A folding rotor, aircraft and rotor control system

Abstract

The application belongs to the technical field of aircraft propulsion devices, and particularly relates to a folding rotor, an aircraft and a rotor control system. The folding rotor comprises a rotating shaft, a first blade fixedly arranged relative to the rotating shaft, a second blade movably arranged relative to the rotating shaft, a linkage mechanism arranged between the second blade and the rotating shaft, a power device in transmission connection with the rotating shaft and used for driving the rotating shaft to rotate, and a control device in communication connection with the power device. The two propeller blades of the application can be converted between two position states of overlapping and crossing. When overlapping, the occupying space is reduced, and the folding rotor is convenient to store. In the flight process, the windward surface is reduced, and the wind resistance is reduced. In the crossing state, better lift characteristics can be obtained.

Description

Technical Field

[0001] This invention belongs to the field of aircraft propulsion technology, specifically relating to a folding rotor, an aircraft, and a rotor control system. Background Technology

[0002] To increase propeller thrust, various technical solutions have been proposed in the field of aircraft propulsion technology, including two-bladed propellers, three-bladed propellers, and coaxial counter-rotating propellers. However, each has its own drawbacks. For example, while the coaxial counter-rotating propeller design can ensure that the propeller blades are in optimal rotor solidity, the rear blades will continuously pass through the wake of the front blades due to the opposite rotation directions. This generates a complex, periodic, and dynamically unfavorable aerodynamic interference, reducing the overall aerodynamic efficiency of the coaxial counter-rotating propulsion device.

[0003] Coaxial, co-rotating propellers can overcome the drawbacks of coaxial, counter-rotating propellers. Coaxial, co-rotating folding rotors have at least two intersecting, coaxially rotating propeller blades to achieve low noise and high aerodynamic efficiency. However, the intersecting propellers also mean a larger space requirement, making the aircraft less convenient to store and carry. Furthermore, for vertical takeoff and landing (VTOL) aircraft, the hovering propeller is inactive during level flight. If the propellers remain intersecting, regardless of their attitude, the hovering propeller's frontal area is always large, resulting in significant drag during flight. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of this invention is to provide a foldable rotor, aircraft and rotor control system to change the state of the propeller blades to reduce wind resistance during flight and facilitate storage.

[0005] To achieve the above and other related objectives, the present invention provides a folding rotor, comprising:

[0006] Shaft;

[0007] The first blade is fixedly disposed relative to the rotating shaft;

[0008] The second blade is movably configured relative to the rotating shaft so that the second blade has the following two states relative to the first blade: a folded state, in which the circumferential phase difference between the second blade and the first blade is zero; and a crossed state, in which the circumferential phase difference between the second blade and the first blade is a preset phase difference value.

[0009] A linkage mechanism is provided between the second blade and the rotating shaft. The linkage mechanism is assembled to enable the second blade to move axially along the rotating shaft while rotating circumferentially along the rotating shaft under the lift generated by its own rotation, so that the second blade switches from the folded state to the crossed state.

[0010] A power unit, connected to the rotating shaft, is used to drive the rotating shaft to rotate;

[0011] A control device, communicatively connected to the power unit, is used to control the motion state of the rotating shaft, and thereby control the switching of the second blade between the folded state and the crossed state.

[0012] In an optional embodiment of the present invention, a reset unit is provided between the second blade and the rotating shaft. The reset unit is configured to drive the second blade to the folded state and keep the second blade in the folded state when the lift generated by the rotation of the second blade is less than a preset lift value.

[0013] In an optional embodiment of the present invention, the reset unit includes an elastic unit or a magnetic unit disposed between the second blade and the rotating shaft.

[0014] In an optional embodiment of the present invention, the rotating shaft is vertically arranged, and when the lift generated by the rotation of the second blade is less than the preset lift value, the second blade can remain in the folded state under its own gravity.

[0015] In an optional embodiment of the present invention, the linkage mechanism includes a guide sleeve, which is coaxially fixed to the rotating shaft, and a spiral guide structure is provided on the side wall of the guide sleeve; the second blade includes a central body and blades that are radially outwardly extended along the central body, the blades and the central body are connected by a guide pin, the central body is located inside the guide sleeve, the blades are located outside the guide sleeve, and the guide pin is limited to the spiral guide structure so that the second blade can slide along the spiral guide structure through the guide pin.

[0016] In an optional embodiment of the present invention, one end of the spiral guide structure is provided with a first limiting groove extending along the axial direction of the rotating shaft, and the other end of the spiral guide structure is provided with a second limiting groove extending along the axial direction of the rotating shaft.

[0017] In an optional embodiment of the present invention, the slope of the spiral guide structure is consistent at all positions; or the slope of the spiral guide structure gradually changes from one end to the other.

[0018] To achieve the above and other related objectives, the present invention also provides an aircraft, including a fixed rotor and the folding rotor, and a fuselage; the fixed rotor and the folding rotor are mounted on the fuselage; the fixed rotor includes a plurality of blades fixed in relative positions; when the second blade is in a folded state, the length direction of the first blade and the second blade is consistent with the flight direction of the aircraft.

[0019] In an optional embodiment of the present invention, the body includes:

[0020] body;

[0021] The wings are mounted on the fuselage and extend outwards to both sides of the fuselage;

[0022] The arms are connected to the wings and extend outwards to the front and rear sides of the wings respectively;

[0023] The two ends of the arm are respectively equipped with either the folding rotor or the fixed rotor.

[0024] To achieve the above and other related objectives, the present invention also provides a rotor control system for controlling the folding rotor, comprising:

[0025] Altitude sensor, used to detect the flight altitude data of the aircraft;

[0026] The heading system is used to detect the three-dimensional attitude data of an aircraft.

[0027] The flight management computer is communicatively connected to the altitude sensor to acquire the flight altitude data of the aircraft; the flight management computer is also communicatively connected to the heading system to acquire the three-dimensional attitude data of the aircraft.

[0028] The speed controller is communicatively connected to both the flight management computer and the power unit.

[0029] The flight management computer determines the throttle signal based on the flight altitude data and three-dimensional attitude data, and sends the throttle signal to the speed governor;

[0030] The speed governor analyzes the throttle signal and converts it into a speed signal, then sends the speed signal to the power unit.

[0031] In summary, the two propeller blades of the folding rotor of this invention can switch between overlapping and crossing positions. In the overlapping state, the device is portable and easy to store, and the reduced frontal area during aircraft level flight results in lower wind resistance. When the folding rotor is in the crossing state, the folding propeller exhibits superior aerodynamic efficiency. The switching between the crossing and overlapping states of the propeller blades does not require an additional power element to drive the change in propeller blade state; instead, it relies on the lift generated by the propeller blades themselves. The change in the magnitude of the lift generated by the propeller blades is the most significant characteristic of the propeller device's operating and non-operating states. By relying on lift to change the phase difference between the two propeller blades, the change in phase difference is linked in real time with the aircraft's operating state, without the need for an additional control module. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a perspective view of the folded rotor in a folded state provided in an embodiment of the present invention;

[0034] Figure 2 This is a perspective view of the folded rotor in the folded state provided in an embodiment of the present invention;

[0035] Figure 3 This is a side view of the folded rotor in a folded state provided in an embodiment of the present invention;

[0036] Figure 4 This is a front view of the folded rotor in the folded state provided in an embodiment of the present invention;

[0037] Figure 5 This is an axial view of the folded rotor in the folded state provided in an embodiment of the present invention;

[0038] Figure 6 This is a perspective view of the folding rotor in a crossed state provided in an embodiment of the present invention;

[0039] Figure 7 This is a perspective view of the folding rotor in a crossed state provided in an embodiment of the present invention;

[0040] Figure 8 This is a front view of the folding rotor in a crossed state provided in an embodiment of the present invention;

[0041] Figure 9 This is an axial view of the folding rotor in a crossed state provided in an embodiment of the present invention;

[0042] Figure 10 This is an exploded view of the folding rotor provided in an embodiment of the present invention.

[0043] Figure 11 This is a schematic diagram of the flattened outline of the spiral guide structure provided in one embodiment of the present invention;

[0044] Figure 12 This is a schematic diagram of the flattened outline of the spiral guide structure provided in another embodiment of the present invention.

[0045] Figure 13 This is a perspective view of an aircraft in takeoff preparation state provided by an embodiment of the present invention;

[0046] Figure 14 This is a perspective view of an aircraft in a hovering or ascending / descending state, provided by an embodiment of the present invention;

[0047] Figure 15 This is a perspective view of an aircraft in level flight, provided in an embodiment of the present invention.

[0048] Figure 16 This is a perspective view of an aircraft provided in another embodiment of the present invention;

[0049] Figure 17 This is a perspective view of an aircraft provided in another embodiment of the present invention;

[0050] Figure 18 This is a structural block diagram of the rotor control system provided in an embodiment of the present invention.

[0051] Component designation explanation

[0052] 100. Folding rotor; 10. Shaft; 11. First blade; 12. Second blade; 121. Center body; 122. Blade; 123. Guide pin; 13. Guide sleeve; 131. Helical guide structure; 132. First limiting groove; 133. Second limiting groove; 14. Elastic unit; 15. Guide column; 20. Fuselage; 30. Wing; 40. Arm; 50. Fixed rotor; 60. Tail; 200. Power unit; 1001. Altitude sensor; 1002. Flight management computer; 1003. Speed ​​governor; 1004. Heading system. Detailed Implementation

[0053] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. It should also be understood that the terminology used in the embodiments of the present invention is for describing specific implementation schemes and not for limiting the scope of protection of the present invention. Test methods in the following embodiments that do not specify specific conditions are generally performed under conventional conditions or according to the conditions recommended by the respective manufacturers.

[0054] Please see Figures 1 to 18 As shown in the accompanying drawings, the structures, proportions, sizes, etc., depicted are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, provided they do not affect the effectiveness or purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0055] When numerical ranges are given in the embodiments, it should be understood that, unless otherwise stated in the present invention, both endpoints of each numerical range and any value between the two endpoints may be selected. Unless otherwise defined, all technical and scientific terms used in this invention, as well as the prior art known to those skilled in the art and the description of this invention, may be implemented using any prior art methods, devices, and materials similar to or equivalent to those described, used, or made of materials in the embodiments of this invention.

[0056] Please see Figures 1 to 18 As shown, the present invention provides an aircraft, which can be a manned aircraft or an unmanned aircraft. Figures 13 to 17The embodiments shown provide several manned aircraft, whose fuselage contains a cockpit and a crew cabin, and may also include a cargo hold. The aircraft includes a fuselage, a folding rotor 100, and a fixed rotor 50. The folding rotor 100 refers to a rotor whose blades can undergo phase changes, while the fixed rotor 50 refers to a rotor whose blades cannot undergo phase changes. It is understood that the specific installation positions and quantities of the folding rotor 100 and the fixed rotor 50 can be configured according to the specific layout and weight distribution of the fuselage to achieve different aerodynamic configurations. The fixed rotor 50 is mainly used in parts that require continuous thrust or lift, such as as a propulsion device for aircraft during level flight. The folding rotor 100 is mainly used in parts that require intermittent thrust or lift, such as providing lift for aircraft during vertical take-off and landing. These folding rotors 100 can remain in a folded state when not in operation. At this time, in conjunction with the feathering mechanism, the circumferential position of the rotor is locked, so that the length direction of the blades is parallel to the direction of level flight of the aircraft. This can reduce the drag caused by the propeller to the aircraft during level flight when not in operation. In addition, when the aircraft is parked, the folding rotor 100 also helps to reduce the space occupied by the aircraft and facilitates the storage of the aircraft.

[0057] Please see Figures 1 to 12As shown, the folding rotor 100 includes a rotating shaft 10, a first blade 11, a second blade 12, a linkage mechanism, a power unit 200, and a control device. The first blade 11 is fixedly disposed relative to the rotating shaft 10; the second blade 12 is movably disposed relative to the rotating shaft 10. The second blade 12 has two-dimensional movement: sliding along the axial direction of the rotating shaft 10 and rotating circumferentially along the rotating shaft 10. Along the axial direction of the rotating shaft 10, the second blade 12 has a first axial position and a second axial position; circumferentially, the second blade has a first circumferential position and a second circumferential position. The linkage mechanism is disposed between the second blade 12 and the rotating shaft 10. The linkage mechanism is assembled such that when the second blade 12 moves from the first axial position to the second axial position, the linkage mechanism can... The second blade 12 is guided to rotate relative to the rotating shaft 10 from a first circumferential position to a second circumferential position. When the second blade 12 moves from the second axial position to the first axial position, the linkage mechanism can drive the second blade 12 to rotate relative to the rotating shaft 10 from the second circumferential position to the first circumferential position. When the second blade 12 is in the first circumferential position, the axial projections of the second blade 12 and the first blade 11 coincide, forming a folded state. When the second blade 12 is in the second circumferential position, the axial projections of the second blade 12 and the first blade 11 are perpendicular to each other or form a certain angle, forming a crossed state. The power unit 200 is driven by the rotating shaft and is used to drive the rotating shaft to rotate. The control device is communicatively connected to the power unit 200 and is used to control the movement state of the rotating shaft, thereby controlling the switching of the second blade between the folded state and the crossed state.

[0058] The second blade 12 of this invention can rotate circumferentially while moving axially, thereby switching between a folded state and an crossed state. When the second blade 12 is in the folded state, its axial projection coincides with the first blade 11, which reduces wind resistance and facilitates storage. The axial movement of the second blade 12 can be achieved using the lift generated by its own rotation. In this case, no additional drive element is needed to drive the second blade 12 to switch states, simplifying the structure of the coaxial propeller and reducing manufacturing costs. It is understood that in other embodiments, the axial movement of the second blade 12 can also be achieved by an independent linear drive element.

[0059] Please see Figure 1 , 3As shown in Figures 4 and 10, in an optional embodiment of the present invention, an elastic unit 14 is provided between the second blade 12 and the rotating shaft 10. The elastic unit 14 is configured such that its elastic force can drive the second blade 12 to remain in the first axial position. The elastic unit 14 can be a compression spring or a tension spring. Figure 3 For example, when the elastic unit 14 is a compression spring, the elastic unit 14 is located above the second blade 12, while when the elastic unit 14 is a tension spring, the elastic unit 14 is located below the second blade 12. In the illustrated embodiment, the second blade 12 is located above the first blade 11. However, in actual applications, the positions of the first blade 11 and the second blade 12 can be interchanged, and the shaft 10 is not necessarily vertical. It can be understood that no matter how the shaft 10 and the propeller blades are arranged, as long as the elastic force of the elastic unit 14 acting on the second blade 12 is opposite to the direction of the thrust or lift generated when the second blade 12 rotates, it is acceptable.

[0060] The function of the elastic unit 14 is to reset the second blade 12 to its folded state when the propeller stops working. It is understood that the method of resetting the second blade 12 is not unique. For example, in other embodiments, the second blade 12 can reset using its own gravity. Specifically, the first axial position is located below the second axial position, and the second blade 12 can be held in the first axial position under its own gravity. In another embodiment, magnetic force can be used for reset. Specifically, a magnetic attraction unit is provided between the second blade 12 and the shaft 10, and the magnetic attraction unit is configured such that its magnetic force can hold the second blade 12 in the first axial position.

[0061] In an optional embodiment of the present invention, the second blade 12 is configured such that the lift generated when it rotates can drive the second blade 12 to move from the first axial position to the second axial position. Specifically, the lift generated by the rotation of the second blade 12 is opposite in direction to the elastic force of the elastic unit 14, and when the lift generated by the rotation of the second blade 12 is greater than the sum of the elastic force of the elastic unit 14, the weight of the second blade 12, and the sliding resistance of the second blade 12, the second blade 12 can move from the first axial position to the second axial position.

[0062] Please see Figure 1-10As shown, in an optional embodiment of the present invention, the linkage mechanism includes a guide sleeve 13, which is coaxially fixed to the rotating shaft 10. A spiral guide structure 131 is provided on the side wall of the guide sleeve 13. The second blade 12 includes a central body 121 and blades 122 that are radially outwardly extended along the central body 121. The blades 122 and the central body 121 are connected by a guide pin 123. The central body 121 is located inside the guide sleeve 13, and the blades 122 are located outside the guide sleeve 13. The second blade 12 is in a limiting fit with the spiral guide structure 131 through the guide pin 123. The height and phase of the two contact points of the guide pin 123 and the spiral guide structure 131 are consistent, so that the second blade 1 can move in a limited position along the track formed by the spiral guide structure 131 through the guide pin 123.

[0063] Furthermore, the spiral guide structure 131, near the first axial position, extends axially along the shaft 10 and is provided with a first limiting groove 132. The spiral guide structure 131, near the second axial position, extends axially along the shaft 10 and is provided with a second limiting groove 133. When the second blade 12 is located within the first limiting groove 132 or the second limiting groove 133, the second blade 12 will not rotate circumferentially due to slight axial displacement. Therefore, the second blade 12 will not rotate circumferentially due to slight fluctuations in lift in the folded and crossed states, ensuring that the second blade 12 remains stable in both the folded and crossed states.

[0064] In one specific embodiment, the slope of the spiral guide structure 131 is consistent at all positions. In this embodiment, the outline of the spiral guide structure 131 after being flattened is as follows: Figure 11 As shown, the spiral guide structure 131 is straight after being flattened. In this embodiment, the linear spiral guide structure 131 has a simple processing technology and easy manufacturing tolerance control. While meeting the functional requirements of achieving the rotating second blade 12, it effectively reduces the manufacturing cost.

[0065] In another embodiment, the slope of the spiral guide structure 131 gradually decreases from the first axial position to the second axial position. In this embodiment, the unfolded outline of the spiral guide structure 131 is as follows: Figure 12As shown, the spiral guide structure 131 unfolds into a cycloid shape. From low to high, the slope of the cycloid gradually decreases, meaning it transitions from a steep to a gentle curve. This cycloid trajectory allows the upper second blade 12 to move more quickly from the first limiting groove 132 into the second limiting groove 133, enabling the folding rotor 100 to transition more quickly from its folded state to its crossed state, thus providing a more efficient lift effect. Specifically, when the second blade 12 passes through the spiral guide structure 131 and the shaft rotates, the guide sleeve 13 transmits the rotational torque to the second blade 12 through the side wall of the spiral guide structure 131. Since the spiral guide structure 131 is inclined, the horizontal component of the force exerted by the side wall of the spiral guide structure 131 on the second blade 12 pushes the second blade 12 to rotate. Compared with a straight track, the cycloidal track in this embodiment is steeper at the bottom, and the horizontal component of the force exerted by the side wall of the spiral guide structure 131 that pushes the second blade 12 to rotate is larger. The second blade 12 accelerates faster in the low-speed range, and the second blade 12 will be driven into the high-speed range more quickly to generate greater lift. This makes the lift drive the second blade 12 to move upward faster, allowing the second blade 12 to quickly enter the second limiting groove 133 at the top.

[0066] In an optional embodiment of the present invention, the guide pin 123 is provided with a rolling bearing, and the rolling bearing and the spiral guide structure 131 form a rolling fit to improve the sliding efficiency of the guide pin 123 in the spiral guide structure 131.

[0067] Please see Figure 6 As shown, in an optional embodiment of the present invention, the guide sleeve 13 is provided with a guide post 15 coaxial with the rotating shaft 10, and the central body 121 is provided with a through hole coaxial with the rotating shaft. The central body 121 is sleeved on the guide post 15 through the through hole, so that the central body 121 can form a sliding fit with the guide post 15 along the axial direction of the guide post 15, thereby constraining the second blade 12 to move strictly along the axial direction of the rotating shaft and maintaining the coaxiality between the second blade 12 and the first blade 11.

[0068] It is understood that the specific implementation of the linkage mechanism of the present invention is not unique. For example, in other embodiments, the linkage mechanism includes a sleeve fixedly connected to the second blade 12. The inner wall of the sleeve is provided with a spiral guide groove. The sleeve is sleeved on the rotating shaft 10. The outer wall of the rotating shaft 10 is provided with a protrusion. The protrusion and the spiral guide groove form a limiting fit.

[0069] The following explains the specific working principle of the folding rotor 100:

[0070] When the coaxial propeller returns from the working state to the non-working state, the rotational speed of the second blade 12 decreases. When the lift force it receives is less than the resultant force of its own weight and elastic force, the second blade 12 disengages from the second limiting groove 133 and moves downward along the spiral guide structure 131 into the first limiting groove 132 at the bottom of the spiral guide structure 131, returning to the folded state.

[0071] The weight of the second blade 12 is G, the motor speed is n, the phase difference between the two propeller blades is θ, the frictional force of the second blade 12 sliding in the helical guide structure 131 is f, and the spring force is F0+kΔH, where ΔH is the height difference of the second blade 12 sliding in the helical guide structure 131, k is the spring elastic coefficient, and F0 is the initial elastic force of the spring when the second blade 12 is in the first axial position.

[0072] Propeller thrust = diameter × pitch × propeller width × rotational speed 2 × 1 (1 standard atmosphere) × 0.25 (empirical coefficient), that is, with other parameters remaining constant: propeller thrust F L =Kn 2 K is a constant parameter related to propeller diameter, pitch, propeller width, atmospheric pressure, and empirical coefficients.

[0073] When G+F0≥Kn 2 =F L At that time, gravity and spring force act on the second blade 12, the second blade 12 maintains the downward movement tendency, and the second blade 12 remains in the first limiting groove 132;

[0074] As the motor speed n increases, F L =Kn 2 >G+F0+kΔH1+f, the propeller thrust acts on the second blade 12, the second blade 12 maintains the upward motion tendency, the second blade 12 slides upward along the spiral guide structure 131 until the phase difference of the upper first blade is θ;

[0075] As the motor speed n increases, when F L =Kn 2 ≥G+F0+kΔH, the second blade 12 enters the second limiting groove 133, the second blade 12 rotates synchronously with the guide sleeve 13, and the phase difference between the second blade 12 and the first blade 11 is the set θ.

[0076] Throughout the entire operation, as long as the rotational speed n satisfies Kn 2 ≥G+F0+kΔH, regardless of whether the propeller accelerates or decelerates, the second blade 12 is confined within the second limiting groove 133, and the phase difference θ between the second blade 12 and the first blade 11 will not change due to changes in rotational speed.

[0077] Please see Figure 13-17As shown, in a specific embodiment, the fuselage includes a fuselage 20, wings 30, arms 40, and a tail 60; the wings 30 are mounted on the fuselage 20 and extend to both sides of the fuselage 20; the arms 40 are connected to the wings 30 and extend to the front and rear sides of the wings 30 respectively; the two ends of the arms 40 are respectively provided with the folding rotor 100 or the fixed rotor 50, and the tail 60 is located at the rear end of the fuselage 20. Figures 13 to 15 One aerodynamic layout for an aircraft is presented. Figure 16 and Figure 17 Two other aerodynamic layout schemes for aircraft are presented.

[0078] Figures 13 to 15 In this embodiment, each wing 30 has two arms 40. The arm 40 closest to the fuselage 20 has a fixed rotor 50 mounted at its front end and a folding rotor 100 mounted at its rear end. The arm 40 furthest from the fuselage 20 has folding rotors 100 at both its front and rear ends. The two middle arms 40 have tilting mechanisms at their front ends, and the fixed rotors 50 are mounted on these mechanisms to allow the fixed rotors 50 to switch between horizontal and vertical positions. In this embodiment, the fixed rotor 50 is also located at the rear end of the fuselage 20.

[0079] Figure 16 and Figure 17 In the middle, the front end of the arms 40 are all fixed rotors 50, and the rear end is a folding rotor 100. Figure 16 and Figure 17 The only difference between the two aircraft is that they use different types of tail fins.

[0080] Please see Figure 18As shown, the present invention also provides a control system for controlling the folding rotor, the control system including an altitude sensor 1001, a heading system 1004, a flight management computer 1002, and a speed controller 1003; the altitude sensor 1001 is used to detect the flight altitude data of the aircraft; the heading system 1004 is used to detect the three-dimensional attitude data of the aircraft; the flight management computer 1002 is communicatively connected to the altitude sensor 1001 to acquire the flight altitude data of the aircraft; the flight management computer 1002 and the heading system 1004 are communicatively connected to acquire the three-dimensional attitude data of the aircraft; the speed controller 1003 is communicatively connected to the flight management computer 1002 and the power unit 200 respectively; the flight management computer 1002 determines the throttle signal based on the flight altitude data and the three-dimensional attitude data, and sends the throttle signal to the speed controller 1003; the speed controller 1003 parses the throttle signal and converts it into a speed signal, and sends the speed signal to the power unit 200.

[0081] In a specific embodiment, the power unit 200 includes a motor, the output shaft of which is fixedly connected to the propeller shaft. The flight management computer 1002 is connected to the speed controller 1003, the altitude sensor 1001, and the heading system 1004 via signals. For example, the flight management computer 1002 is connected to the speed controller 1003, the altitude sensor 1001, and the heading system 1004 via a CAN bus (or serial port). The altitude sensor 1001 is used to detect the flight altitude of the aircraft. The altitude sensor 1001 can be an atmospheric pressure sensor. The atmospheric pressure sensor detects atmospheric pressure information and feeds it back to the flight management computer 1002. The flight management computer 1002 analyzes and calculates the flight altitude of the aircraft based on the collected atmospheric pressure information, and sends a motor throttle signal to the speed controller 1003 based on the calculation results and the three-dimensional attitude data sent by the heading system 1004. The speed controller 1003 parses the motor throttle signal and converts it into a motor speed signal and sends it to the motor. After receiving the signal, the motor speed changes to drive the folding rotor 100. For example, when the aircraft is stationary on the ground, the second rotor blade 12 is in a folded state; when the aircraft is preparing to take off vertically, the flight management computer 1002 drives the motor to rotate through the speed controller 1003. When the rotational speed of the second rotor blade 12 reaches and exceeds the critical speed, the second rotor blade 12 begins to move upward and rotate to the second circumferential position until it enters a stable cross-rotation state. At this time, the folding rotor 100 can provide high-performance lift. Once the aircraft reaches a certain altitude and meets the conditions for level flight, the altitude sensor 1001 and the heading system 1004 transmit signals to the flight management computer 1002. The flight management computer 1002 controls the motor speed to decrease via the speed controller 1003. When the speed of the second blade 12 is less than the critical speed, the second blade 12 moves downward and rotates towards the first circumferential position until it enters a stable folded state. At this time, the folding rotor 100 can cooperate with the feathering mechanism to feather-lock the second blade 12. The second blade 12 is constrained to the folded state by gravity and pre-made spring force. The second blade 12 and the first blade 11 are parallel to the aircraft's heading, reducing the drag caused by the propeller in the non-working state during level flight. When the aircraft lands, the motors are shut down under control. During the motor shutdown process, the speed of the second blade 12 will be less than the critical speed, and the second blade 12 will eventually stabilize in the folded state. The folding rotor 100 is in the folded state, making it convenient for staff to store the aircraft.

[0082] In summary, the folding rotor of this invention allows the two propeller blades to switch between overlapping and crossing positions. When overlapping, the device is portable and easy to store, and its frontal area is reduced during level flight, resulting in lower wind resistance. When the folding rotor is in the crossing position, the device exhibits superior aerodynamic efficiency. The switching between the crossing and overlapping states of the propeller blades does not require a separate drive unit; instead, it relies on the lift generated by the propeller blades themselves. The change in the magnitude of the lift generated by the propeller blades is the most significant characteristic of the device's operating and non-operating states. This lift alters the phase difference between the two propeller blades, ensuring real-time synchronization between the phase difference change and the aircraft's operating state, without the need for an additional control module. Therefore, this invention effectively overcomes some practical problems in the prior art, thus possessing high utilization value and practical significance.

[0083] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A folding rotor, characterized in that, include: Shaft; The first blade is fixedly disposed relative to the rotating shaft; The second blade is movably configured relative to the rotating shaft so that the second blade has the following two states relative to the first blade: a folded state, in which the circumferential phase difference between the second blade and the first blade is zero; and a crossed state, in which the circumferential phase difference between the second blade and the first blade is a preset phase difference value. A linkage mechanism is provided between the second blade and the rotating shaft. The linkage mechanism is assembled to enable the second blade to move axially along the rotating shaft while rotating circumferentially along the rotating shaft under the lift generated by its own rotation, so that the second blade switches from the folded state to the crossed state. A power unit, connected to the rotating shaft, is used to drive the rotating shaft to rotate; A control device, which is communicatively connected to the power device, is used to control the motion state of the rotating shaft, and thereby control the switching of the second blade between the folded state and the crossed state. The linkage mechanism includes a spiral guide structure; the second blade is in a limiting fit with the spiral guide structure through a guide pin, so that the second blade can slide along the spiral guide structure through the guide pin.

2. The folding rotor according to claim 1, characterized in that, A reset unit is provided between the second blade and the shaft. The reset unit is configured to drive the second blade to the folded state and keep the second blade in the folded state when the lift generated by the rotation of the second blade is less than a preset lift value.

3. The folding rotor according to claim 2, characterized in that, The reset unit includes an elastic unit or a magnetic unit disposed between the second blade and the rotating shaft.

4. The folding rotor according to claim 1, characterized in that, The shaft is vertically arranged, and when the lift generated by the rotation of the second blade is less than the preset lift value, the second blade can remain in the folded state under its own gravity.

5. The folding rotor according to claim 1, characterized in that, The linkage mechanism includes a guide sleeve, which is coaxially fixed to the rotating shaft. A spiral guide structure is provided on the side wall of the guide sleeve. The second blade includes a central body and blades that extend radially outward from the central body. The blades are connected to the central body by a guide pin. The central body is located inside the guide sleeve, and the blades are located outside the guide sleeve. The guide pin is engaged with the spiral guide structure to limit the movement of the second blade along the spiral guide structure.

6. The folding rotor according to claim 5, characterized in that, One end of the spiral guide structure extends axially along the shaft and is provided with a first limiting groove, and the other end of the spiral guide structure extends axially along the shaft and is provided with a second limiting groove.

7. The folding rotor according to claim 5, characterized in that, The slope of the spiral guide structure is consistent at all positions; or the slope of the spiral guide structure gradually changes from one end to the other.

8. An aircraft, characterized in that, The aircraft includes a fixed rotor and a folding rotor as described in any one of claims 1 to 7, as well as an airframe; the fixed rotor and the folding rotor are mounted on the airframe; the fixed rotor includes a plurality of blades with fixed relative positions; when the second blade is in a folded state, the length direction of the first blade and the second blade is consistent with the flight direction of the aircraft.

9. The aircraft according to claim 8, characterized in that, The body includes: body; The wings are mounted on the fuselage and extend outwards to both sides of the fuselage; The arms are connected to the wings and extend outwards to the front and rear sides of the wings, respectively. The two ends of the arm are respectively equipped with either the folding rotor or the fixed rotor.

10. A rotor control system, characterized in that, For controlling the folding rotor as described in any one of claims 1 to 7, comprising: Altitude sensor, used to detect the flight altitude data of the aircraft; The heading system is used to detect the three-dimensional attitude data of an aircraft. The flight management computer is communicatively connected to the altitude sensor to acquire the flight altitude data of the aircraft; the flight management computer is also communicatively connected to the heading system to acquire the three-dimensional attitude data of the aircraft. The speed controller is communicatively connected to both the flight management computer and the power unit. The flight management computer determines the throttle signal based on the flight altitude data and three-dimensional attitude data, and sends the throttle signal to the speed governor; The speed governor analyzes the throttle signal and converts it into a speed signal, then sends the speed signal to the power unit.

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