Rotor system and aircraft

Abstract

The present invention discloses a rotor system and an aircraft, which include an upper rotor device, a lower rotor device, an upper driving device, a lower driving device, a connecting shaft and a moving driving device. The upper driving device can drive the upper rotor device to rotate around the axis of the connecting shaft, and the lower driving device can drive the lower rotor device to rotate around the axis of the connecting shaft. Moreover, the lower driving device can make the rotation direction of the lower rotor device the same as or opposite to that of the upper rotor device. The moving driving device can drive the lower rotor device to move axially along the connecting shaft, and the moving device can, by driving the lower rotor device to move axially along the connecting shaft, enable the lower rotor device and the upper rotor device to form a single-layer rotor or a double-layer rotor. The present invention can, while ensuring the overall flight efficiency, reduce the impact of noise on urban residents; and can ensure the stability of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of flight devices, and particularly to a rotor system and an aircraft. Background Art

[0002] Compared with fixed-wing aircraft, rotary-wing aircraft have the advantages of vertical takeoff and landing, hovering in the air, and good low-speed performance. Among them, coaxial contra-rotating rotors have been favored by designers of various rotary-wing aircraft due to their higher aerodynamic efficiency and smaller rotor disk area. However, due to the structure of the upper and lower layers of blades of the coaxial contra-rotating rotors, more complex aerodynamic interference will inevitably occur, which will in turn cause more serious noise problems. For single-layer blades, although the aerodynamic noise problem is alleviated, if a higher aerodynamic efficiency is desired, a larger rotor disk needs to be used. However, a larger rotor disk area will make the volume of the aircraft too large, especially for new civilian electric vertical takeoff and landing aircraft (eVTOL); and if the rotor disk diameter is reduced while the rotor disk solidity is increased, the overall aerodynamic efficiency of the rotor will be reduced, thereby reducing the endurance time and flight distance of the aircraft. Therefore, aiming at the contradiction that single-layer rotors have low noise but low aerodynamic efficiency, while coaxial contra-rotating rotors have high aerodynamic efficiency but high noise, this solution proposes a deformable low-noise coaxial rotor system, combining the advantages of low noise of single-layer rotors and high aerodynamic efficiency of coaxial contra-rotating rotors, which can not only take into account the endurance time and flight distance of vertical takeoff and landing aircraft, but also reduce the impact of its aerodynamic noise on urban residents.

[0003] Currently, in order to increase lift and reduce volume, rotary-wing aircraft such as eVTOL often use coaxial contra-rotating rotors. For example, a coaxial dual-rotor mechanism and a large coaxial multi-rotor ducted aircraft provided by Chinese Patent CN202311717457.X, whose rotor assembly includes a boom and upper and lower rotors located at both ends of the boom, and the upper and lower rotors can rotate in opposite directions. Rotary-wing aircraft such as eVTOL generally use batteries as the energy medium to generate lift by stirring the air with propellers. However, due to the limitation of the energy density of the battery, the endurance time and flight distance of rotary-wing aircraft such as eVTOL are very limited, which puts higher requirements on the aerodynamic efficiency of the rotor system. At the same time, due to the strong aerodynamic interference between the upper and lower blades of the coaxial contra-rotating rotors, a large amount of noise is generated, which affects the use of eVTOL in cities.

[0004] Therefore, the research on improving the aerodynamic efficiency of coaxial contra-rotating rotors and reducing noise has never stopped. The current achievements mainly focus on aerodynamic optimization and power system optimization. Aerodynamic optimization mainly optimizes the aerodynamic shape of the aircraft and the parameters of the propellers to reduce air resistance, improve flight efficiency, and thus increase the flight range. At the same time, by weakening the aerodynamic interference between the fuselage and the propellers of the aircraft, the noise can be reduced. Optimizing the propellers requires a large amount of simulation calculations and wind tunnel tests, which are very costly. At the same time, the improvement of the optimization results is very limited. Power system optimization mainly includes the following aspects. First, adopting an efficient electric power system, such as advanced electric motors and battery technologies, can improve the endurance of the aircraft and reduce energy consumption, thereby extending the flight distance. Second, adopting advanced flight control algorithms and systems to optimize the flight path and attitude control to minimize energy consumption and extend the endurance mileage. However, upgrading the power system relies on the improvement of the eVTOL power system to achieve the goal of increasing endurance, which cannot reduce aerodynamic noise and does not essentially improve the efficiency of the rotor system. Summary of the Invention

[0005] The object of the present invention is to provide a rotor system and an aircraft to solve the problems existing in the prior art, which can reduce the impact of noise on urban residents while ensuring the overall flight efficiency, and can ensure the stability of the system.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides a rotor system and an aircraft, including an upper rotor device, a lower rotor device, an upper driving device, a lower driving device, a connecting shaft, and a moving driving device. Both the upper rotor device and the lower rotor device are sleeved outside the connecting shaft. The upper rotor device is connected to the upper driving device, the lower rotor device is connected to the lower driving device, and the moving driving device is connected to the lower rotor device. The upper driving device can drive the upper rotor device to rotate around the axis of the connecting shaft, the lower driving device can drive the lower rotor device to rotate around the axis of the connecting shaft, and the lower driving device can make the rotation direction of the lower rotor device the same as or opposite to that of the upper rotor device. The moving driving device can drive the lower rotor device to move axially along the connecting shaft, and the moving device can make the lower rotor device and the upper rotor device form a single-layer rotor or a double-layer rotor by driving the lower rotor device to move axially along the connecting shaft.

[0008] Preferably, the lower rotor device includes a lower blade body and a lower blade driving device. Both the lower blade body and the lower blade driving device are at least two. Each lower blade driving device is connected to one lower blade body. Each lower blade driving device can drive the corresponding lower blade body to rotate forward or backward around a first axis, and the first axis is perpendicular to the axis of the connecting shaft.

[0009] Preferably, the lower rotor device further includes at least two lower blade shafts. Each lower blade body includes a plurality of first blade micro-segments. All the first blade micro-segments of each lower blade body are sequentially sleeved outside one lower blade shaft. The plurality of first blade micro-segments of each lower blade body are connected to the corresponding lower blade driving device. Each lower blade driving device can drive all the first blade micro-segments of the corresponding lower blade body to rotate around the first axis, and the angles of rotation of the plurality of first blade micro-segments of each lower blade body around the first axis are different.

[0010] Preferably, the first blade micro-segment of each lower blade body close to the connecting shaft is a first blade root micro-segment, the first blade micro-segment of each lower blade body far from the connecting shaft is a first blade tip micro-segment, the first blade micro-segments of each lower blade body except the first blade root micro-segment and the first blade tip micro-segment are first intermediate micro-segments. Each first blade tip micro-segment is fixedly connected to the corresponding lower blade shaft. Each first blade root micro-segment can be rotatably connected to the corresponding lower blade shaft and maintain its position. A first insertion portion is provided on one side of each first blade tip micro-segment of each lower blade body close to the first intermediate micro-segment and on one side of each first intermediate micro-segment of each lower blade body close to the first blade root micro-segment. A first insertion groove is provided on one side of each first intermediate micro-segment of each lower blade body close to the first blade tip micro-segment and on one side of the first blade root micro-segment of each lower blade body close to the first blade tip micro-segment. Each first insertion portion has a first working surface and a second working surface. Each first insertion groove has a first limiting surface and a second limiting surface. Each first insertion portion can be inserted into the adjacent first insertion groove, and each first insertion portion can make the first working surface abut against the first limiting surface or make the second working surface abut against the second limiting surface by rotating around the first axis.

[0011] Preferably, each of the lower blade driving devices includes a first driving device and a second driving device. Each of the first driving devices can drive one of the lower blade shafts to rotate about the first axis, and each of the second driving devices can drive one of the first blade root micro-segments to rotate about the first axis and maintain its position.

[0012] Preferably, the upper rotor device includes an upper blade body, an upper blade driving device, and an upper blade shaft. The upper blade body, the upper blade driving device, and the upper blade shaft are all at least two. Each upper blade body includes a plurality of second blade micro-segments. All the second blade micro-segments of each upper blade body are sequentially sleeved outside one upper blade shaft. Each upper blade driving device is connected to a plurality of the second blade micro-segments of one upper blade body. Each upper blade driving device can drive a plurality of the second blade micro-segments of the corresponding upper blade body to rotate about the second axis, and the angles of rotation of the plurality of second blade micro-segments of each upper blade body about the second axis are different. The second axis is perpendicular to the axis of the connecting shaft.

[0013] Preferably, in each upper blade body, the second blade micro-segment close to the connecting shaft is a second blade root micro-segment, the second blade micro-segment far from the connecting shaft is a second blade tip micro-segment, and the second blade micro-segments in each upper blade body other than the second blade root micro-segment and the second blade tip micro-segment are second intermediate micro-segments. Each second blade tip micro-segment is fixedly connected to the corresponding upper blade shaft. Each second blade root micro-segment can be rotatably connected to the corresponding lower blade shaft. On one side of each second blade tip micro-segment of each upper blade body close to the second intermediate micro-segment and on one side of each second intermediate micro-segment of each upper blade body close to the second blade root micro-segment, second insertion parts are provided. On one side of each second intermediate micro-segment of each upper blade body close to the second blade tip micro-segment and on one side of the second blade root micro-segment of each upper blade body close to the second blade tip micro-segment, second insertion slots are provided. Each second insertion part has a third working surface and a fourth working surface. Each second insertion slot has a third limiting surface and a fourth limiting surface. Each second insertion part can be inserted into the adjacent second insertion slot, and each second insertion part can make the third working surface abut against the third limiting surface or make the fourth working surface abut against the fourth limiting surface by rotating about the second axis.

[0014] Preferably, each of the upper blade driving devices includes a third driving device and a fourth driving device. Each of the third driving devices can drive one of the upper blade shafts to rotate about the second axis, and each of the fourth driving devices can drive one of the second blade root micro-segments to rotate about the second axis and maintain its position.

[0015] Preferably, it further includes a rotor base. The rotor base is connected to the connecting shaft. The moving driving device includes at least one telescopic device. Two ends of each telescopic device are respectively rotatably connected to the lower rotor device and the rotor base.

[0016] The present invention also provides an aircraft, which includes a flight body and a rotor system. The connecting shaft is connected to the flight body.

[0017] The present invention has achieved the following technical effects compared with the prior art:

[0018] The present invention provides a rotor system and an aircraft, which include an upper rotor device, a lower rotor device, an upper driving device, a lower driving device, a connecting shaft, and a moving driving device. The upper driving device can drive the upper rotor device to rotate about the axis of the connecting shaft. The lower driving device can drive the lower rotor device to rotate about the axis of the connecting shaft, and the lower driving device can make the rotation direction of the lower rotor device the same as or opposite to that of the upper rotor device. The moving driving device can drive the lower rotor device to move axially along the connecting shaft, and the moving device can make the lower rotor device and the upper rotor device form a single-layer rotor or a double-layer rotor by driving the lower rotor device to move axially along the connecting shaft. By driving the lower rotor device to move upward through the moving driving device and stopping when the lower rotor blades of the lower rotor device and the upper rotor blades of the upper rotor device are at the same height, the lower rotor device and the upper rotor device are in a single-layer rotor state, thereby reducing aerodynamic noise to meet the low-noise requirements during takeoff and landing in residential areas. When cruising away from residential areas, by driving the lower rotor device to move downward through the moving driving device and making the lower rotor device and the upper rotor device rotate in opposite directions at different heights, the lower rotor device and the upper rotor device are in a coaxial double-layer rotor state, thereby improving aerodynamic efficiency and further improving flight efficiency. Therefore, it can reduce the impact of noise on urban residents while ensuring the overall flight efficiency. At the same time, the lower driving device can drive the lower rotor device to decelerate and reverse after the lower rotor device rotates below the upper rotor device to offset the reaction torque generated during the rotation of the upper rotor device and the lower rotor device, improving the stability of the system. Description of the Drawings

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 Structural schematic of the rotor system provided in Embodiment 1 when in the single-layer rotor state Figure 1 ;

[0021] Figure 2 Structural schematic of the rotor system provided in Embodiment 1 when in the coaxial double-layer rotor state Figure 1 ;

[0022] Figure 3 Structural schematic of the rotor system provided in Embodiment 1 when in the coaxial double-layer rotor state Figure 2 ;

[0023] Figure 4 Structural schematic of the rotor system provided in Embodiment 1 when in the single-layer rotor state Figure 2 ;

[0024] Figure 5 Disassembly diagram of the hub deformation system provided in Embodiment 1;

[0025] Figure 6 Disassembly of the blade deformation system provided in Embodiment 1 Figure 1 ;

[0026] Figure 7 Disassembly of the blade deformation system provided in Embodiment 1 Figure 2 ;

[0027] Figure 8 Structural schematic diagram of the first insertion slot provided in Embodiment 1;

[0028] Figure 9 Structural schematic diagram of the first insertion portion provided in Embodiment 1;

[0029] Figure 10 Structural schematic diagram when the first insertion portion and the first insertion slot provided in Embodiment 1 are in the inserted state;

[0030] In the figure: 100, rotor system; 1, connecting shaft; 2, moving drive device; 3, lower blade body; 301, first blade root micro-segment; 302, first blade tip micro-segment; 303, first intermediate micro-segment; 304, first insertion part; 305, first insertion slot; 306, first working surface; 307, second working surface; 308, first limiting surface; 309, second limiting surface; 4, lower blade drive device; 401, first drive device; 402, second drive device; 5, lower blade shaft; 6, upper blade body; 601, second blade root micro-segment; 602, second blade tip micro-segment; 603, second intermediate micro-segment; 7, upper blade shaft; 8, upper hub; 9, lower hub; 10, rotor base; 11, hub base; 12, actuating sleeve; 13, rotor base bolt; 14, hub base bolt; 15, blade shaft connection bolt; 16, blade shaft connecting rod; 17, blade root micro-segment connection sleeve; 18, blade root micro-segment connection bolt. Detailed implementation mode

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0032] The purpose of the present invention is to provide a rotor system and an aircraft to solve the problems existing in the prior art, which can reduce the impact of noise on urban residents while ensuring the overall flight efficiency; and can ensure the stability of the system.

[0033] To make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation modes.

[0034] Embodiment 1

[0035] As Figures 1-10As shown in the figure, this embodiment provides a rotor system 100, which includes an upper rotor device, a lower rotor device, an upper drive device, a lower drive device, a connecting shaft 1, and a moving drive device 2. Both the upper rotor device and the lower rotor device are sleeved outside the connecting shaft 1. The upper rotor device is connected to the upper drive device, the lower rotor device is connected to the lower drive device, and the moving drive device 2 is connected to the lower rotor device. The upper drive device can drive the upper rotor device to rotate around the axis of the connecting shaft 1, and the lower drive device can drive the lower rotor device to rotate around the axis of the connecting shaft 1. Moreover, the lower drive device can make the rotation direction of the lower rotor device the same as or opposite to that of the upper rotor device. The moving drive device 2 can drive the lower rotor device to move axially along the connecting shaft 1, and the moving device can drive the lower rotor device to move axially along the connecting shaft 1 so that the lower rotor device and the upper rotor device form a single-layer rotor or a double-layer rotor. By driving the lower rotor device to move upward through the moving drive device 2 and stopping when the lower rotor blades of the lower rotor device and the upper rotor blades of the upper rotor device are at the same height, the lower rotor device and the upper rotor device are in a single-layer rotor state, thereby reducing aerodynamic noise to meet the low-noise requirements during takeoff and landing in residential areas. When cruising away from residential areas, the lower rotor device is driven to move downward through the moving drive device 2, and the lower rotor device and the upper rotor device rotate at different heights, so that the lower rotor device and the upper rotor device are in a coaxial double-layer rotor state, thereby improving aerodynamic efficiency and further improving flight efficiency. Therefore, it is possible to reduce the impact of noise on urban residents while ensuring the overall flight efficiency. At the same time, after the lower rotor device rotates to the lower part of the upper rotor device, the lower drive device can drive the lower rotor device to decelerate and reverse to counteract the reaction torque generated during the rotation of the upper rotor device and the lower rotor device, improving the stability of the system.

[0036] In this embodiment, the lower rotor device includes a lower blade body 3 and a lower blade drive device 4. There are at least two lower blade bodies 3 and at least two lower blade drive devices 4. Each lower blade drive device 4 is connected to a lower blade body 3. Each lower blade drive device 4 can drive the corresponding lower blade body 3 to rotate forward or backward around a first axis, and the first axis is perpendicular to the axis of the connecting shaft 1. During flight, according to the aerodynamic shape of the lower blade body 3 and the rotation direction (forward or backward) of the lower blade device around the connecting shaft 1, the lower blade drive device 4 drives the lower blade body 3 to rotate around the first axis, so that the aerodynamic shape of the lower blade body 3 matches the rotation direction of the lower blade device, reducing the aerodynamic interference with the upper rotor and reducing the generation of aerodynamic noise.

[0037] In this embodiment, the lower rotor device further includes at least two lower blade shafts 5. Each lower blade body 3 includes a plurality of first blade micro-segments. All the first blade micro-segments of each lower blade body 3 are sequentially sleeved outside a lower blade shaft 5. The plurality of first blade micro-segments of each lower blade body 3 are connected to the corresponding lower blade driving device 4. Each lower blade driving device 4 can drive all the first blade micro-segments of the corresponding lower blade body 3 to rotate around the first axis, and the angles of rotation of the plurality of first blade micro-segments of each lower blade body 3 around the first axis are different. By setting the lower blade body 3 in the form of a plurality of first blade micro-segments and making the plurality of first blade micro-segments rotate by different angles around the first axis, so that the angles between the plurality of first blade micro-segments and the horizontal plane are different, the non-linear torsion of the lower blade body 3 is realized, and each first blade micro-segment is in the state with the best aerodynamic performance, thereby improving the aerodynamic performance of the lower blade body 3.

[0038] As a preferred embodiment, the first blade micro-segment of each lower blade body 3 close to the connecting shaft 1 is the first blade root micro-segment 301, the first blade micro-segment of each lower blade body 3 far from the connecting shaft 1 is the first blade tip micro-segment 302, the first blade micro-segment of each lower blade body 3 except the first blade root micro-segment 301 and the first blade tip micro-segment 302 is the first intermediate micro-segment 303. Each first blade tip micro-segment 302 is fixedly connected to the corresponding lower blade shaft 5. Each first blade root micro-segment 301 can be rotatably connected to the corresponding lower blade shaft 5 and maintain its position. On one side of each first blade tip micro-segment 302 of each lower blade body 3 close to the first intermediate micro-segment 303 and on one side of each first intermediate micro-segment 303 of each lower blade body 3 close to the first blade root micro-segment 301, a first insertion portion 304 is provided. On one side of each first intermediate micro-segment 303 of each lower blade body 3 close to the first blade tip micro-segment 302 and on one side of each first blade root micro-segment 301 of each lower blade body 3 close to the first blade tip micro-segment 302, a first insertion slot 305 is provided. Each first insertion portion 304 has a first working surface 306 and a second working surface 307. Each first insertion slot 305 has a first limiting surface 308 and a second limiting surface 309. Each first insertion portion 304 can be inserted into the adjacent first insertion slot 305. Each first insertion portion 304 can rotate around the first axis to make the first working surface 306 abut against the first limiting surface 308 or make the second working surface 307 abut against the second limiting surface 309.When the rotor system 100 is in the single-layer rotor state and the coaxial double-layer rotor state, the rotation direction of the lower rotor device around the connecting shaft 1 is different, and the rotation direction is forward or reverse around the connecting shaft 1. By presetting the position, shape, etc. of the first limiting surface 308 and the second limiting surface 309, it is possible to limit the first working surface 306 and the second working surface 307 of the insertion part when the lower rotor device rotates forward and reversely respectively, so that the rotation angle of the first blade tip micro-segment 302 relative to the adjacent first intermediate micro-segment 303, the rotation angle between two adjacent first intermediate micro-segments 303, and the rotation angle between the first blade root micro-segment 301 and the adjacent first intermediate micro-segment 303 are the same or different, so as to realize the setting of the rotation angles of each first blade micro-segment when the lower rotor device rotates forward and reversely. It should be noted that the principle of setting the rotation angles of the first blade micro-segments when the lower rotor device rotates forward and reversely is the same. The following takes the first limiting surface 308 restricting the rotation of the first working surface 306 to realize the setting of the rotation angles of multiple first blade micro-segments as an example for description: The lower blade driving device 4 drives the first blade micro-segment to rotate around the first axis, and makes the first blade root micro-segment 301 maintain its position after rotating to the required position. Since the insertion slot can limit the angle of the insertion part, when the first working surface 306 of the first blade tip micro-segment 302 rotates to contact the first limiting surface 308 of the adjacent insertion slot, the first blade tip micro-segment 302 stops rotating relative to the adjacent first intermediate micro-segment 303; After that, the first blade tip micro-segment 302 and the adjacent first intermediate micro-segment 303 rotate synchronously around the first axis until the first working surface 306 of this first intermediate micro-segment 303 contacts the first limiting surface 308 of the adjacent insertion slot, and this first intermediate micro-segment 303 stops rotating relative to the adjacent first intermediate micro-segment 303; And so on, when the first working surface 306 of the last first intermediate micro-segment 303 contacts the first limiting surface 308 of the first blade root micro-segment 301, since the first blade root micro-segment 301 can maintain its position, all the first blade micro-segments are locked to each other and stop rotating around the first axis, and different included angles are presented between the multiple first blade micro-segments of the entire lower blade body 3 and the horizontal plane. At the same time, by adjusting the angle of the first blade root micro-segment 301 relative to the horizontal plane, the angles of each first intermediate micro-segment 303 and the first blade tip micro-segment 302 relative to the horizontal plane can be changed, so that the lower blade body 3 presents different torsional states.

[0039] As a preferred embodiment, each lower blade driving device 4 includes a first driving device 401 and a second driving device 402. Each first driving device 401 can drive a lower blade shaft 5 to rotate around a first axis, and each second driving device 402 can drive a first blade root micro-segment 301 to rotate around the first axis and maintain its position. The first driving device 401 drives the lower blade shaft 5 to rotate, and the lower blade shaft 5 can drive a first blade tip micro-segment 302 fixedly connected thereto to rotate around the first axis. After the first blade tip micro-segment 302 drives the first intermediate micro-segment 303 to rotate a certain angle in sequence through the plugging structure, a locking structure is formed with the first blade root micro-segment 301.

[0040] As a more preferred embodiment, the plugging part includes a plugging column and a limiting protrusion protruding from the side wall of the plugging column. The limiting protrusion is fixedly connected to the plugging column. The two outer side walls of the limiting protrusion extending along the length direction of the plugging column are respectively a first working surface 306 and a second working surface 307, and the plugging column is cylindrical. The plugging slot includes a cylindrical slot and a limiting slot. The limiting slot communicates with the cylindrical slot and extends along the length direction of the cylindrical slot. The two inner side walls of the limiting slot parallel to the axis of the cylindrical slot are respectively a first limiting surface 308 and a second limiting surface 309. The axis of the cylindrical slot is located on the plane where the first limiting surface 308 is located, and the axis of the cylindrical slot is located on the plane where the second limiting surface 309 is located. The first limiting surface 308 and the second limiting surface 309 are symmetrically arranged with respect to the symmetry plane passing through the axis of the cylindrical slot.

[0041] From the first blade tip micro-segment 302 to the first blade root micro-segment 301, the angles between the first limiting surfaces 308 of all the first blade micro-segments and the symmetry plane gradually increase, and the angles between the second limiting surfaces 309 of all the first blade micro-segments and the symmetry plane gradually increase, so that the angle difference between adjacent blade micro-segments and the horizontal plane gradually increases, so as to realize the non-linear negative torsion of the blade, that is, from the blade tip to the blade root, the angle of attack of the blade micro-segment increases non-linearly, and further makes each blade micro-segment in the angle of attack with the best aerodynamic performance.

[0042] It should be noted that the method for realizing different angles of rotation of multiple first blade micro-segments around the first axis in this embodiment is not limited to the method described in the above preferred embodiment, and other methods can also be used. For example, each first blade micro-segment is rotatably connected to the lower blade shaft 5, and the lower blade driving device 4 includes multiple driving components, and each driving component drives a first blade micro-segment to rotate the required angle separately to realize the non-linear torsion of the lower blade.

[0043] In this embodiment, the upper rotor device includes an upper blade body 6, an upper blade driving device, and an upper blade shaft 7. There are at least two upper blade bodies 6, upper blade driving devices, and upper blade shafts 7. Each upper blade body 6 includes a plurality of second blade micro-segments. All the second blade micro-segments of each upper blade body 6 are sequentially sleeved outside an upper blade shaft 7. Each upper blade driving device is connected to a plurality of second blade micro-segments of an upper blade body 6. Each upper blade driving device can drive the plurality of second blade micro-segments of the corresponding upper blade body 6 to rotate around the second axis, and the angles of rotation of the plurality of second blade micro-segments of each upper blade body 6 around the second axis are different. The second axis is perpendicular to the axis of the connecting shaft 1. By setting the upper blade body 6 in the form of a plurality of second blade micro-segments and making the plurality of second blade micro-segments rotate by different angles around the second axis, so that the angles between the plurality of second blade micro-segments and the horizontal plane are different, the non-linear torsion of the upper blade body 6 is realized, and each second blade micro-segment is in the state with the best aerodynamic performance, thereby improving the aerodynamic performance of the upper blade body 6.

[0044] As a preferred embodiment, the second blade micro-segment of each upper blade body 6 close to the connecting shaft 1 is the second blade root micro-segment 601, the second blade micro-segment of each upper blade body 6 far from the connecting shaft 1 is the second blade tip micro-segment 602, the second blade micro-segment of each upper blade body 6 except the second blade root micro-segment 601 and the second blade tip micro-segment 602 is the second middle micro-segment 603, each second blade tip micro-segment 602 is fixedly connected to the corresponding upper blade shaft 7, each second blade root micro-segment 601 can be rotatably connected to the corresponding lower blade shaft 5, a second insertion portion is provided on one side of each second blade tip micro-segment 602 of each upper blade body 6 close to the second middle micro-segment 603 and on one side of each second middle micro-segment 603 of each upper blade body 6 close to the second blade root micro-segment 601, a second insertion slot is provided on one side of each second middle micro-segment 603 of each upper blade body 6 close to the second blade tip micro-segment 602 and on one side of the second blade root micro-segment 601 of each upper blade body 6 close to the second blade tip micro-segment 602, each second insertion portion has a third working surface and a fourth working surface, each second insertion slot has a third limiting surface and a fourth limiting surface, each second insertion portion can be inserted into an adjacent second insertion slot, and each second insertion portion can make the third working surface abut against the third limiting surface or make the fourth working surface abut against the fourth limiting surface by rotating around the second axis. This embodiment can make the multiple second blade micro-segments of the upper blade body 6 present different angles with respect to the horizontal plane, and by adjusting the angle of the second blade root micro-segment 601 with respect to the horizontal plane, the angles of each second middle micro-segment 603 and the second blade tip micro-segment 602 with respect to the horizontal plane can be changed, so that the upper blade body 6 presents different torsional states. The principle of setting the rotation angle of the second blade micro-segment is the same as that of setting the rotation angle of the first blade micro-segment, and will not be elaborated here.

[0045] As a preferred embodiment, each upper blade driving device includes a third driving device and a fourth driving device. Each third driving device can drive an upper blade shaft 7 to rotate around the second axis, and each fourth driving device can drive a second blade root micro-segment 601 to rotate around the second axis and maintain its position. The working principle and method of the upper blade driving device are the same as those of the lower blade driving device 4, and will not be elaborated here.

[0046] It should be noted that the method of realizing different angles of rotation of multiple second blade micro-segments around the second axis in this embodiment is not limited to the method described in the above preferred embodiment, and other methods can also be adopted. For example, each second blade micro-segment is rotatably connected to the upper blade shaft 7, and the upper blade driving device includes multiple driving components. Each driving component drives a second blade micro-segment to rotate by the required angle independently to realize the non-linear torsion of the lower blade.

[0047] In this embodiment, the upper rotor device further includes an upper hub 8. Each upper blade shaft 7 is rotatably connected to the upper hub 8. The upper drive device is connected to the connecting shaft 1, and the upper hub 8 is fixedly connected to the connecting shaft 1. Each upper blade drive device is connected to the upper hub 8. The lower rotor device further includes a lower hub 9. The lower drive device, each lower blade body 3, and each lower blade drive device 4 are all connected to the lower hub 9. The upper drive device can drive the connecting shaft 1 to rotate, and the connecting shaft 1 drives the upper hub 8 to rotate, thereby driving each upper blade body 6 to rotate. The lower drive device can drive the lower hub 9 to rotate, thereby driving each lower blade body 3 to rotate. As a preferred embodiment, the lower hub 9 is rotatably connected to the connecting shaft 1 through an actuating sleeve 12.

[0048] In this embodiment, it further includes a rotor base 10. The rotor base 10 is connected to the connecting shaft 1. The mobile drive device 2 includes at least one telescopic device. The two ends of each telescopic device are respectively rotatably connected to the lower rotor device and the rotor base 10. When the telescopic device expands and contracts, it can drive the lower rotor device to move up and down along the axis of the connecting shaft 1, thereby switching between the single-layer rotor state and the coaxial double-layer rotor state.

[0049] As a preferred embodiment, there are three telescopic devices. The telescopic device can be an electric telescopic rod, a cylinder, etc. The first drive device 401, the second drive device 402, the third drive device, and the fourth drive device are all motors.

[0050] As a preferred embodiment, a hub base 11 is provided at the lower part of the lower hub 9. The two ends of the telescopic device are respectively rotatably connected to the rotor base 10 and the hub base 11 through a rotor base bolt 13 and a hub base bolt 14.

[0051] As a preferred embodiment, both the first intermediate micro-segment 303 and the second intermediate micro-segment 603 are 10.

[0052] As a preferred embodiment, one end of each lower blade shaft 5 and each upper blade shaft 7 close to the connecting shaft 1 is connected to its respective blade shaft connecting rod 16 through a blade shaft connecting bolt 15. The first driving device 401 drives the lower blade shaft 5 to rotate around the first axis through the blade shaft connecting rod 16, and the second driving device 402 drives the upper blade shaft 7 to rotate around the second axis through the blade shaft connecting rod 16. A blade root micro-segment connecting sleeve 17 is provided between the first blade root micro-segment 301 and the lower blade shaft 5, and between the second blade root micro-segment 601 and the upper blade shaft 7. The first blade root micro-segment 301 and the second blade root micro-segment 601 are connected to the corresponding blade root micro-segment connecting sleeve 17 through a blade root micro-segment connecting bolt 18. The blade root micro-segment connecting sleeve 17 on the first blade root micro-segment 301 is rotatably connected to the lower blade shaft 5, and the blade root micro-segment connecting sleeve 17 on the second blade root micro-segment 601 is rotatably connected to the upper blade shaft 7. Step holes are provided on the side walls of the lower hub 9 and the upper hub 8. The step holes are used to cooperate with the stepped shaft segments on the blade shaft connecting rod 16, and the shoulder of the blade shaft connecting rod 16 bears the force to resist the centrifugal force generated by the rotation of the blade.

[0053] The working method of the rotor system 100 provided in this embodiment is as follows:

[0054] When it is necessary to deform the single-layer rotor into a coaxial contra-rotating rotor, first control the moving driving device 2 to contract, so that the lower hub 9 moves downward. Then, reduce the rotational speed of the lower rotor device through the lower driving device to prepare for the deformation of the lower blade micro-segment, and increase the rotational speed of the connecting shaft 1 to drive the upper hub 8 to rotate faster to increase the lift, so as to avoid the reduction of the total lift due to the reduction of the rotational speed of the lower rotor device. While the rotational speed of the lower rotor device is decreasing, the lower blade driving device 4 rotates, driving the corresponding lower blade shaft 5 to rotate, so that the first working surface 306 of the first blade micro-segment is separated from the first limiting surface 308, and the second working surface 307 of the first blade micro-segment contacts the second limiting surface 309, causing the adjacent first blade micro-segments to rotate following the previous first blade micro-segment, and so on, until an adjacent first intermediate micro-segment 303 to the first blade root micro-segment 301 contacts the second limiting surface 309 of the first blade root micro-segment 301; since the first blade root micro-segment 301 can maintain its position, the first intermediate micro-segment 303 and the first blade tip micro-segment 302 can be stopped from rotating around the lower blade shaft 5 and fixed at this angle, forming a blade with a fixed shape in the reverse direction. At the same time, the lower driving device drives the lower rotor to start rotating in the reverse direction and gradually increases to the rated rotational speed, and the rotational speed of the upper rotor device also gradually returns to the rated rotational speed, deforming into a coaxial contra-rotating rotor to improve the aerodynamic efficiency.

[0055] When it is necessary to deform the coaxial contra-rotating rotor into a single-layer rotor, the above process is operated in reverse to restore it to a single-layer rotor to reduce the degree of aerodynamic interference and the impact of noise on residents.

[0056] As a preferred embodiment, the upper driving device and the lower driving device are motors. The rotation speed of the lower rotor device can be reduced by changing the rotation speed of the lower driving device.

[0057] Embodiment 2

[0058] This embodiment provides an aircraft, including a flight body and the rotor system 100 in Embodiment 1, and the connecting shaft 1 is rotatably connected to the flight body.

[0059] In the present invention, specific examples are used to elaborate on the principles and implementation manners of the present invention. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A rotor system, characterized in that: The invention comprises an upper driving device, a lower driving device, a connecting shaft, a mobile driving device and two rotor devices, wherein the two rotor devices are respectively an upper rotor device and a lower rotor device, the upper rotor device and the lower rotor device are both sleeved outside the connecting shaft, the upper rotor device is connected to the upper driving device, the lower rotor device is connected to the lower driving device, the mobile driving device is connected to the lower rotor device, the upper driving device can drive the upper rotor device to rotate around the axis of the connecting shaft, the lower driving device can drive the lower rotor device to rotate around the axis of the connecting shaft, and the lower driving device can make the rotation direction of the lower rotor device the same as or opposite to that of the upper rotor device, the mobile driving device can drive the lower rotor device to move along the axial direction of the connecting shaft, and the mobile driving device can drive the lower rotor device to move along the axial direction of the connecting shaft so that the lower rotor device and the upper rotor device form a single-layer rotor or a double-layer rotor; At least one of the rotor devices comprises at least two blade bodies, at least two blade driving devices and at least two blade shafts, each of the blade bodies comprises a plurality of blade micro-segments, all of the blade micro-segments of each blade body are sequentially sleeved outside one of the blade shafts, the plurality of blade micro-segments of each blade body are connected to the corresponding blade driving device, and each of the blade driving devices can drive all of the blade micro-segments of the corresponding blade body to rotate around the corresponding rotation axis; The blade micro-segment close to the connecting shaft in each of the blade bodies is a root micro-segment, the blade micro-segment away from the connecting shaft in each of the blade bodies is a tip micro-segment, the blade micro-segments in each of the blade bodies except the root micro-segment and the tip micro-segment are intermediate micro-segments, each tip micro-segment is fixedly connected to the corresponding blade shaft, each root micro-segment can be rotatably connected to the corresponding blade shaft and maintain position, a plug-in portion is provided on one side of the tip micro-segment of each blade body close to the intermediate micro-segment and on one side of each intermediate micro-segment of each blade body close to the root micro-segment, and each of the intermediate micro-segments of each blade body is provided with a plug-in portion, and each of the intermediate micro-segments of each blade body is provided with a plug-in portion. A plug-in slot is provided on one side of the intermediate micro-segment close to the tip micro-segment and on one side of the root micro-segment of each blade body close to the tip micro-segment, each of the plug-in portions has two working surfaces, each of the plug-in slots has two limit surfaces, the two working surfaces correspond one to one with the two limit surfaces, and each of the plug-in portions can be plugged into the corresponding adjacent plug-in slots; each of the plug-in portions of each blade body can rotate around the corresponding rotation axis so that one of the working surfaces of the corresponding blade body abuts against a corresponding one of the limit surfaces, or so that the other working surface of the corresponding blade body abuts against another corresponding one of the limit surfaces.

2. The rotor system according to claim 1, characterized in that: The lower-layer rotor device includes a lower-layer blade body and a lower-layer blade driving device. There are at least two lower-layer blade bodies and at least two lower-layer blade driving devices. Each lower-layer blade driving device is connected to a lower-layer blade body. Each lower-layer blade driving device can drive the corresponding lower-layer blade body to rotate forward or reverse around a first axis. The first axis is perpendicular to the axis of the connecting shaft.

3. The rotor system according to claim 2, characterized in that: The lower-layer rotor device also includes at least two lower-layer blade shafts, each of the lower-layer blade bodies includes a plurality of first blade micro-segments, all of the first blade micro-segments of each of the lower-layer blade bodies are sequentially sleeved outside a lower-layer blade shaft, and the plurality of the first blade micro-segments of each of the lower-layer blade bodies are connected to the corresponding lower-layer blade driving device, and each of the lower-layer blade driving devices can drive all of the first blade micro-segments of the corresponding each of the lower-layer blade bodies to rotate around the first axis, and the angles of rotation of the plurality of the first blade micro-segments of each of the lower-layer blade bodies around the first axis are different.

4. The rotor system according to claim 3, characterized in that: The first blade micro-segment close to the connecting shaft in each of the lower blade bodies is a first blade root micro-segment, the first blade micro-segment away from the connecting shaft in each of the lower blade bodies is a first blade tip micro-segment, the first blade micro-segments in each of the lower blade bodies except the first blade root micro-segment and the first blade tip micro-segment are first intermediate micro-segments, each of the first blade tip micro-segments is fixedly connected to the corresponding lower blade shaft, each of the first blade root micro-segments can be rotatably connected to the corresponding lower blade shaft and maintain position, one side of the first blade tip micro-segment of each lower blade body close to the first intermediate micro-segment and each of the first intermediate micro-segments of each lower blade body close to the first intermediate micro-segment A first plug-in portion is provided on one side near the first blade root micro-segment, a first plug-in slot is provided on one side near the first blade tip micro-segment of each first intermediate micro-segment of each lower blade body and on one side near the first blade tip micro-segment of each lower blade body, each of the first plug-in portions has a first working surface and a second working surface, each of the first plug-in slots has a first limiting surface and a second limiting surface, each of the first plug-in portions can be plugged into an adjacent first plug-in slot, and each of the first plug-in portions can rotate around the first axis to make the first working surface abut against the first limiting surface or the second working surface abut against the second limiting surface.

5. The rotor system according to claim 4, characterized in that: Each of the lower blade drive devices includes a first drive device and a second drive device. Each of the first drive devices can drive a lower blade shaft to rotate around the first axis, and each of the second drive devices can drive a first blade root micro-segment to rotate around the first axis and maintain its position.

6. The rotor system according to any one of claims 3 to 5, characterized in that: The upper rotor device includes an upper blade body, an upper blade driving device and an upper blade shaft. There are at least two of the upper blade body, the upper blade driving device and the upper blade shaft. Each of the upper blade bodies includes a plurality of second blade micro-segments. All of the second blade micro-segments of each upper blade body are sequentially sleeved outside an upper blade shaft. Each of the upper blade driving devices is connected to a plurality of the second blade micro-segments of an upper blade body. Each of the upper blade driving devices can drive the corresponding plurality of the second blade micro-segments of the upper blade body to rotate around a second axis. The angles of rotation of the plurality of the second blade micro-segments of each upper blade body around the second axis are different, and the second axis is perpendicular to the axis of the connecting shaft.

7. The rotor system according to claim 6, characterized in that: The second blade micro-segment close to the connecting shaft in each of the upper blade bodies is a second blade root micro-segment, the second blade micro-segment away from the connecting shaft in each of the upper blade bodies is a second blade tip micro-segment, the second blade micro-segments in each of the upper blade bodies except the second blade root micro-segment and the second blade tip micro-segment are second intermediate micro-segments, each of the second blade tip micro-segments is fixedly connected to the corresponding upper blade shaft, each of the second blade root micro-segments can be rotatably connected to the corresponding lower blade shaft, and each of the second blade tip micro-segments of each of the upper blade bodies is close to the second intermediate micro-segment on one side and each of the second intermediate micro-segments of each of the upper blade bodies is close to the A second plug-in portion is provided on one side of the second blade root micro-segment, and a second plug-in slot is provided on one side of each second intermediate micro-segment of each upper blade body close to the second blade tip micro-segment and on one side of the second blade root micro-segment of each upper blade body close to the second blade tip micro-segment. Each of the second plug-in portions has a third working surface and a fourth working surface, and each of the second plug-in slots has a third limiting surface and a fourth limiting surface. Each of the second plug-in portions can be plugged into an adjacent second plug-in slot, and each of the second plug-in portions can rotate around the second axis to make the third working surface abut against the third limiting surface or the fourth working surface abut against the fourth limiting surface.

8. The rotor system according to claim 7, characterized in that: Each of the upper blade drive devices includes a third drive device and a fourth drive device. Each of the third drive devices can drive an upper blade shaft to rotate around the second axis, and each of the fourth drive devices can drive a second blade root micro-segment to rotate around the second axis and maintain its position.

9. The rotor system according to any one of claims 1 to 5, characterized in that: It also includes a rotor base, which is connected to the connecting shaft. The mobile drive device includes at least one telescopic device, and both ends of each telescopic device are rotatably connected to the lower rotor device and the rotor base respectively.

10. An aircraft, characterized in that: It comprises a flying body and the rotor system as described in any one of claims 1 to 9, wherein the connecting shaft is connected to the flying body.

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