A self-stabilizing flying device

Abstract

The application provides a self-stabilizing flying device, and relates to the field of aviation technology, which comprises a frame body and a support column, a rotor assembly and a counterweight assembly are arranged on the support column; the rotor assembly is connected above the support column, the counterweight assembly is connected below the support column, and the frame body is movably connected between the rotor assembly and the counterweight assembly through a movable assembly; the movable assembly can make the rotor assembly tilt forward and backward and deflect left and right relative to the frame body to control the flight attitude of the self-stabilizing flying device. The application has the advantages of simple structure, few components, low failure rate, convenient assembly, simple operation, automatic and manual driving, and the like. Meanwhile, the counterweight assembly can right the rotor assembly, the rotating plane of the rotor assembly can be restored to a state of being substantially parallel to the ground, the rotor assembly is not prone to side turning or flying disorder, and the safety is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft and aviation technology, in particular to a self-stabilizing flight device. BACKGROUND

[0002] As one of the most distinctive creations of the 20th century aviation technology, the helicopter greatly expands the application range of aircraft. The helicopter is a typical dual-purpose product for both military and civilian use, which can be widely used in transportation, patrol, tourism, rescue and other fields.

[0003] The helicopter engine drives the rotor to provide lift, which holds the helicopter in the air. Specifically, the helicopter is divided into single-rotor helicopters and double-rotor helicopters; the main engine of the single-rotor helicopter also outputs power to the small propeller at the tail, and the on-board gyroscope can detect the helicopter turning angle and feed back to the tail propeller, so that the counterforce under different speeds generated by the large propeller can be offset by adjusting the pitch of the small propeller. The double-rotor helicopter usually adopts the way of opposite rotation of the rotors to offset the unbalanced moment generated by the rotors.

[0004] Currently, the flight direction of the helicopter is adjusted by a mechanism called "tilt disc", which can change the blade angle of the rotor of the helicopter, so as to realize the cyclic pitch change of the rotor and change the lift of the rotor in different directions to realize the change of the flight attitude of the helicopter.

[0005] The technical solution disclosed in the Chinese patent document (patent name: a double-rotor model helicopter control system, patent number: 200910215989.7) is: including a control power mechanism, a transmission mechanism, a control mechanism and a rotor mechanism, the rotor mechanism is an upper rotor and a lower rotor which are distributed up and down along the main shaft, coaxially installed and respectively controlled to rotate by the inner and outer shafts, the improved structure is that the control mechanism includes a Bell self-balancing mechanism for controlling the upper rotor and a Bell-Hill control structure for controlling the lower rotor, and the control power mechanism controls the Bell-Hill control structure through the transmission mechanism and the control mechanism in turn.

[0006] The technical solution disclosed in the patent document has the following defects: 1. In the technical solution, the lower rotor plays a role in controlling the direction, and the Bell-Hill control structure with high sensitivity is used for active control; but according to the description in the patent document and the related description in the specification, the connection structure of the Bell-Hill control structure and the lower rotor is quite complex, with many components, which will have the defects of high failure rate, time-consuming and tedious assembly, and high cost; 2. When the Bell-Hill control structure fails, the purpose of controlling the direction cannot be achieved by controlling the lower rotor, which will make the aircraft out of control, and there is a great safety hazard, which will threaten the safety of life. Figure 8 to Figure 10 According to the description in the patent document and the related description in the specification, the connection structure of the Bell-Hill control structure and the lower rotor is quite complex, with many components, which will have the defects of high failure rate, time-consuming and tedious assembly, and high cost; 2. When the Bell-Hill control structure fails, the purpose of controlling the direction cannot be achieved by controlling the lower rotor, which will make the aircraft out of control, and there is a great safety hazard, which will threaten the safety of life.

[0007] Based on this, it is necessary to disclose a self-stable flight device with high safety. SUMMARY

[0008] The self-stable flight device overcomes the defects in the prior art, is simple to operate, and can realize automatic and manual driving, thereby overcoming the defects in the prior art.

[0009] To solve the above technical problems, the present application is realized by the following technical solutions:

[0010] The self-stable flight device comprises a frame body and a support column, wherein a rotor assembly and a counterweight assembly are arranged on the support column; the rotor assembly is connected above the support column, the counterweight assembly is connected below the support column, and the frame body is movably connected between the rotor assembly and the counterweight assembly through a movable assembly; the movable assembly can make the rotor assembly tilt forward and backward and deflect left and right relative to the frame body, so as to control the flight attitude of the self-stable flight device.

[0011] Further, the frame body comprises a multi-axis flight module.

[0012] Further, the movable assembly adopts one of the following structures:

[0013] a. comprising a base connected to the frame body, a shaft body rotatably arranged on the base, and the shaft body capable of tilting forward and backward relative to the base; a mounting hole is arranged in the middle of the shaft body, and the support column is rotatably connected in the mounting hole, and the support column can deflect left and right relative to the mounting hole;

[0014] b. comprising a first assembly frame and a second assembly frame, the first assembly frame is located in the second assembly frame and the centers of the two coincide; a first circular rod is transversely arranged through the support column, and the two ends of the first circular rod are rotatably connected in the first assembly frame; second circular rods are arranged on both sides of the first assembly frame, and the second circular rods are rotatably connected in the second assembly frame, the plane in which the rotation direction of the first circular rod is located is perpendicular to the plane in which the rotation direction of the second circular rod is located, and the second assembly frame is fixedly connected to the center of the frame body;

[0015] c. comprising a first connecting piece, a second connecting piece and a third connecting piece; the lower end of the first connecting piece is connected with the counterweight assembly, the upper end of the first connecting piece is hingedly connected with the second connecting piece, the second connecting piece is hingedly connected with the lower end of the third connecting piece, and the upper end of the third connecting piece is hingedly connected with the frame body.

[0016] Further, the rotor assembly comprises at least one of the following structures:

[0017] a. a plurality of power rotors are coaxially connected to the support column;

[0018] b. Multiple power rotors are regularly distributed around the support column;

[0019] c. A single power rotor is installed on the support column;

[0020] d. A single or two autorotors are installed on the support column, and the two autorotors are coaxially arranged when two autorotors are used.

[0021] Further, the counterweight assembly comprises at least one of the following structures:

[0022] a. A storage box and a steering control mechanism;

[0023] b. A first frame and a first control lever;

[0024] c. A first connecting rod and a seat cushion;

[0025] d. A second frame, the lower end of the support column is connected to the upper end of the second frame, and the lower end of the second frame is provided with a lying board;

[0026] e. A second connecting rod and a control disc.

[0027] Further, the lower end of the support column is connected to the storage box, the steering control mechanism comprises a first steering engine, a second steering engine, and a steering engine fixing rod, the first steering engine is fixed on the frame body, the rotating shaft of the first steering engine is connected to one end of a first connecting rod, the other end of the first connecting rod is connected to the lower end of a second connecting rod, the upper end of the second connecting rod is connected to the second steering engine; the rotating shaft of the second steering engine is connected to one end of a third connecting rod, the other end of the third connecting rod is connected to the lower end of a fourth connecting rod, the upper end of the fourth connecting rod is connected to the storage box; one end of the steering engine fixing rod is hinged to the frame body, and the other end is connected to the second steering engine.

[0028] Further, the lower end of the support column is connected to the upper end of the first frame, the lower end of the first frame is provided with a first counterweight; the first frame is provided with a first joint bearing, the frame body is provided with a second joint bearing, the lower end of the first control lever is connected to the first joint bearing, and the middle part of the first control lever is connected to the second joint bearing.

[0029] Further, the lower end of the support column is connected to the upper end of the first connecting rod, and the lower end of the first connecting rod is connected to the seat cushion; the seat cushion is connected with a reset spring below.

[0030] Further, the lower end of the strut is connected with the upper end of the second connecting rod, the lower end of the second connecting rod is connected with a second counterweight, the second counterweight is connected with a third connecting rod, the upper end of the third connecting rod is provided with a seat; further comprising a mounting rod and a fourth connecting rod, the steering wheel is connected on the mounting rod; the third connecting rod is provided with a third joint bearing, the seat is provided with a fourth joint bearing, the lower end of the fourth connecting rod is connected with the third joint bearing, the middle part of the fourth connecting rod is connected with the fourth joint bearing, and the upper end of the fourth connecting rod is connected with the mounting rod.

[0031] Further, the propeller is provided for the self-stabilized flying device to provide forward power.

[0032] Further, the mounting column is arranged on the frame body, and the base is fixed on the mounting column.

[0033] Further, the frame body is provided with a tail wing.

[0034] Further, the storage table is further included, the storage table is hinged with the fourth connecting piece, the fourth connecting piece is hinged with the connecting column, and the connecting column is connected with the frame body.

[0035] Further, wings are arranged on the left and right sides of the frame body, and are used to generate lift when walking.

[0036] Further, the counterweight assembly comprises a cabin and a landing gear, the landing gear is connected below the cabin; the frame body is connected with a second operating rod, the second operating rod extends to the cabin; the control mode of the multi-axis flight module is that a flight controller of a traditional "X" type eight-axis unmanned aerial vehicle is used for control.

[0037] Further, the multi-axis flight module adopts a four-axis flight module or a six-axis flight module or an eight-axis flight module; when the four-axis flight module is used, four power motors are controlled by four control loops arranged in a "well" shape in the flight controller of the traditional "X" type eight-axis unmanned aerial vehicle, and the other four control loops control the rotor assembly above the strut.

[0038] Further, the frame body is connected with a second operating rod, and the second operating rod extends to the cabin.

[0039] Further, the fault automatic power-off device is further included, and the fault automatic power-off device is installed on the frame body, the rotor assembly or / and the counterweight assembly; the fault automatic power-off device at least includes one of a travel switch, a levelness sensor and a rotating speed sensor; the fault automatic power-off device is connected with a signal of an avionics system, and the avionics system is connected with a signal of the rotor assembly.

[0040] Further, when the plurality of power rotors are coaxially arranged, the shafts of the power rotors are hollow, facilitating arrangement of power supply lines of the power rotors.

[0041] Further, the egg-shaped cabin can be detachably connected to the frame body, and the smart vehicle comprises a tray, a lifting assembly and a moving frame provided with universal wheels.

[0042] A self-stable flight device, and the application comprises the following steps:

[0043] a. When a person needs to travel, the smart vehicle at the departure place is called to the departure place of the traveler, and the smart vehicle itself has an egg-shaped cabin;

[0044] Or, the traveler himself has an egg-shaped cabin;

[0045] Place the egg-shaped cabin on the tray of the smart vehicle, and the person enters the egg-shaped cabin to ride;

[0046] b. The smart vehicle carries the egg-shaped cabin to the take-off point, and controls the height of the egg-shaped cabin through the lifting assembly, so that the egg-shaped cabin can be connected and fixed to the frame body;

[0047] c. The self-stable flight device takes off to carry the egg-shaped cabin to the destination;

[0048] d. After flying to the landing point, the smart vehicle at the landing point moves to the lower side of the egg-shaped cabin, controls the height of the tray through the lifting assembly to take the egg-shaped cabin, and then carries the egg-shaped cabin to the designated position of the traveler;

[0049] e. The person walks out of the egg-shaped cabin and reaches the destination.

[0050] Compared with the prior art, the beneficial effects of the present application at least include:

[0051] (1) The technical scheme of the present application controls the inclination of the lift surface formed by the rotor assembly in operation through the counterweight assembly, thereby achieving vertical lifting and flight in different directions of the flight device. Compared with the traditional control structure, the counterweight assembly has the advantages of simple structure, fewer components, low failure rate, easy assembly, simple operation, and convenient automatic and manual driving.

[0052] (2) In traditional aircraft, when the control structure of the rotor fails, it is difficult to stabilize the aircraft, which will cause the aircraft to fly out of control and pose a great safety hazard. In the technical solution of this application, the counterweight component can achieve the function of straightening the rotor component, so that the rotation plane of the rotor component is restored to a state that is basically parallel to the ground, making it less likely to overturn or fly out of control, and thus ensuring high safety. Attached Figure Description

[0053] The accompanying drawings are provided to further illustrate the invention and are used together with the embodiments of the invention to explain the invention. They do not constitute a limitation of the invention. In the drawings:

[0054] Figure 1 This is a perspective view of the self-stabilizing flight device described in Embodiment 1;

[0055] Figure 2 This is a schematic diagram of the servo control mechanism of the self-stabilizing flight device described in Embodiment 1;

[0056] Figure 3 This is a schematic diagram showing the active component and the support column in a connected state as described in Embodiment 1;

[0057] Figure 4 This is a schematic diagram showing the movable component and the support column in a separated state as described in Embodiment 1;

[0058] Figure 5 This is a structural schematic diagram of the shelf, the fourth connector, and the connecting column described in Embodiment 1;

[0059] Figure 6 This is a perspective view of the self-stabilizing flight device described in Embodiment 2;

[0060] Figure 7 This is a perspective view of the self-stabilizing flight device described in Embodiment 3;

[0061] Figure 8 This is a perspective view of the self-stabilizing flight device described in Embodiment 4;

[0062] Figure 9 This is a schematic diagram of the structure in Embodiment 4 where the frame and counterweight components are in a separated state;

[0063] Figure 10 This is a perspective view of the self-stabilizing flight device described in Embodiment 5;

[0064] Figure 11 This is a perspective view of the self-stabilizing flight device described in Embodiment Six;

[0065] Figure 12 This is a perspective view of the self-stabilizing flight device described in Embodiment 7;

[0066] Figure 13is a perspective view of the self-stabilizing flying device of Example Eight;

[0067] Figure 14 is a perspective view of the self-stabilizing flying device of Example Nine;

[0068] Figure 15 is a structural schematic of the counterweight assembly of Examples Six through Nine;

[0069] Figure 16 is a perspective view of the self-stabilizing flying device of Example Ten;

[0070] Figure 17 is a perspective view of the self-stabilizing flying device of Example Eleven;

[0071] Figure 18 is a perspective view of the self-stabilizing flying device of Example Twelve;

[0072] Figure 19 is a structural schematic of the moving assembly of Example Twelve;

[0073] Figure 20 is a perspective view of the self-stabilizing flying device of Example Thirteen;

[0074] Figure 21 is a structural schematic of the egg-shaped cabin and smart car separated state of Example Thirteen;

[0075] Figure 22 is a structural schematic of the moving assembly of the self-stabilizing flying device of Example Thirteen.

[0076] In the diagram: 1. Frame; 101. Mounting column; 102. Buffer spring; 103. Nut; 2. Support column; 3. Rotor assembly; 301. Powered rotor; 302. Autorotor; 4. Counterweight assembly; 401. Storage box; 402. Servo control mechanism; 4021. First servo; 4022. Second servo; 4023. Servo mounting rod; 4024. First connecting rod; 4025. Second connecting rod; 40 26. Third connecting rod; 4027. Fourth connecting rod; 407. First frame; 408. First control lever; 409. First counterweight; 410. First joint bearing; 411. Second joint bearing; 412. First connecting rod; 413. Seat cushion; 414. Return spring; 415. Second frame; 416. Reclining board; 417. Second connecting rod; 418. Control panel; 419. Second counterweight; 420. Third connecting rod 421. Pole; 422. Seat; 423. Mounting rod; 424. Fourth link; 425. Third joint bearing; 426. Fourth joint bearing; 427. Cabin; 428. Landing gear; 429. Second control stick; 500. Moving assembly; 501. Base; 502. Shaft; 5021. Mounting hole; 5022. Pin hole; 503. First assembly frame; 504. Second assembly frame; 505. First round rod; 506. Two round rods; 507, First connector; 508, Second connector; 509, Third connector; 6, Thruster; 7, Tail fin; 8, Storage platform; 9, Fourth connector; 10, Connecting column; 11, Egg-shaped cabin; 12, Intelligent vehicle; 1201, Tray; 1202, Lifting assembly; 1203, Moving frame; 12031, Casters; 13, Wing; 14, Pre-rotation device; 15, Battery; 16, Electronic speed controller. Implementation

[0077] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0078] like Figures 1 to 22 As shown, a self-stabilizing flight device includes a frame 1 and a support column 2. A rotor assembly 3 and a counterweight assembly 4 are mounted on the support column 2. The rotor assembly 3 is connected above the support column 2, and the counterweight assembly 4 is connected below the support column 2. The frame 1 is movably connected between the rotor assembly 3 and the counterweight assembly 4 via a movable component 5.

[0079] The active component 5 has three structural forms, and the composition of different structures will be described in different embodiments below. The active component 5 enables the rotor assembly 3 to tilt forward and backward and yaw left and right relative to the frame 1 in order to control the flight attitude of the self-stabilizing flight device. Example 1

[0080] like Figures 1 to 5As shown, a self-stable flying device comprises a frame body 1 and a support column 2, the support column 2 is provided with a rotor assembly 3 and a counterweight assembly 4, the middle part of the support column 2 is connected to the frame body 1 through a movable assembly 5.

[0081] Specifically, the frame body 1 is provided with the movable assembly 5, which is combined with Figure 3 and Figure 4 As shown, the movable assembly 5 comprises a base 501, the base 501 is provided with a shaft body 502 rotatingly, the left and right ends of the shaft body 502 are rotatingly connected to the base 501 through bearings, so that the shaft body 502 can be inclined forward and backward relative to the base 501; the middle part of the shaft body 502 is provided with a mounting hole 5021, the width of the mounting hole 5021 is greater than the diameter of the support column 2, when the support column 2 is inserted into the mounting hole 5021, a pin is inserted into a pin hole 5022 at the front end of the shaft body 502 until it penetrates the support column 2, so that the support column 2 can be rotatingly connected in the mounting hole 5021, thereby allowing the support column 2 to be deflected left and right relative to the mounting hole 5021.

[0082] The frame body 1 is provided with a mounting column 101, the base 501 is fixed to the mounting column 101; the mounting column 101 is sleeved with a buffer spring 102, the buffer spring 102 is located below the base 501, and a nut 103 is screwed on the top of the mounting column 101; the nut 103 can limit the base 501 from jumping out, and lock the base 501 on the frame body 1, and the buffer spring 102 can buffer the components connected to the base 501; the support column 2 and the rotor assembly 3 are connected to the base 501, when the flying device lands, the base 501 will have inertia to fall further, at this time, the buffer spring 102 will buffer the base 501 to avoid damage.

[0083] Therefore, through the arrangement of the movable assembly 5, the support column 2 can be inclined forward and backward and deflected left and right relative to the frame body 1; since the rotor assembly 3 is connected above the support column 2, the purpose of the support column 2 being inclined forward and backward and deflected left and right is to control the rotation plane of the rotor assembly 3, thereby controlling the flying device to realize vertical take-off and landing or fly in different directions.

[0084] In the first embodiment, the rotor assembly 3 is a power rotor 301, when there are multiple power rotors 301, the multiple power rotors 301 are coaxially connected to the support column 2; at this time, the shaft of the power rotor 301 is hollow (i.e. the support column 2 is hollow), which is convenient for arranging the power supply line of the power rotor 301.

[0085] In the first embodiment, the counterweight assembly 4 comprises a storage box 401 and a rudder control mechanism, the storage box 401 can store articles or carry people, the lower end of the support column 2 is connected to the storage box 401, as shown in Figure 2As shown, the steering engine control mechanism 402 includes a first steering engine 4021, a second steering engine 4022, and a steering engine fixing rod 4023, the first steering engine 4021 is fixed on the frame body 1, the rotating shaft of the first steering engine 4021 is connected with one end of a first connecting rod 4024, the other end of the first connecting rod 4024 is connected with the lower end of a second connecting rod 4025, the upper end of the second connecting rod 4025 is connected with the second steering engine 4022; the rotating shaft of the second steering engine 4022 is connected with one end of a third connecting rod 4026, the other end of the third connecting rod 4026 is connected with the lower end of a fourth connecting rod 4027, the upper end of the fourth connecting rod 4027 is connected with the storage box 401.

[0086] In combination Figure 2 As can be seen, the layout of the first steering engine 4021 and the second steering engine 4022 is perpendicular to each other, the rotation of the rotating shaft of the first steering engine 4021 will drive the second connecting rod 4025 to move forward and backward, that is, drive the second steering engine 4022 to move forward and backward, and the rotation of the rotating shaft of the second steering engine 4022 will drive the fourth connecting rod 4027 to move left and right, since the storage box 401 is connected to the top end of the fourth connecting rod 4027, then under the cooperation of the first steering engine 4021 and the second steering engine 4022, the swinging of the storage box 401 will drive the support column 2 to tilt forward and backward or deflect left and right; in this embodiment, the storage box 401 is driven to move in four directions by the two steering engine control mechanisms.

[0087] The connection part of the top end of the fourth connecting rod 4027 and the storage box 401 has a certain up and down movement space, that is, the top end of the fourth connecting rod 4027 can move up and down relative to the storage box 401 to compensate for the height difference of the storage box 401 when swinging; the steering engine fixing rod 4023 supports the second steering engine 4022, one end of the steering engine fixing rod 4023 is hinged to the frame body 1, the other end is connected with the second steering engine 4022, and the steering engine fixing rod 4023 will rotate with the rotation of the second steering engine 4022; similarly, the connection part of the end of the steering engine fixing rod 4023 and the second steering engine 4022 has a certain transverse movement space, that is, the end of the steering engine fixing rod 4023 is movably inserted into the second steering engine 4022 to compensate for the position difference between the second steering engine 4022 and the steering engine fixing rod 4023 when swinging.

[0088] The frame body 1 further includes a storage table 8, as shown Figure 5 The storage table 8 is hinged to the fourth connecting piece 9, the fourth connecting piece 9 is hinged to the connecting column 10, and the connecting column 10 is connected to the frame body 1; through the intermediate transition of the hinged connection of the fourth connecting piece 9, the frame body 1 can always keep the storage table 8 in a horizontal state no matter how it tilts, and this storage table 8 can be used to place the electric control system, the camera or other valuable items, and is not easy to tilt and fall.

[0089] The frame 1 is equipped with a battery 15 and an electronic speed controller 16. The battery 15 is used to supply power to the electrical equipment, and the electronic speed controller 16 is used to control the rotational speed of the powered rotor 301. Example 2

[0090] like Figure 6 The figure shown is a perspective view of the self-stabilizing flight device described in Embodiment 2. The difference between Embodiment 2 and Embodiment 1 is that, in addition to the powered rotor 301, the rotor assembly 3 also includes an autorotor 302. The purpose of this design is that the airflow generated when the powered rotor 301 rotates will drive the autorotor 302 to rotate. When the powered rotor 301 malfunctions during flight, the flight device will fall due to loss of lift. At this time, the blades in the autorotor 302 will rotate under the action of the upward airflow. This rotation will generate lift, preventing the flight device from falling rapidly. This ensures high safety and helps protect lives. Example 3

[0091] like Figure 7 The figure shown is a perspective view of the self-stabilizing flight device described in Embodiment 3. The difference between Embodiment 3 and Embodiment 1 is that, based on Embodiment 1, a power rotor 301 with a ring and regularly distributed around the support column 2 is added. This structure can enhance the lift and flight speed. Example 4

[0092] like Figure 8 as well as Figure 9 The figure shown is a perspective view of the self-stabilizing flight device described in Embodiment 4. In this embodiment, the power rotor 301 is regularly distributed around the support column 2, and a seat is provided in the frame 1 for the operator to sit on. The key difference between this embodiment and the above embodiments is that the structure of the counterweight component 4 is different.

[0093] In this embodiment, the counterweight assembly 4 comprises a first frame 407 and a first joystick 408, the lower end of the strut 2 is connected to the upper end of the first frame 407, the lower end of the first frame 407 is provided with a first counterweight 409, which is a battery in this embodiment; the first frame 407 is provided with a first joint bearing 410, the frame body 1 is provided with a second joint bearing 411, the lower end of the first joystick 408 is connected to the first joint bearing 410, and the middle part of the first joystick 408 is connected to the second joint bearing 411; As shown in the figure, a seat is provided on the frame body 1 for the user to sit on, and the first counterweight 409 is located below the seat, so when it is necessary to control the angle of the rotor assembly 3, the upper end of the first joystick 408 is held and swung, and under the coordination of the first joint bearing 410 and the second joint bearing 411, the first frame 407 is swung, thereby swinging the strut 2, achieving the purpose of controlling the rotation plane of the rotor assembly 3. The joint bearing is a prior art, which will not be described here. Embodiment five

[0094] As shown in Figure 10 , it is a perspective view of the self-stabilizing flying device according to embodiment five; the difference between embodiment five and embodiment four is that there are both power rotors 301 regularly distributed around the strut 2 and power rotors 301 coaxially arranged on the strut 2, and the dynamic performance is better; in addition, there are also autorotors 302, the function of which is described in embodiment two, and the safety is better. Embodiment six

[0095] As shown in Figure 11 , it is a perspective view of the self-stabilizing flying device according to embodiment six; the rotor assembly 3 is an autorotor 302, and the inclination angle of the autorotor 302 is also controlled by the counterweight assembly 4 (in this embodiment, the counterweight assembly 4 is in the fuselage); it comprises a propeller 6, which provides forward power for the self-stabilizing flying device, and the propeller 6 adopts a motor plus propeller structure or an internal combustion engine plus propeller structure; this embodiment has the same take-off principle as the ordinary autorotor, that is, the inclination angle of the autorotor 302 is controlled by the counterweight assembly 4, which is different from the conventional control mode; a tail fin 7 is arranged at the tail end of the frame body 1, which can balance the airflow; further, a rudder is arranged on the tail fin 7 for adjusting the flight direction; in this embodiment, a pre-rotation device 14 is arranged, which is used to drive the autorotor 302 to rotate at low speed first; the pre-rotation device 14 is a prior art, which will not be described here. Embodiment seven

[0096] As shown in Figure 12The diagram shown is a perspective view of the self-stabilizing flight device described in Embodiment 7. The difference between Embodiment 7 and Embodiment 6 is that a powered rotor 301 and an autorotor 302 are coaxially arranged. There are two powered rotors 301, one located above the autorotor 302 and the other located below the autorotor 302. The two powered rotors 301 will result in stronger lift. The purpose of the autorotor 302 is that when the powered rotor 301 fails, it will still generate lift under the action of the autorotor 302, preventing the flight device from falling rapidly, thus ensuring high safety and protecting lives. When a single powered rotor 301 is installed on the support column 2, a tail rotor is required to balance the torque of the single powered rotor 301 and control the heading. Example 8

[0097] like Figure 13 The figure shown is a perspective view of the self-stabilizing flight device described in Embodiment 8. In this embodiment, the rotor assembly 3 includes a powered rotor 301 and an autorotator 302, which have the advantages of both. It also has a wing 13. After the thruster 6 is started, it pushes the flight device forward. The wing 13 can be used to generate lift when moving forward. Example 9

[0098] like Figure 14 The figure shown is a perspective view of the self-stabilizing flight device described in Embodiment Nine. Compared with Embodiment Eight, Embodiment Nine does not have wings 13 and thrusters 6. It relies entirely on the power rotor 301 to generate lift, and the direction is controlled by adjusting the rotation plane of the power rotor 301 through the counterweight assembly 4.

[0099] Figure 15is a structural schematic diagram of the counterweight assembly in Embodiment Six to Embodiment Nine; the lower end of the support column 2 is connected with the upper end of the second connecting rod 417, the lower end of the second connecting rod 417 is connected with the second counterweight 419, wherein the second counterweight 419 is a battery, the second counterweight 419 is connected with the third connecting rod 420, the upper part of the third connecting rod 420 is provided with the seat 421; further comprising the mounting rod 422 and the fourth connecting rod 423, the steering disc 418 is connected on the mounting rod 422; the third connecting rod 420 is provided with the third joint bearing 424, the seat 421 is provided with the fourth joint bearing 425, the lower end of the fourth connecting rod 423 is connected with the third joint bearing 424, the middle part of the fourth connecting rod 423 is connected with the fourth joint bearing 425, the upper end of the fourth connecting rod 423 is connected with the mounting rod 422. Wherein the end of the mounting rod 422 connected with the frame body 1 is a freedom degree with up, down, left and right movements, when the operator sits on the seat 421 and holds the steering disc 418, the fourth connecting rod 423 is controlled to swing through the up, down, left and right swinging of the steering disc 418, under the action of the third joint bearing 424 and the fourth joint bearing 425, the purpose of controlling the swing of the support column 2 is finally achieved, so as to control the change of the rotating plane of the rotor assembly 3 and achieve the purpose of controlling the flight direction. Embodiment Ten

[0100] As Figure 16 shown is a perspective view of the self-stable flight device in Embodiment Ten; in this embodiment, the frame body 1 is in the form of a bicycle, the difference between this embodiment and the above-mentioned other embodiments is that the counterweight assembly 4 comprises the first connecting rod 412 and the seat cushion 413, the lower end of the support column 2 is connected with the upper end of the first connecting rod 412, the lower end of the first connecting rod 412 is connected with the seat cushion 413; the lower part of the seat cushion 413 is connected with the reset spring 414; the structure is similar to the structure of a bicycle, a person sits on the seat cushion 413 and holds the handle, the swing of the seat cushion 413 is controlled through the swing of the buttocks, so as to drive the support column 2 to swing through the first connecting rod 412, and the purpose of controlling the rotating plane of the rotor assembly 3 is achieved.

[0101] The upper end of the reset spring 414 is connected with the seat cushion 413, the lower end of the reset spring 414 is connected with the frame body 1, when a person leaves the flight device, the reset spring 414 will pull the seat cushion 413 to be normal, that is, the support column 2 and the rotor assembly 3 are pulled to be normal, waiting for the next use.

[0102] As one variation of this embodiment, the rotor assembly 3, in addition to having a powered rotor 301 (which is coaxially connected to the support column 2 and regularly distributed around the support column 2), also includes an autorotor 302, which has stronger lift. Also, because of the autorotor 302, when the powered rotor 301 fails, lift will still be generated under the action of the autorotor 302, so that the flight device will not fall rapidly, which is safe and helps to protect life safety. Example 11

[0103] like Figure 17 The figure shown is a perspective view of the self-stabilizing flight device described in Embodiment Eleven. In this embodiment, the frame 1 is in the form of a tricycle. The difference between this embodiment and the other embodiments mentioned above is that the counterweight assembly 4 includes a second frame 415, the lower end of the support column 2 is connected to the upper end of the second frame 415, and a reclining board 416 is provided at the lower end of the second frame 415. The structure of this embodiment allows a person to lie on the reclining board 416 to operate it. By holding the handles with both hands and swinging the body, the person controls the swing of the reclining board 416, thereby driving the support column 2 to swing, so as to control the rotation plane of the rotor assembly 3.

[0104] The rotor assembly 3 has a power rotor 301 and an autorotator 302, which provides lift and good safety features.

[0105] Compared with traditional rotor control methods, the technical solutions of this application are equipped with counterweight components 4, so only a very small force is needed to control the swing of the support column 2, which is quite ingenious. Example 12

[0106] like Figure 18 The figure shown is a perspective view of the self-stabilizing flight device described in Embodiment Twelve; in this embodiment, the frame 1 includes a multi-axis flight module, namely, a power rotor 301 with multiple rings regularly distributed as a power source.

[0107] In this embodiment, the counterweight assembly 4 includes a cabin 426 and a landing gear 427. The landing gear 427 is connected to the lower part of the cabin 426. The battery can be placed in the cabin 426. The support column 2 is hollow, allowing the wiring to extend upwards to the powered rotor 301 located at the top. The control method of the multi-rotor flight module is: to use the flight controller of a traditional "X" type octagonal UAV.

[0108] The multi-axis flight module can be a quadcopter, a hexacopter, or an octagonal flight module. When a quadcopter is used, the four power motors are controlled by four control loops arranged in a "well" shape in the flight controller of a traditional "X" type octagonal UAV. The other four control loops control the rotor assembly 3 above the support column 2.

[0109] The frame 1 is connected to a second control stick 428, which extends to the cabin 426. In practice, the frame 1 can also be pulled by hand by pulling the second control stick 428, thereby controlling the rotation surface of the multi-rotor flight module to be on different planes, thus controlling the flight direction.

[0110] like Figure 19 As shown in the schematic diagram of the structure of the movable component 5 in Embodiment Twelve, the movable component 5 includes a first assembly frame 503 and a second assembly frame 504. The first assembly frame 503 is located inside the second assembly frame 504, and the centers of the two coincide. A first round rod 505 is horizontally arranged through the support column 2. The two ends of the first round rod 505 are rotatably connected to the first assembly frame 503 through bearings. Second round rods 506 are arranged on both sides of the first assembly frame 503. The second round rods 506 are rotatably connected to the second assembly frame 504. The plane in which the rotation direction of the first round rod 505 is located is perpendicular to the plane in which the rotation direction of the second round rod 506 is located. The second assembly frame 504 is fixed to the center of the frame 1. Therefore, the support column 2 can tilt back and forth and deflect left and right relative to the frame 1. Example 13

[0111] like Figure 20 As for Figure 21 The diagram shown is a perspective view of the self-stabilized flight device of Embodiment Thirteen. It also includes an egg-shaped cabin 11 and an intelligent vehicle 12. The egg-shaped cabin 11 is detachably connected to the frame 1. There are various ways to detach it, such as clamping or hooking. Locking components are provided at the connection points to ensure the safety of the connection. The intelligent vehicle 12 includes a tray 1201, a lifting component 1202, and a moving frame 1203. The moving frame 1203 is equipped with casters 12031. The moving frame 1203 is connected to the lifting component 1202, and the lifting component 1202 is connected to the tray 1201. The egg-shaped cabin 11 is fitted onto the tray 1201.

[0112] The lifting assembly 1202 can be a conventional hydraulic rod, cylinder, or lead screw and nut assembly, and is not limited here.

[0113] The intelligent vehicle 12 can carry the egg-shaped cabin 11 and connect it to the frame 1 of the flight device.

[0114] like Figure 22As shown, in this embodiment, the movable assembly 5 comprises a first connecting member 507, a second connecting member 508 and a third connecting member 509; the lower end of the first connecting member 507 is connected with the counterweight assembly 4, the upper end of the first connecting member 507 is hingedly connected with the second connecting member 508, the second connecting member 508 is hingedly connected with the lower end of the third connecting member 509, and the upper end of the third connecting member 509 is hingedly connected with the frame body 1; thus, through the movable assembly 5, the frame body 1 can be caused to have forward and backward tilting and left and right tilting movements relative to the counterweight assembly 4.

[0115] As an application method of the self-stable flying device according to this embodiment thirteen, comprising the following steps:

[0116] a. When a person needs to travel, call the intelligent vehicle 12 to the departure place of the traveler, the intelligent vehicle 12 itself has an egg-shaped cabin 11;

[0117] Or, the traveler himself has an egg-shaped cabin 11, places the egg-shaped cabin 11 on the tray 1201 of the intelligent vehicle 12, and enters the egg-shaped cabin 11 to ride;

[0118] b. The self-stable flying device arrives at the departure place of the traveler, the intelligent vehicle 12 carries the egg-shaped cabin 11 to the lower part of the self-stable flying device, controls the height of the egg-shaped cabin 11 through the lifting assembly 1202, so that the egg-shaped cabin 11 can be connected and fixed on the self-stable flying device;

[0119] c. The self-stable flying device will take off with the egg-shaped cabin 11 to the destination;

[0120] d. After flying to the landing point, the intelligent vehicle 12 at the landing point moves to the lower part of the egg-shaped cabin 11, controls the height of the tray 1201 through the lifting assembly 1202 to take the egg-shaped cabin 11, and then carries the egg-shaped cabin 11 to the designated position of the traveler;

[0121] e. The person walks out of the egg-shaped cabin 11 and arrives at the destination.

[0122] In different embodiments, the frame body 1 can be selectively provided with a tail wing 7; the tail wing 7 has the functions of stability in flight and control of flight attitude.

[0123] The frame body 1 is provided with a fault automatic power-off device, and the fault automatic power-off device at least comprises one of a travel switch, a levelness sensor and a rotating speed sensor; when the rotor assembly 3 is composed of a plurality of power rotors, and the power rotors are arranged around the support 2, when one of the power rotors fails, the flight device will certainly be deflected; therefore, the travel switch can be arranged on the frame body 1 close to the support 2, when the travel switch monitors that the displacement value between the support 2 and the frame body 1 is greater than a set value, the travel switch will transmit a signal to the electric control system, and the electric control system will control all the rotor assemblies 3 to stop or the rotor assemblies 3 on the other side corresponding to the failed rotor assembly 3 to stop, so that the frame body 1 restores balance; alternatively, the levelness sensor can be arranged on the frame body 1, when the inclination of the frame body 1 is greater than the set value of the levelness sensor, the levelness sensor can transmit a signal to the electric control system; alternatively, the rotating speed sensor can be installed in each power rotor to monitor the rotating speed of each power rotor, when the rotating speed of the power rotor is monitored to be abnormal, a signal will be transmitted to the electric control system for subsequent control.

[0124] Finally, it should be noted that: the above is only the preferred embodiment of the present application, and is not intended to limit the present application, any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A self-stable flight device, characterized by, The self-stabilized flying device comprises a frame (1) and a support column (2), a rotor assembly (3) and a counterweight assembly (4) are arranged on the support column (2), the rotor assembly (3) is connected above the support column (2), the counterweight assembly (4) is connected below the support column (2), the frame (1) is movably connected between the rotor assembly (3) and the counterweight assembly (4) through a movable assembly (5), the movable assembly (5) can make the rotor assembly (3) tilt forward and backward and deflect left and right relative to the frame (1) to control the flight attitude of the self-stabilized flying device. The rotor assembly (3) comprises at least one of the following structures: a. a plurality of power rotors (301) are coaxially connected on the support column (2); b. a plurality of power rotors (301) are regularly distributed around the support column (2); c. a single power rotor (301) is installed on the support column (2); d. a single or two autorotors (302) are installed on the support column (2), and the two autorotors (302) are coaxially arranged when two autorotors (302) are used; The counterweight assembly (4) comprises a storage box (401) and a rudder control mechanism (402). The lower end of the support column (2) is connected with the storage box (401), the rudder control mechanism (402) comprises a first rudder (4021), a second rudder (4022) and a rudder fixing rod (4023), the first rudder (4021) is fixed on the frame (1), the rotating shaft of the first rudder (4021) is connected with one end of a first connecting rod (4024), the other end of the first connecting rod (4024) is connected with the lower end of a second connecting rod (4025), the upper end of the second connecting rod (4025) is connected with the second rudder (4022); the rotating shaft of the second rudder (4022) is connected with one end of a third connecting rod (4026), the other end of the third connecting rod (4026) is connected with the lower end of a fourth connecting rod (4027), the upper end of the fourth connecting rod (4027) is connected with the storage box (401); one end of the rudder fixing rod (4023) is hinged with the frame (1), and the other end is connected with the second rudder (4022).

2. A self-stable flight device according to claim 1, wherein, The frame (1) comprises a multi-axis flight module.

3. A self-stable flight device according to claim 2, wherein, The movable assembly (5) comprises one of the following structures: a. a base (501) is connected on the frame (1), an axle body (502) is rotatably arranged on the base (501), the axle body (502) can tilt forward and backward relative to the base (501); a mounting hole (5021) is arranged in the middle of the axle body (502), the support column (2) is rotatably connected in the mounting hole (5021), and the support column (2) can deflect left and right relative to the mounting hole (5021); b. The system includes a first assembly frame (503) and a second assembly frame (504), wherein the first assembly frame (503) is located inside the second assembly frame (504) and the centers of the two are coincident; the support column (2) is provided with a first round rod (505) through it laterally, and the two ends of the first round rod (505) are rotatably connected inside the first assembly frame (503); the first assembly frame (503) is provided with a second round rod (506) on both sides, and the second round rod (506) is rotatably connected inside the second assembly frame (504); the plane in which the rotation direction of the first round rod (505) is located is perpendicular to the plane in which the rotation direction of the second round rod (506) is located; the second assembly frame (504) is fixed to the center of the frame (1); c. Includes a first connector (507), a second connector (508), and a third connector (509); the lower end of the first connector (507) is connected to the counterweight assembly (4), the upper end of the first connector (507) is hinged to the second connector (508), the second connector (508) is hinged to the lower end of the third connector (509), and the upper end of the third connector (509) is hinged to the frame (1).

4. A self-stable flight device according to claim 1, wherein The counterweight assembly (4) also includes at least one of the following structures: a. First frame (407) and first joystick (408); b. First link (412) and seat (413); c. Second frame (415), the lower end of the support column (2) is connected to the upper end of the second frame (415), and the lower end of the second frame (415) is provided with a reclining board (416). e. The second link (417) and the control panel (418).

5. A self-stable flight device according to claim 4, wherein, The lower end of the support column (2) is connected to the upper end of the first frame (407), and the lower end of the first frame (407) is provided with a first counterweight (409); the first frame (407) is provided with a first joint bearing (410), the frame (1) is provided with a second joint bearing (411), the lower end of the first control lever (408) is connected to the first joint bearing (410), and the middle part of the first control lever (408) is connected to the second joint bearing (411).

6. A self-stable flight device according to claim 4, wherein, The lower end of the support column (2) is connected to the upper end of the first connecting rod (412), and the lower end of the first connecting rod (412) is connected to the seat cushion (413); a return spring (414) is connected to the lower part of the seat cushion (413).

7. A self-stable flight device according to claim 4, wherein, The lower end of the support column (2) is connected with the upper end of the second connecting rod (417), the lower end of the second connecting rod (417) is connected with a second counterweight (419), the second counterweight (419) is connected with a third connecting rod (420), the upper end of the third connecting rod (420) is provided with a seat (421); further comprising a mounting rod (422) and a fourth connecting rod (423), the operating disc (418) is connected on the mounting rod (422); the third connecting rod (420) is provided with a third joint bearing (424), the seat (421) is provided with a fourth joint bearing (425), the lower end of the fourth connecting rod (423) is connected with the third joint bearing (424), the middle part of the fourth connecting rod (423) is connected with the fourth joint bearing (425), and the upper end of the fourth connecting rod (423) is connected with the mounting rod (422).

8. A self-stable flight device according to claim 1, wherein, The propeller (6) is provided with forward power for the self-stabilized flying device.

9. A self-stable flight device according to claim 3, wherein, The frame body (1) is provided with a mounting column (101), and the base (501) is fixed on the mounting column (101); the mounting column (101) is provided with a buffer spring (102).

10. The self-stable flight device according to claim 1, wherein, The frame body (1) is provided with a tail wing (7).

11. A self-stable flight device according to claim 1, wherein, Further comprising a placing table (8), the placing table (8) is hinged with a fourth connecting piece (9), the fourth connecting piece (9) is hinged with a connecting column (10), and the connecting column (10) is connected on the frame body (1).

12. A self-stable flight device according to claim 1, wherein, The frame body (1) is provided with wings (13) on the left and right sides, which are used to generate lift during forward movement.

13. A self-stable flight device according to claim 2, wherein, The counterweight assembly (4) comprises a cabin (426) and a landing gear (427), and the landing gear (427) is connected below the cabin (426); the control mode of the multi-axis flight module is that a flight controller of a traditional "X" type eight-axis unmanned aerial vehicle is used for control.

14. A self-stable flight device according to claim 13, wherein, The multi-axis flight module adopts a four-axis flight module or a six-axis flight module or an eight-axis flight module; when the four-axis flight module is adopted, four power motors are controlled by four control loops arranged in a "well" shape in the flight controller of the traditional "X" type eight-axis unmanned aerial vehicle, and the other four control loops control the rotor assembly (3) above the support column (2).

15. A self-stable flight device according to claim 13, wherein, The frame body (1) is connected with a second operating rod (428), and the second operating rod (428) extends to the cabin (426).

16. The self-stable flight device according to claim 1, wherein, Further comprising a fault automatic power-off device, the fault automatic power-off device is installed on the frame body (1) or / and the rotor assembly (3) or / and the counterweight assembly (4); the fault automatic power-off device at least contains one of a travel switch, a levelness sensor and a rotating speed sensor; the fault automatic power-off device is signal connected with an avionics system, and the avionics system is signal connected with the rotor assembly (3).

17. The self-stable flight device according to claim 1, wherein, When the plurality of power rotors (301) are coaxially arranged, the shaft of the power rotor (301) is hollow, facilitating arrangement of a power supply line of the power rotor (301).

18. A self-stable flight device according to any one of claims 1 to 17, wherein, Also include egg-shaped cabin (11) and smart car (12), the egg-shaped cabin (11) can be detachably connected on the frame body (1);The smart car (12) includes tray (1201), lifting assembly (1202) and moving frame (1203), the moving frame (1203) is provided with universal wheel (12031);The moving frame (1203) is connected with the lifting assembly (1202), and the lifting assembly (1202) is connected with the tray (1201);The egg-shaped cabin (11) is matched and assembled on the tray (1201).

19. A self-stable flight device according to claim 18, wherein, Its application includes the following steps: a、When people need to travel, the smart car (12) of the departure place comes to the departure place of the traveler, and the smart car (12) itself has an egg-shaped cabin (11); Or, the traveler himself has an egg-shaped cabin (11); Place the egg-shaped cabin (11) on the tray (1201) of the smart car (12), and the person enters the egg-shaped cabin (11) to ride; b、The smart car (12) carries the egg-shaped cabin (11) to the take-off point, and controls the height of the egg-shaped cabin (11) through the lifting assembly (1202), so that the egg-shaped cabin (11) can be connected and fixed on the frame body (1); C、The self-stabilizing flying device will take off to carry the egg-shaped cabin (11) to the destination; D、After flying to the landing point, the smart car (12) of the landing point moves to the lower side of the egg-shaped cabin (11), the height of the tray (1201) is controlled through the lifting assembly (1202) to take the egg-shaped cabin (11), and then the egg-shaped cabin (11) is carried to the designated position of the traveler; E、The person walks out of the egg-shaped cabin (11) and reaches the destination.

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