Multi-rotor aircraft with thrust center and gravity center coincident in all directions

Abstract

The invention discloses a multi-rotor aircraft with the thrust center and the gravity center coincident in all directions, and relates to the technical field of aircrafts, the aircraft comprises a rotor system and a fuselage system, the rotor system and the fuselage system are connected through a cross shaft, the center point of the cross shaft coincides with the center point of multi-rotor thrust, and the center point of the multi-rotor thrust coincides with the center point of the multi-rotor thrust. And the thrust center and the gravity center of the aircraft always coincide in the flight process. The rotor wing system comprises a rotor wing, a rotor wing shaft, a rotor wing shaft driving device, a support arm and a gravity center position adjusting device; the fuselage system comprises a cross shaft, a fuselage suspender, a fuselage, an inclination angle control telescopic rod and a landing bracket. The aircraft achieves multi-rotor vector propulsion through rotor inclination angle adjustment, has the advantages of being high in wind resistance, stable in flight attitude, rapid and sensitive in adjustment and the like, is suitable for the fields of multi-rotor unmanned aerial vehicles, vertical lifting fire rescue devices, agricultural plant protection aircrafts and the like, and can remarkably improve the flight efficiency and stability of the aircraft.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, in particular to an aircraft whose thrust center and gravity center of a multi-rotor coincide with each other in all directions. Background Art

[0002] As an important type of aircraft, multi-rotor aircraft are widely used in agricultural plant protection, logistics and transportation, and firefighting and rescue. Traditional multi-rotor aircraft usually control the flight attitude by adjusting the speed difference of each rotor. Although this method is simple, it has many shortcomings. First, the thrust center of the rotor and the center of gravity of the aircraft often cannot completely coincide, resulting in the need for frequent attitude adjustments of the aircraft during flight, which increases energy consumption and control complexity. Secondly, traditional aircraft perform poorly in terms of wind resistance and flight stability, especially in strong wind environments. The aircraft's attitude control becomes more difficult and flight instability is prone to occur.

[0003] Existing multi-rotor aircraft usually adopt the method of overall attitude adjustment or split attitude adjustment. Overall attitude adjustment realizes the control of flight attitude by adjusting the speed difference of each rotor, but this method requires a large torque, frequent adjustment and high energy consumption. Although the split attitude adjustment adopts structural means such as universal joints, due to technical limitations, it is impossible to achieve the full overlap of the thrust center and the center of gravity of the multi-rotor, resulting in large inclination adjustment torque, frequent adjustment, high energy consumption, unstable flight and other problems. At the same time, there is also a situation in the prior art where the center of the bracket disk coincides with the center of gravity of the load. In this way, after the inclination angle of the bracket disk changes, the center point of the bracket disk and the center of gravity of the load leave the vertical line of the thrust center, and a “>”-shaped torque is generated between the thrust center-bracket disk center-load center of gravity. Under the pulling force of the load gravity center force, the bracket disk tilted as required will be flattened (when the speed of the multi-rotor is balanced). In this case, the stability needs to be improved, and the thrust center point is at the geometric center point of the symmetrical rotor. Therefore, there is an urgent need for an aircraft that can achieve full overlap between the thrust center and the center of gravity of a multi-rotor, so as to improve flight stability, reduce energy consumption and enhance wind resistance. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide an aircraft in which the thrust center of a multi-rotor coincides with the center of gravity in all directions, so as to solve the problems that traditional equipment in the prior art cannot achieve the full overlap of the thrust center of a multi-rotor with the center of gravity, so there are large inclination adjustment torques, frequent adjustments, high energy consumption, and unstable flight.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A multi-rotor aircraft with a thrust center that coincides with the center of gravity in all directions, comprising a rotor system and a fuselage system, characterized in that a cross axis is arranged between the rotor system and the fuselage system above and below, the coincidence position of the center point of the cross axis with the multi-rotor thrust center point is the coincidence point of the multi-rotor thrust center and the center of gravity in all directions, the rotor system is arranged above the fuselage system, the rotor system comprises a rotor, a rotor shaft, a rotor shaft driving device, left and right support arms, front and rear support arms, a center of gravity position adjusting device, and an upper half of the cross axis, the center of gravity position adjusting device comprises a slider, a guide rod, a guide rod slideway, a slide top panel, a slide, a center of gravity position adjusting telescopic rod , thrust torque sensor; the fuselage system consists of: a cross axis, the lower half of the cross axis, a fuselage boom, a fuselage, a left and right tilt control telescopic rod, a front and rear tilt control telescopic rod, a landing bracket, and a lifting ring; the upper half of the cross axis is fixedly installed under the slider in the center of gravity position adjustment device, and the cross axis is connected in the middle, the back of the lower half of the cross axis is fixedly connected to the top of the fuselage boom, and the lower end of the fuselage boom is fixed to the upper end of the fuselage; when the aircraft is flying, the tilt angle of the rotor system changes in any direction, the multi-rotor thrust center and the center of gravity always coincide with the multi-rotor thrust center and the center of gravity at the coincidence point, and the fuselage system always maintains an adaptive vertical state.

[0007] As a preferred technical solution of the present invention, the rotor system includes: a rotor, a rotor shaft, a rotor shaft driving device, left and right support arms, front and back support arms, a center of gravity position adjustment device, and an upper half of a cross shaft; the outer side of the bottom of the center of gravity position adjustment device is respectively fixedly connected to the inner ends of the left and right support arms and the front and back support arms, and the outer ends of the left and right support arms and the front and back support arms are fixedly connected to the rotor shaft driving device; the lower end of the rotor shaft extends from one end of the rotor shaft driving device, and the upper end of the rotor shaft is fixedly connected to the rotor.

[0008] As a preferred technical solution of the present invention, the center of gravity position adjustment device includes a slider, a guide rod, a guide rod slide, a slide top panel, a slide, a center of gravity position adjustment telescopic rod, and a thrust torque sensor; a slider is arranged inside the center of gravity position adjustment device, the lower end of the guide rod is fixed above the slider, the upper end of the guide rod passes through the guide rod slide and passes through the upper end of the guide rod slide, the lower end of the guide rod slide passes through the slide top panel and is fixed to the center of the slide top panel, the slide top panel is fixed to the upper end of the slide all around, the outer side of the lower end of the slide is fixed to the inner ends of the left and right support arms and the front and rear support arms, and the inner side of the lower end of the center of gravity position adjustment device is a hollow structure; a plurality of adjustment telescopic rods are arranged outside the guide rod slide of the center of gravity position adjustment device, and the telescopic end of the center of gravity position adjustment telescopic rod passes through the slide top panel and is connected to the top of the slider. The center of gravity position adjustment telescopic rod can be telescopic by a telescopic cylinder or a screw.

[0009] As an optimal technical solution of the present invention, the fuselage system includes a cross axis, a lower half of the cross axis, a fuselage boom, a fuselage, a left and right tilt control telescopic rod, a fore and aft tilt control telescopic rod, a landing bracket, and a lifting ring; a rotor left and right tilt control telescopic rod and a rotor fore and aft tilt control telescopic rod are respectively arranged below the left and right support arms and the fore and aft support arms outside the boom, the movable joint at the lower end of the rotor left and right tilt control telescopic rod is rotatably connected to the joint seat above the fuselage, the movable joint at the upper end of the rotor left and right tilt control telescopic rod is rotatably connected to the joint seat below the left and right support arms, the movable joint at the lower end of the rotor fore and aft tilt control telescopic rod is rotatably connected to the joint seat above the fuselage, the movable joint at the upper end of the rotor fore and aft tilt control telescopic rod is rotatably connected to the joint seat below the fore and aft support arms, landing brackets are arranged around the fuselage, and the lifting ring is arranged at the midpoint position below the fuselage.

[0010] As a preferred technical solution of the present invention, the center of the cross axis is located at the center point of the multi-rotor thrust center, the back of the upper part of the cross axis is fixedly connected to the bottom of the slider in the center of gravity position adjustment device, the back of the lower part of the cross axis is fixedly connected to the upper end of the fuselage boom, and the lower end of the fuselage boom is fixedly connected to the top of the fuselage.

[0011] As a preferred technical solution of the present invention, a signal transceiver and a flight control computer are provided inside the fuselage, and the output ends of the signal transceiver and the flight control computer are connected to the left servo controller, the rear servo controller, the right servo controller, the front servo controller, the rotor left and right tilt servo controller, the rotor forward and backward tilt servo controller, and the center of gravity position adjustment servo controller; the input ends of the signal transceiver and the flight control computer are also connected to the aircraft transceiver antenna, the navigation equipment sensor, the altimeter sensor, the inclination sensor, the gyroscope sensor, the radar sensor, and the thrust torque sensor, and the connections between each port and the signal transceiver and the flight control computer are provided with an aircraft control line circuit.

[0012] As a preferred technical solution of the present invention, the output power and speed of the rotor shaft drive device are controlled by the corresponding left servo controller, rear servo controller, right servo controller and front servo controller; the left servo controller, rear servo controller, right servo controller, front servo controller, rotor left and right tilt servo controller, rotor forward and backward tilt servo controller, and center of gravity position adjustment servo controller are controlled by a signal transceiver and a flight control computer.

[0013] As a preferred technical solution of the present invention, a remote controller is arranged outside the signal transceiver device and the flight control computer, and the remote controller includes a remote control computer and a wireless transceiver device, a lifting operation joystick, a heading operation joystick, an omnidirectional operation joystick, a transceiver antenna and a remote control line circuit.

[0014] As a preferred technical solution of the present invention, the number of rotors in the rotor system is an even number of more than two, the number of rotors rotating in the forward and reverse directions is equal, the rotational torque is symmetrical and balanced, the rotors can be arranged on one side of the rotor shaft drive device, or on both sides of the upper and lower sides of the rotor shaft drive device, the multi-rotor thrust center is the center point of the geometric centers of all symmetrical rotors, and the center point of the cross axis is the center of gravity. The center of gravity position adjustment device can also be a top seat or a device that can flexibly adjust the center of gravity position.

[0015] The present invention has the following advantages: The thrust center and the center of gravity coincide in all directions: through the cross-axis structure design, the thrust center and the center of gravity of the aircraft are always coincident, the additional torque required for the multi-rotor tilt angle change is close to zero, the multi-rotor tilt angle change is light and flexible, the flight attitude is stable, the need for frequent attitude adjustment during flight is reduced, and energy consumption is reduced;

[0016] Strong wind resistance: Since the thrust center and the center of gravity always coincide, the multi-rotor can achieve vector propulsion during the flight and hovering process. The aircraft can still maintain a stable flight attitude in a strong wind environment, and the wind resistance is significantly improved. It can fly stably in strong winds above level 8.

[0017] Fast and sensitive adjustment: The torque required for rotor tilt adjustment is small, the adjustment speed is fast, the response is sensitive, and multi-rotor vector propulsion can be achieved, greatly improving the maneuverability and controllability of the aircraft; High flight efficiency: Due to the stable flight attitude, unnecessary energy consumption is reduced, and the aircraft's endurance and flight efficiency are significantly improved.

[0018] Wide application: The present invention is applicable to many fields such as multi-rotor unmanned aerial vehicles, vertical lifting and fire rescue equipment, agricultural plant protection aircraft, etc., and has broad application prospects and market demand; Simple and reliable structure: The structural design of the aircraft is simple, easy to manufacture and maintain, and the various components are firmly connected, ensuring the reliability and safety of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The diagram is a top-down structural diagram of an aircraft in which the thrust center and the center of gravity coincide with each other in all directions.

[0020] Figure 2 The diagram is a front view of the structure of an aircraft in which the thrust center and the center of gravity coincide with each other in all directions.

[0021] Figure 3 It is a schematic diagram of the front cross-section structure of an aircraft in which the thrust center and the center of gravity coincide with each other in all directions.

[0022] Figure 4 The schematic diagram of the structure of a cross-section of an aircraft multi-rotor with the thrust center and the center of gravity fully coincident and tilted 30 degrees to the left.

[0023] Figure 5 The schematic diagram is a cross-sectional structure of an aircraft multi-rotor with the thrust center and the center of gravity fully coincident and tilted 30 degrees to the right.

[0024] Figure 6 The schematic diagram is a cross-sectional structure diagram of an aircraft multi-rotor with its thrust center and gravity center fully coincident and tilted forward 30 degrees.

[0025] Figure 7 The schematic diagram is a cross-sectional structure diagram of an aircraft with a multi-rotor whose thrust center and center of gravity coincide with each other in all directions and whose multi-rotor is tilted back 30 degrees.

[0026] Figure 8 The present invention is a structural schematic diagram of an aircraft flight control circuit in an aircraft in which the thrust center and the center of gravity of a multi-rotor aircraft coincide with each other in all directions.

[0027] Fig. 9 The present invention is a schematic diagram of the circuit structure of a remote controller in an aircraft in which the thrust center and the center of gravity of a multi-rotor aircraft coincide with each other in all directions.

[0028] In the figure: 0-0. The point where the thrust center of the multi-rotor and the center of gravity coincide in all directions, 101. The rotor system, 102. The fuselage system, 1. The fuselage; 2-1. The left and right support arms, 2-2. The front and rear support arms, 3. The rotor shaft drive device, 4. The rotor shaft, 5. The rotor, 6. The center of gravity position adjustment device, 601. The slider, 602. The guide rod, 603. The guide rod slideway, 604. The slide top panel, 605. The guide frame, 606. The center of gravity position adjustment telescopic rod, 607. The thrust torque sensor, 7. The cross axis, 7-1. The upper part of the cross axis, 7-2. The lower part of the cross axis, 8. The fuselage boom, 9-1. The telescopic rod for controlling the left and right tilt of the rotor, 9-2. The telescopic rod for controlling the front and rear tilt of the rotor, 10. The signal transceiver and the flight control computer, 11. The landing bracket, 1 2. Aircraft transceiver antenna, 13. Navigation equipment sensor, 14. Tilt sensor, 15. Gyroscope sensor, 16 Altitude sensor, 17. Radar sensor, 18. Center of gravity position sensor, 19. Aircraft flight control line circuit, 20-1 Left servo controller, 20-2. Rear servo controller, 20-3 Right servo controller, 20-4. Front servo controller, 21-1. Left and right tilt telescopic rod servo controller, 21-2 Front and rear tilt telescopic rod servo controller, 22. Center of gravity position adjustment servo controller, 23 Remote control, 24. Lifting and lowering operation joystick, 25. Heading operation joystick, 26. Omnidirectional operation joystick, 27. Remote control control line circuit, 28. Remote control transceiver antenna, 29. Remote control computer and wireless transceiver. DETAILED DESCRIPTION

[0029] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0030] Example 1, please refer to Figure 1-Figure 9 , an aircraft in which the thrust center of a multi-rotor coincides with the center of gravity in all directions, comprising a rotor system 101 and a fuselage system 102, characterized in that a cross axis 7 is arranged between the rotor system 101 and the fuselage system 102, and the coincidence position of the center point of the cross axis 7 and the thrust center point of the multi-rotor is the coincidence point 0-0 of the thrust center of the multi-rotor and the center of gravity in all directions, and the rotor system 101 is arranged above the fuselage system 102;

[0031] The rotor system 101 includes a rotor 5, a rotor shaft 4, a rotor shaft driving device 3, a left and right support arm 2-1, a front and rear support arm 2-2, a center of gravity position adjustment device 6, and a cross shaft upper part 7-1. The center of gravity position adjustment device 6 includes a slider 601, a guide rod 602, a guide rod slide 603, a slide top panel 604, a slide 605, a center of gravity position adjustment telescopic rod 606, and a thrust moment sensor 607.

[0032] The fuselage system 102 includes a cross shaft 7, a lower part of the cross shaft 7-2, a fuselage suspension rod 8, a left and right tilt control telescopic rod 9-1 of the fuselage 1, a front and rear tilt control telescopic rod 9-2, a landing bracket 11, and a lifting ring 30;

[0033] The cross shaft upper part 7-1 is fixedly installed below the slider in the center of gravity position adjustment device 6, and the cross shaft 7 is connected in the middle. The back of the cross shaft lower part 7-2 is fixedly connected to the top of the fuselage suspension rod 8, and the lower end of the fuselage suspension rod 8 is fixed to the upper end of the fuselage 1;

[0034] When the aircraft is flying, the inclination angle of the rotor system 101 in any direction changes, and the multi-rotor thrust center and the center of gravity always coincide with the multi-rotor thrust center and the center of gravity at the coincidence point 0-0, and the fuselage system 102 always maintains an adaptive vertical state.

[0035] When actually used, a center of gravity position adjustment device is set at the center of the rotor system 101, and the inner top height of the center of gravity position adjustment device 6 can exceed the multi-rotor symmetric geometric line (thrust center line), so that the center point (center of gravity point) of the cross axis 7 is set to coincide with the multi-rotor thrust center in all directions. No matter how the flight attitude of the aircraft changes, the multi-rotor thrust center and the center of gravity coincidence point 0-0 remain unchanged, the additional torque required for the inclination angle change of the multi-rotor system is close to zero, and the fuselage system 102 always maintains an adaptive vertical state. The multi-rotor vector propulsion is achieved, the inclination angle change is flexible and light, the operation is convenient, the flight attitude is stable, the flight is safe, the energy consumption is low, and the flight efficiency is high. The wind resistance of the present invention is significantly enhanced compared with the prior art. It is calculated that the wind resistance of the present invention reaches above level 8.

[0036] Example 2, please refer to Figure 1-Figure 9 The rotor system 101 includes a rotor 5, a rotor shaft 4, a rotor shaft driving device 3, a left and right support arm 2-1, a front and back support arm 2-2, a center of gravity position adjustment device 6, and an upper half of a cross shaft 7-1; the outer side of the bottom of the center of gravity position adjustment device 6 is fixedly connected to the inner ends of the left and right support arm 2-1 and the front and back support arm 2-2, respectively, and the outer ends of the left and right support arm 2-1 and the front and back support arm 2-2 are fixedly connected to the rotor shaft driving device 3; the lower end of the rotor shaft 4 extends from one end of the rotor shaft driving device 3, and the upper end of the rotor shaft 4 is fixedly connected to the rotor 5,

[0037] The center of gravity position adjustment device 6 comprises a slider 601, a guide rod 602, a guide rod slide 603, a slide top panel 604, a slide 605, a center of gravity position adjustment telescopic rod 602, and a thrust torque sensor 607; the center of gravity position adjustment device (6) is provided with a slider 601 inside, the lower end 602 of the guide rod is fixed above the slider 601, the upper end of the guide rod 602 passes through the upper end of the guide rod slide 603, and the lower end of the guide rod slide 603 passes through the slide top panel 604. 4 is fixed to the center of the top panel 604 of the carriage, the top panel 604 of the carriage is fixed to the upper end of the carriage 605 on all sides, the outer side of the lower end of the carriage 605 is fixed to the inner side ends of the left and right support arms 2-1 and the front and rear support arms 2-2, and the inner side of the lower end of the center of gravity position adjustment device 6 is a hollow structure; a plurality of center of gravity position adjustment telescopic rods 606 are arranged on the outer side of the guide rod slideway 601 of the center of gravity position adjustment device 6, and the telescopic ends of the center of gravity position adjustment telescopic rods 606 pass through the carriage panel 604 and are connected to the upper side of the slider 601. The center of gravity position adjustment telescopic rods 606 can be telescopic by a telescopic cylinder or a screw.

[0038] The fuselage system 102 is composed of: a cross shaft 7, a lower half of the cross shaft 7-2, a fuselage boom 8, a fuselage 1, a left and right tilt control telescopic rod 9-1, a fore and aft tilt control telescopic rod 9-2, a landing bracket 11, and a lifting ring 30; a rotor left and right tilt control telescopic rod 9-1 and a rotor fore and aft tilt control telescopic rod 9-2 are respectively arranged below the left and right support arms 2-1 and the fore and aft support arms 2-2 outside the boom 8, the movable joint at the lower end of the rotor left and right tilt control telescopic rod 9-1 is rotatably connected to the joint seat above the fuselage 1, the movable joint at the upper end of the rotor left and right tilt control telescopic rod 9-1 is rotatably connected to the joint seat below the left and right support arms 2-1, the movable joint at the lower end of the rotor fore and aft tilt control telescopic rod 9-2 is rotatably connected to the joint seat above the fuselage 1, the movable joint at the upper end of the rotor fore and aft tilt control telescopic rod 9-2 is rotatably connected to the joint seat below the fore and aft support arms 2-2, the landing bracket 11 is arranged around the fuselage 1, and the lifting ring 30 is arranged at the midpoint position below the fuselage 1.

[0039] The center of the cross axis 7 is located at the center point of the multi-rotor thrust center, the back of the upper part 7-1 of the cross axis is fixedly connected to the bottom of the slider 601 in the center of gravity position adjustment device 6, the back of the lower part 7-2 of the cross axis is fixedly connected to the upper end of the fuselage boom (8), and the lower end of the fuselage boom (8) is fixedly connected to the top of the fuselage 1.

[0040] A signal transceiver and a flight control computer 10 are provided inside the fuselage 1. The output ends of the signal transceiver and the flight control computer 10 are connected to a left servo controller 20-1, a rear servo controller 20-2, a right servo controller 20-3, a front servo controller 20-4, a rotor left and right tilt servo controller 21-1, a rotor forward and backward tilt servo controller 21-2, and a center of gravity position servo controller 22. The input end of the signal transceiver and the flight control computer 10 is also connected to an aircraft transceiver antenna 12, a navigation equipment sensor 13, an altimeter sensor 16, an inclination sensor 14, a gyroscope sensor 15, a radar sensor 17, and a thrust moment sensor 18. The connection between each port and the signal transceiver and the flight control computer 10 is provided with an aircraft control line circuit 19.

[0041] The output power and rotation speed of the rotor shaft drive device 3 are controlled by the corresponding left servo controller 20-1, rear servo controller 20-2, right servo controller 20-3 and front servo controller 20-4; the left servo controller 20-1, rear servo controller 20-2, right servo controller 20-3, front servo controller 20-4, rotor left and right tilt servo controller 21-1, rotor forward and backward tilt servo controller 21-2, and center of gravity position servo controller 22 are controlled by the signal transceiver and the flight control computer 10.

[0042] A remote controller 23 is provided outside the signal transceiver device and the flight control computer 10 , and the remote controller 23 includes a remote control computer and a wireless transceiver 29 , a lifting operation joystick 24 , a heading operation joystick 25 , an omnidirectional operation joystick 26 , a transceiver antenna 28 and a remote control line circuit 27 .

[0043] The number of rotors 5 in the rotor system 101 is an even number of more than two, the number of rotors rotating in the forward and reverse directions is equal, the rotational torque is symmetrical and balanced, and the rotors 5 can be arranged on one side of the rotor shaft drive device 3, or on both sides of the upper and lower sides of the rotor shaft drive device 3. The multi-rotor thrust center is the center point of the geometric centers of all symmetrical rotors. The center point of the cross shaft 7 is the center of gravity. The center of gravity position adjustment device 6 can also be a top seat or a device that can flexibly adjust the center of gravity position.

[0044] The omnidirectional overlap described in the present invention means that when the multi-rotor system 101 is adjusted within 30 degrees inclination, the coincidence point 0-0 of the multi-rotor thrust center and the center of gravity can be 360 ​​degrees in all directions. If the structural layout is adjusted, the tilt adjustment angle of the multi-rotor system 101 can be expanded. The shape of the center of gravity position adjustment device 6 can be cylindrical or structural.

[0045] The attitude control of the rotor system can be controlled by the rotation speed difference of the rotor 5 alone, or by the extension and retraction of the left and right tilt control telescopic rod 9-1 and the front and rear tilt control 9-2 alone. When the rotation speed difference of the rotor 5 is used alone, the left and right tilt control telescopic rod 9-1 and the front and rear tilt control 9-2 are released and in a free state.

[0046] The invention is simple and practical, and can be widely used in the development and use of multi-rotor drones, vertical lift fire rescue devices, multi-rotor helicopters, etc. In particular, it has outstanding contributions in the application scenarios of firefighting, disaster relief, emergency rescue, agricultural value protection, logistics and transportation, military and other fields, laying a good foundation for the current standard upgrade of multi-rotor unmanned aerial vehicles.

[0047] Action description: Aircraft flight preparation action: Place the aircraft in a suitable position, manually or automatically adjust the position of the slider 601 in the center of gravity adjustment device 6, and adjust the center position of the cross shaft 7 to the thrust center position. Start each rotor shaft driving device 3, and each rotor shaft driving device 3 drives each rotor shaft 4 and each rotor 5 to rotate.

[0048] The aircraft ascends: the omnidirectional joystick 26 of the remote controller 23 is reset to the center position, the lifting joystick 24 is pushed to the lifting position, each rotor is accelerated evenly, the lift of each rotor is balanced, and the lift of the rotor 5 is greater than the total weight of the aircraft and the cargo.

[0049] The aircraft hovers in the air: when the lifting device moves to the predetermined hovering position, the lifting and lowering operating stick 24 and the omnidirectional operating stick 26 of the remote controller 23 are reset to the center position, and all the planes of the rotors 5 are automatically adjusted to a horizontal state. The combined lifting force of the rotors 5 is balanced with the total weight of the lifter + cargo, thereby achieving the purpose of hovering the aircraft.

[0050] The aircraft descends: the lifting and lowering operating stick 24 of the remote controller 23 is pushed to the descending gear, and the omnidirectional operating stick 26 is located at the center position, slowing down the rotation speed of all rotors 5. The lift of all rotors is less than the total weight of the aircraft plus cargo, so that the height of the aircraft is lowered, achieving the purpose of the aircraft descending.

[0051] Aircraft heading adjustment action: After the aircraft is launched, the heading control stick 25 of the remote controller 23 is used to send instructions to the aircraft, and the heading of the aircraft is adjusted by using the difference in the rotation speed of the left and right rotors and the front and rear rotors in opposite directions. After the heading is adjusted as required, the heading control stick 25 of the remote controller 23 is reset to the center position.

[0052] The aircraft moves forward: after the aircraft is launched, the omnidirectional operating joystick 26 of the remote controller 23 is pushed to the forward gear, and after receiving and sending signals and the flight control computer (10) returns and calculates the integrated signals, it sends instructions to the left servo controller 20-1, the rear servo controller 20-2, the right servo controller 20-3, the front servo controller 20-4, the rotor left and right tilt servo controller 21-1, and the rotor forward and backward tilt servo controller 21-2, and adjusts the rotation speed of each rotor 5 and the contraction degree of the rotor forward and backward tilt control telescopic rod 9-2 as required, so that the rotor system 101 tilts forward, thereby achieving the purpose of the aircraft moving forward.

[0053] The aircraft moves backward: after the aircraft takes off, the omnidirectional operating joystick 26 of the remote controller 23 is pushed to the rear gear, and after receiving and sending signals and the flight control computer 10 returns and calculates the integrated signal, it sends instructions to the left servo controller 20-1, the rear servo controller 20-2, the right servo controller 20-3, the front servo controller 20-4, the rotor left and right tilt servo controller 21-1, and the rotor forward and backward tilt servo controller 21-2, and adjusts the rotation speed of each rotor 5 and the extension of the rotor forward and backward tilt control telescopic rod 9-2 as required, so that the inclination angle of the rotor system 101 tilts backward, thereby achieving the purpose of the aircraft moving backward.

[0054] The aircraft moves to the left: after the aircraft takes off, the omnidirectional operating joystick 26 of the remote controller 23 is pushed to the left gear, and after signal reception and signal return calculation by the flight control computer 10, instructions are sent to the left servo controller 20-1, the rear servo controller 20-2, the right servo controller 20-3, the front servo controller 20-4, the rotor left and right tilt servo controller 21-1, and the rotor front and rear tilt servo controller 21-2. The rotation speed of each rotor 5 and the extension of the rotor left and right tilt control telescopic rod 9-1 are adjusted as required to make the rotor system 101 tilt to the left, thereby achieving the purpose of the aircraft moving to the left.

[0055] The aircraft moves to the right: after the aircraft takes off, the omnidirectional operating joystick 26 of the remote controller 23 is pushed to the right gear, and after signal reception and signal return calculation by the flight control computer 10, instructions are sent to the left servo controller 20-1, the rear servo controller 20-2, the right servo controller 20-3, the front servo controller 20-4, the rotor left and right tilt servo controller 21-1, and the rotor front and rear tilt servo controller 21-2. The rotation speed of each rotor 5 and the contraction degree of the rotor left and right tilt control telescopic rod 9-1 are adjusted as required to make the rotor system 101 tilt to the right, thereby achieving the purpose of the aircraft moving to the right.

[0056] Ascending movement + directional movement of the lifting device: After the lifting device is lifted to a certain height, the lifting and lowering operating joystick 24 of the remote control 23 continues to remain in the ascending gear, so that the lifting device continues to maintain an ascending state. At the same time, the omnidirectional operating joystick 26 of the remote control 23 pushes the omnidirectional operating joystick 26 in the required direction, and at the same time, the lifting device moves in the direction pushed by the omnidirectional operating joystick 26, thereby achieving the purpose of the ascending movement + directional movement of the lifting device.

[0057] Descending movement + directional movement of the lifting device: After the lifting device is lifted to a certain height, the lifting and lowering operating joystick 24 of the remote controller 23 is pushed to the descending gear to keep the lifting device in the descending state. At the same time, the omnidirectional operating joystick 26 of the remote controller 23 pushes the omnidirectional operating joystick 26 in the required direction, and the aircraft moves in the direction pushed by the omnidirectional operating joystick 26, thereby achieving the purpose of the aircraft's descending movement + directional movement.

[0058] The fully automatic ascending motion of the ascending device: the remote controller 23 plans the route, direction, altitude and other data of the aircraft to be flown, and inputs them into the remote control computer and the signal wireless transceiver 29. The remote control computer and the signal wireless transceiver 29 convert the data into signals and wirelessly send them to the signal transceiver and the flight control computer 10 on the aircraft. After receiving the signal instructions sent by the remote controller 23, the signal transceiver and the flight control computer 10 summarize and analyze the data signals collected by various sensors on the aircraft, and transmit the instructions to the rotor left and right tilt servo controller 21-1, the rotor forward and backward tilt servo controller 21-2, the left servo controller 20-1, the rear servo controller 20-2, the right servo controller 20-3, and the front servo controller 20-4 through the aircraft control line circuit 19, and adjust the rotation speed of each rotor according to the instructions, and at the same time adjust the extension and retraction of the rotor left and right tilt control telescopic rod and the rotor forward and backward tilt control telescopic rod according to the instructions. In this way, the purpose of the ascending motion of the ascending device automatically according to the planned route is achieved.

[0059] The standard parts used in the present invention can all be purchased from the market, and the special-shaped parts can be customized according to the description and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0060] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0061] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electric welding connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0063] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0064] In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0065] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An aircraft with a multi-rotor thrust center and a center of gravity that coincide with each other in all directions, comprising a rotor system (101) and a fuselage system (102), characterized in that: A cross axis (7) is arranged between the rotor system (101) and the fuselage system (102) at the top and bottom, and the coincidence position of the center point of the cross axis (7) and the multi-rotor thrust center point is the omnidirectional coincidence point (0-0) of the multi-rotor thrust center and the center of gravity, and the rotor system (101) is arranged above the fuselage system (102); The rotor system (101) comprises a rotor (5), a rotor shaft (4), a rotor shaft driving device (3), left and right support arms (2-1), front and rear support arms (2-2), a center of gravity position adjustment device (6), and an upper part of a cross shaft (7-1). The center of gravity position adjustment device (6) comprises a slider (601), a guide rod (602), a guide rod slideway (603), a slide frame top panel (604), a slide frame (605), a center of gravity position adjustment telescopic rod (606), and a thrust moment sensor (607); The fuselage system (102) is composed of: a cross shaft (7), a lower part of the cross shaft (7-2), a fuselage suspension rod (8), a fuselage (1), a left and right tilt control telescopic rod (9-1), a forward and backward tilt control telescopic rod (9-2), a landing bracket (11), and a suspension ring (30); The cross shaft upper part (7-1) is fixedly installed below the slider in the center of gravity position adjustment device (6), and is connected to the cross shaft (7) in the middle; the back of the cross shaft lower part (7-2) is fixedly connected to the top of the fuselage suspension rod (8), and the lower end of the fuselage suspension rod (8) is fixed to the upper end of the fuselage (1); When the aircraft is flying, the inclination angle of the rotor system (101) in any direction changes, the multi-rotor thrust center and the center of gravity always coincide with the multi-rotor thrust center and the center of gravity coincidence point (0-0) in all directions, and the fuselage system (102) always maintains an adaptive vertical state.

2. According to claim 1, a multi-rotor aircraft in which the thrust center and the center of gravity coincide in all directions, the rotor system (101) comprises a rotor (5), a rotor shaft (4), a rotor shaft drive device (3), a left and right support arm (2-1), a front and rear support arm (2-2), a center of gravity position adjustment device (6), and an upper part of a cross shaft (7-1); the outer side of the bottom of the center of gravity position adjustment device (6) is fixedly connected to the inner ends of the left and right support arms (2-1) and the front and rear support arms (2-2), respectively, and the outer ends of the left and right support arms (2-1) and the front and rear support arms (2-2) are fixedly connected to the rotor shaft drive device (3); the lower end of the rotor shaft (4) extends from one end of the rotor shaft drive device (3), and the upper end of the rotor shaft (4) is fixedly connected to the rotor (5).

3. The multi-rotor aircraft with the thrust center and the center of gravity omnidirectionally coincident according to claim 2, characterized in that: The center-of-gravity position adjusting device (6) comprises a slider (601), a guide rod (602), a guide rod slideway (603), a slide frame top panel (604), a slide frame (605), a center-of-gravity position adjusting telescopic rod (606), and a thrust torque sensor (607); a slider (601) is arranged inside the center-of-gravity position adjusting device (6), the upper end of the slider (601) is fixed to the lower end of the guide rod (602), the upper end of the guide rod (602) passes through the upper end of the guide rod slideway (603), and the lower end of the guide rod slideway (603) passes through the slide frame top panel (604) is fixed to the center of the top panel (604) of the slide, the top panel (604) of the slide is fixed to the upper end of the slide (605) around, the outer side of the lower end of the slide (605) is fixed to the inner side ends of the left and right support arms (2-1) and the front and rear support arms (2-2), and the inner side of the lower end of the center of gravity position adjustment device (6) is a hollow structure; a plurality of center of gravity position adjustment telescopic rods (606) are arranged on the outer side of the guide rod slideway (601) of the center of gravity position adjustment device (6), and the telescopic ends of the center of gravity position adjustment telescopic rods (606) pass through the slide panel (604) and are connected to the upper side of the slider (601). The center of gravity position adjustment telescopic rods (606) can be telescopic by a telescopic cylinder or a screw rod.

4. The multi-rotor aircraft with the thrust center and the center of gravity omnidirectionally coincident according to claim 1, characterized in that: The fuselage system (102) is composed of: a cross shaft (7), a lower part of the cross shaft (7-2), a fuselage suspension rod (8), a fuselage (1), a left and right tilt control telescopic rod (9-1), a forward and backward tilt control telescopic rod (9-2), a landing support (11), and a suspension ring (30); a rotor left and right tilt control telescopic rod (9-1) and a rotor forward and backward tilt control telescopic rod (9-2) are respectively arranged below the left and right support arms (2-1) and the forward and backward support arms (2-2) outside the suspension rod (8); a movable joint at the lower end of the rotor left and right tilt control telescopic rod (9-1) is connected to the fuselage. The movable joint at the upper end of the telescopic rod (9-1) for controlling the left and right tilt of the rotor is rotatably connected to the joint seat below the left and right support arm (2-1), the movable joint at the lower end of the telescopic rod (9-2) for controlling the forward and backward tilt of the rotor is rotatably connected to the joint seat above the fuselage (1), the movable joint at the upper end of the telescopic rod (9-2) for controlling the forward and backward tilt of the rotor is rotatably connected to the joint seat below the forward and backward support arm (2-2), the landing bracket (11) is arranged around the fuselage (1), and the lifting ring (30) is arranged at the midpoint below the fuselage (1).

5. The aircraft according to claim 3, wherein the thrust center of a multi-rotor and the center of gravity coincide with each other in all directions, The center of the cross axis (7) is located at the center point of the multi-rotor thrust center, the back of the upper part (7-1) of the cross axis is fixedly connected to the bottom of the slider (601) in the center of gravity position adjustment device (6), the back of the lower part (7-2) of the cross axis is fixedly connected to the upper end of the fuselage suspension rod (8), and the lower end of the fuselage suspension rod (8) is fixedly connected to the top of the fuselage (1).

6. The multi-rotor aircraft with the thrust center and the center of gravity omnidirectionally coincident according to claim 1, characterized in that: A signal transceiver and a flight control computer (10) are arranged inside the fuselage (1). The output ends of the signal transceiver and the flight control computer (10) are connected to a left servo controller (20-1), a rear servo controller (20-2), a right servo controller (20-3), a front servo controller (20-4), a rotor left and right tilt servo controller (21-1), a rotor front and rear tilt servo controller (21-2), and a center of gravity position adjustment servo controller (22). The inlet ends of the signal transceiver and the flight control computer (10) are also connected to an aircraft transceiver antenna (12), a navigation equipment sensor (13), an altimeter sensor (16), an inclination sensor (14), a gyroscope sensor (15), a radar sensor (17), and a thrust moment sensor (18). The connections between each port and the signal transceiver and the flight control computer (10) are all provided with an aircraft control line circuit (19).

7. The aircraft with a multi-rotor thrust center and a center of gravity that coincide with each other in all directions according to claim 6, characterized in that: The output power and rotation speed of the rotor shaft drive device (3) are controlled by the corresponding left servo controller (20-1), rear servo controller (20-2), right servo controller (20-3) and front servo controller (20-4); the left servo controller (20-1), rear servo controller (20-2), right servo controller (20-3), front servo controller (20-4), rotor left and right tilt servo controller (21-1), rotor forward and backward tilt servo controller (21-2), and center of gravity position adjustment servo controller (22) are controlled by a signal transceiver and a flight control computer (10).

8. The multi-rotor aircraft with the thrust center and the center of gravity omnidirectionally coincident according to claim 1, characterized in that: A remote controller (23) is arranged outside the signal transceiver device and the flight control computer (10), and the remote controller (23) comprises a remote control computer and a wireless transceiver device (29), a lifting operation rocker (24), a heading operation rocker (25), an omnidirectional operation rocker (26), a transceiver antenna (28) and a remote control line circuit (27).

9. The multi-rotor aircraft with the thrust center and the center of gravity omnidirectionally coincident according to claim 1, characterized in that: The number of rotors (5) in the rotor system (101) is an even number of more than two, the number of rotors rotating in the forward and reverse directions is equal, the rotational torque is symmetrical and balanced, the rotors (5) can be arranged on one side of the rotor shaft drive device (3), or on both sides of the upper and lower sides of the rotor shaft drive device (3), the multi-rotor thrust center is the center point of the geometric centers of all symmetrical rotors, and the center point of the cross axis (7) is the center of gravity. The center of gravity position adjustment device (6) can also be a top seat or a device that can flexibly adjust the center of gravity position.

Images