large rotor and the left large rotor is behind the center of gravity of the aircraft and close to the center of gravity, and the midpoint of the line connecting the rotation centers of the right small rotor and the left small rotor is behind the midpoint of the line connecting the rotation centers of the right large rotor and the left large rotor and close to the midpoint, or the midpoint of the line connecting the rotation centers of the right small rotor and the left small rotor overlaps with the midpoint of the line connecting the rotation centers of the right large rotor and the left large rotor.

2. The vertical and horizontal tail rotor multi-rotor aircraft according to claim 1, characterized in that: The rotating surfaces of the right and left large rotors are horizontal, and the lift of the right and left large rotors is vertically upward; alternatively, the nose is connected to the front rotor, and the rotating surfaces of the right and left large rotors are slightly tilted backwards, and the angle between the rotating surfaces of the right and left large rotors and the horizontal plane is ɑ. The lift of the right and left large rotors is slightly tilted backwards, and the angle between the lift of the right and left large rotors and the vertical line is ɑ, and ɑ is less than 15°.

3. The vertical and horizontal tail rotor multi-rotor aircraft according to claim 1, characterized in that: The fuel engine and front rotor are connected to the nose in sequence, the fixed wing is connected to the center of gravity of the fuselage, the right small motor mounting seat, the right small motor, and the right small rotor are connected in sequence to the right side of the right wing of the fixed wing, close to the right end wing beam, the right large motor mounting seat, the right large motor, and the right large rotor are connected in sequence to the middle section wing beam of the right wing of the fixed wing; the left small motor mounting seat, the left small motor, and the left small rotor are connected in sequence to the left side of the left wing of the fixed wing, close to the left end wing beam, the left large motor mounting seat, the left large motor, and the left large rotor are connected in sequence. Below the middle wing beam of the left wing of the fixed wing; the rear arm is connected longitudinally to the rear of the fuselage, the vertical tail and horizontal tail are connected to the rear end of the rear arm, the horizontal tail rotor is connected to the upper end of the vertical tail, the rotation surface of the horizontal tail rotor is horizontal, and the lift of the horizontal tail rotor is vertically downward; the vertical right tail rotor is connected to the right end of the horizontal tail, the rotation surface of the vertical right tail rotor is vertical, and the lift of the vertical right tail rotor is horizontal to the left; the vertical left tail rotor is connected to the left end of the horizontal tail, the rotation surface of the vertical left tail rotor is vertical, and the lift of the vertical left tail rotor is horizontal to the right.

4. The vertical and horizontal tail rotor multi-rotor aircraft according to claim 1, characterized in that: The fixed wing is connected to the center of gravity of the fuselage. The right small motor mounting seat, the right small motor, and the right small rotor are sequentially connected to the right side of the right wing of the fixed wing, close to the right end wing beam. The right tilt mechanism, the right large motor, and the right large rotor are sequentially connected to the middle section wing beam of the right wing of the fixed wing; the left small motor mounting seat, the left small motor, and the left small rotor are sequentially connected to the left side of the left wing of the fixed wing, close to the left end wing beam. The left tilt mechanism, the left large motor, and the left large rotor are sequentially connected to the middle section of the left wing of the fixed wing. Below the wing beam; the rear of the fuselage is connected longitudinally to the rear arm, the vertical tail and horizontal tail are connected to the rear end of the rear arm, the horizontal tail rotor is connected to the upper end of the vertical tail, the rotation surface of the horizontal tail rotor is horizontal, and the lift of the horizontal tail rotor is vertically downward; the vertical right tail rotor is connected to the right end of the horizontal tail, the rotation surface of the vertical right tail rotor is vertical, and the lift of the vertical right tail rotor is horizontal to the left; the vertical left tail rotor is connected to the left end of the horizontal tail, the rotation surface of the vertical left tail rotor is vertical, and the lift of the vertical left tail rotor is horizontal to the right.

Images