Direction synthesis type aircraft
By adopting a directional synthesis design in the aircraft and replacing complex inclined discs with simple action cylinders and discs, the problem of high manufacturing and maintenance costs of traditional helicopters and coaxial twin-rotor helicopters is solved, and efficient and sensitive flight control is achieved.
Patent Information
- Application Number
- CN202510441430.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-09
- Publication Date
- 2025-06-24
AI Technical Summary
The inclined disc systems of traditional helicopters and coaxial twin-rotor helicopters are complex, have many parts and are difficult to process, resulting in high manufacturing, assembly and maintenance costs, and wear of the gears of the servo, resulting in reduced control accuracy.
The directional synthesis aircraft design is adopted, including the fuselage mechanism, lift mechanism and direction control mechanism. The simple structure of the action cylinder is used as the servo. The disc and bearing wheel replace the complex inclined discs. The directional control mechanism only controls the single axial tilt of the blades.
The servo structure is simplified, manufacturing and maintenance costs are reduced, parts quantity and complexity are reduced, the control accuracy and sensitivity of the aircraft are improved, and all-round flight control is achieved.
Smart Images
Figure CN120191541A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a direction synthesis type aircraft. Background Art
[0002] Traditional helicopters use a swashplate system to change the pitch of the blades, thereby changing the flight attitude of the helicopter. The swashplate in the swashplate system is a very critical component of traditional helicopters. The upper plate and the lower plate of the swashplate are special-shaped parts that are difficult to machine. The upper plate and the lower plate are connected by special bearings. There are tie rods between the swashplate and the hub, and between the swashplate and the servo. There are small universal ball joints at the places where the tie rods contact the servo and where the tie rods contact the swashplate, and there is also a large universal ball joint at the place where the swashplate contacts the rotor shaft to cope with the complex three-dimensional movement of the swashplate. Even some of the tie rods between the swashplate and the hub are made into three sections connected by threaded rods to facilitate scaling the length of this tie rod to adjust the initial horizontal state of the swashplate. This swashplate system has many parts and complex shapes, so it is difficult to machine, resulting in a very high cost; The coaxial contra-rotating helicopter using a double swashplate system is even more complex, requiring two swashplates and more spherical joints. Just the machining of these parts alone accounts for the majority of the price of the entire unmanned aerial vehicle. Moreover, for the traditional servo composed of a motor and gears, just because the gears are worn for a long time, the control accuracy of the unmanned aerial vehicle's attitude will decrease, and then the entire servo needs to be replaced. Therefore, the problems of difficult manufacturing, difficult assembly, high cost, and troublesome maintenance of the coaxial contra-rotating helicopter are even more prominent, which becomes a major pain point in the further promotion and cost reduction of coaxial contra-rotating helicopters. Summary of the Invention
[0003] To solve the above problems, the present invention proposes a direction synthesis type aircraft, including a fuselage mechanism, a lift mechanism provided on the fuselage mechanism, and a direction control mechanism for controlling the flight direction of the aircraft. The lift mechanism includes a hub, blades provided on the hub, and a power device for driving the blades and the hub to rotate synchronously; The direction control mechanism includes a control rod for adjusting the blade angle, a reset mechanism for pushing the control rod to reset, a disc for pushing the control rod to move, and a driving mechanism for driving the disc to act. One end of the control rod is connected to the blade, and the other end of the control rod is in contact with the disc; The driving mechanism includes an action cylinder for tilting the disc and a support rod serving as the rotation support point of the disc; A further improvement lies in that: there are two lift mechanisms and two direction control mechanisms respectively. One lift mechanism and one direction control mechanism form a set of direction linkage mechanisms. There are two sets of direction linkage mechanisms arranged on the fuselage mechanism. The direction control mechanism in each set of direction linkage mechanisms controls the corresponding lift mechanism. The two sets of direction linkage mechanisms constitute the all-round control mechanism of the aircraft. The actuating cylinder and the support rod are both arranged on the fuselage mechanism.
[0004] A further improvement lies in that: two discs are symmetrically arranged on the upper and lower parts of the fuselage mechanism. The two actuating cylinders inclined on the driving disc located on the upper part of the fuselage mechanism and the two actuating cylinders inclined on the driving disc located on the lower part of the fuselage mechanism are arranged in a cross distribution; each disc is movably connected to two support rods, and the two actuating cylinders acting on the same disc and the two support rods are arranged in a cross distribution.
[0005] A further improvement lies in that: two support ears are arranged on the disc. One end of the two support rods is movably connected to the support ears, and the other end is connected to the fuselage mechanism; A further improvement lies in that: the actuating cylinder includes a cylinder wall, a support spring arranged inside the cylinder wall, a magnetic rod for adjusting the angle of the disc, and an electromagnetic coil for promoting the action of the magnetic rod; the magnetic rod is inserted into the cylinder wall, the support spring is arranged at the bottom of the magnetic rod, and the electromagnetic coil is embedded in the cylinder wall; A further improvement lies in that: a hemispherical cap for pushing the disc is arranged on the magnetic rod, and the hemispherical cap fits with the disc surface; A further improvement lies in that: the support rod is an actuating cylinder. A perforated cap ear movably connected to the disc is arranged on the magnetic rod inside the actuating cylinder serving as the support rod; A further improvement lies in that: the power device is a hollow shaft motor. The reset mechanism includes a connecting plate and a reset spring. A limit hole is arranged on the control rod; one end of the connecting plate is fixedly connected to the lift mechanism, and the other end of the connecting plate sequentially passes through the reset spring and the limit hole of the control rod; one end of the control rod is connected to the blade, and a bearing wheel is arranged at the other end of the control rod, and the bearing wheel fits with the disc; A further improvement lies in that: the fuselage mechanism includes a central rod, an equipment box and a landing gear. The central rod is arranged through the central axis of the equipment box. The lower end of the central rod is fixed with a landing gear. A groove for installing an actuating cylinder or a support rod is arranged on the equipment box; The operation method of the present invention: Operation method one: For ascending and descending, the rotational speeds of the hollow shaft motors at the upper and lower parts of the fuselage mechanism are changed by the same amplitude, and then the rotational speeds of the two blades are changed by the same amplitude, and then the total lift force is changed to achieve ascending and descending; Yaw: By obtaining different torques through the rotational speed differences of the two blades at the upper and lower parts of the fuselage mechanism, the aircraft is rotated, i.e., yawed; Translation: When the electromagnetic coil of the actuator cylinder of the drive mechanism in the upper part of the fuselage mechanism is energized, a magnetic force is generated, and then the magnetic rod is displaced. Different instructions result in different outcomes. One actuator cylinder extends, and the other actuator cylinder shortens, which then causes the disc to tilt, driving the bearing wheel to displace, driving the control rod to rotate around the blade root, changing the blade angle, i.e., cyclic pitch change occurs. As a result, the originally horizontal blade disc tilts due to the change in lift at a certain point. Since the disc is installed in such a way that there are only two directions of disc tilt, there are only two directions of blade disc tilt. Since there are several magnitudes of the generated magnetic force, there are several magnitudes of blade disc tilt. Similarly, there are only two directions of blade disc tilt in the lower part of the fuselage mechanism, and there are several magnitudes of tilt. The combination of the tilt directions and tilt magnitudes of the blade discs at the upper and lower parts of the fuselage mechanism effectively synthesizes a large blade disc that can tilt in any direction. The tilted large blade disc decomposes into a vertical lift force and a horizontal translation force, thus driving the aircraft to translate; Operation Method 2: Ascent and descent: The actuator cylinders of the drive mechanisms at the upper and lower parts of the fuselage mechanism extend or shorten by the same amount, thereby changing the distances between the discs and the corresponding blades at the upper and lower parts of the fuselage mechanism by the same amount. Consequently, the control rods corresponding to each blade undergo the same amount of displacement, the blade angles of each blade change by the same amount, the collective pitch of the blades at the upper and lower parts of the fuselage mechanism changes by the same amount, and the total lift force is changed, achieving ascent and descent; Yaw: By changing the distances between the discs and the corresponding blades at the upper and lower parts of the fuselage mechanism by different amounts, the collective pitch of the blades at the upper and lower parts of the fuselage mechanism is changed by different amounts, thereby obtaining different torques, and the aircraft rotates, i.e., yawed; During translation, the electromagnetic coil of the actuator cylinder in the upper part of the fuselage mechanism is energized to generate a magnetic force, causing the magnetic rod to displace. Different commands result in different outcomes. One actuator cylinder extends while the other retracts, thereby tilting the disc, driving the bearing wheel to displace, rotating the control rod around the blade root, changing the blade angle, i.e., cyclic pitch change occurs. As a result, the originally horizontal blade disc tilts due to the change in lift at a certain location. Since the installation method of the disc determines that there are only two tilting directions for the disc, there are only two tilting orientations for the blade disc. Since there are several magnitudes of the generated magnetic force, there are several amplitudes of tilt for the blade disc. Similarly, there are only two tilting directions for the blade disc in the lower part of the fuselage mechanism, and there are also several amplitudes of tilt. The combination of the tilting orientations and amplitudes of the blade discs in the upper and lower parts of the fuselage mechanism is equivalent to synthesizing a large blade disc that can tilt in any orientation in practice. The tilted large blade disc decomposes into lift in the vertical direction and translational force in the horizontal direction, thereby driving the aircraft to translate.
[0006] (1) The present invention innovatively uses a simple-structured actuator cylinder as a servo, and only the hemispherical cap needs to be replaced in case of wear, simplifying the servo structure and reducing manufacturing and maintenance costs. (2) The present invention innovatively uses an easily machined disc and a conventional bearing wheel to replace the complex swashplate, and the simple movement of the disc does not require spherical joint components, significantly reducing manufacturing, maintenance, and replacement costs. (3) The direction control mechanism of the present invention only controls the tilt of the lift mechanism in a single axial direction. The operation is simple, so the components of the direction control mechanism are few, the shape is easy to machine, and the cost is low. However, it can synthesize all the horizontal tilt controls of the traditional complex swashplate, that is, translation, with a novel idea. (4) The design drawings of the present invention have strong versatility. As long as very few components are replaced, it can be applicable to various models of unmanned aerial vehicles both below and above the small size. Description of the Drawings
[0007] Figure 1 is the overall structural schematic diagram of a direction synthesis type aircraft of the present invention; Figure 2 is the installation structural schematic diagram of the direction control mechanism of the present invention; Figure 3 is the installation structural schematic diagram of the lift mechanism of the present invention; Figure 4 is the schematic diagram of the connection relationship between the reset mechanism and the control rod of the present invention; Figure 5 is the schematic diagram of the actuator cylinder and the hemispherical cap pushing the disc to work of the present invention; Figure 6 is the schematic diagram of the connection relationship between the support ear and the support rod of the disc of the present invention; Figure 7It is a schematic diagram of the connection relationship among the support ear, the action cylinder and the perforated cap ear of the present invention; Figure 8 It is a schematic diagram of the connection relationship between the action cylinder and the perforated cap ear of the present invention.
[0008] Among them: 1, propeller hub; 2, propeller blade; 3, control rod; 4, disc; 40, support ear; 5, action cylinder; 50, cylinder wall; 51, support spring; 52, magnetic rod; 53, electromagnetic coil; 6, hollow shaft motor; 7, connecting plate; 8, return spring; 9, perforated cap ear; 10, bearing wheel; 11, center rod; 12, equipment box; 13, landing gear; 14, support rod; 15, hemispherical cap. Specific embodiments
[0009] To deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with embodiments. These embodiments are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention.
[0010] Embodiment 1
[0011] According to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, this embodiment proposes a direction synthesis type aircraft, including a fuselage mechanism, a lift mechanism arranged on the fuselage mechanism, and a direction control mechanism for controlling the flight direction of the aircraft. The lift mechanism includes a propeller hub 1, propeller blades 2 arranged on the propeller hub 1, and a power device for driving the propeller blades 2 and the propeller hub 1 to rotate synchronously.
[0012] The power device of the lift mechanism drives the propeller hub 1 and the propeller blades 2, and the propeller blades 2 rotate to form a propeller disc surface and generate lift. The root of the propeller blade 2 can rotate freely within the propeller hub 1 to facilitate changing the propeller blade angle.
[0013] The direction control mechanism includes a control rod 3 for adjusting the propeller blade angle of the propeller blade 2, a reset mechanism for pushing the control rod 3 to reset, a disc 4 for pushing the control rod 3 to move, and a driving mechanism for driving the disc 4 to act. One end of the control rod 3 is connected to the propeller blade 2, and the other end of the control rod 3 is in contact with the disc 4; The direction control mechanism controls the lift mechanism to generate periodic pitch change through the disc 4. When the disc 4 moves obliquely, it drives the control rod 3 to displace, and then drives the propeller blade 2 to deflect, that is, to change the propeller blade angle.
[0014] The driving mechanism includes an action cylinder 5 for driving the disc 4 to tilt and a support rod 14 serving as the rotation support point of the disc 4.
[0015] The actuating cylinder 5 provides driving power for the inclination of the disc 4, and the support rod 14 is the lever fulcrum for the inclination movement of the disc 4.
[0016] A further improvement lies in that: there are two of both the lift mechanism and the direction control mechanism. One lift mechanism and one direction control mechanism form a set of direction linkage mechanisms. There are two sets of the direction linkage mechanisms provided on the fuselage mechanism. The direction control mechanism in each set of the direction linkage mechanisms controls the corresponding lift mechanism. The two sets of the direction linkage mechanisms constitute the omnidirectional control mechanism of the aircraft. The actuating cylinder 5 and the support rod 14 are both provided on the fuselage mechanism.
[0017] The direction control structures at the upper and lower parts of the fuselage mechanism operate independently, laying a foundation for different torques at the upper and lower parts of the fuselage mechanism in the second embodiment.
[0018] A further improvement lies in that: two of the discs 4 are symmetrically provided at the upper and lower parts of the fuselage mechanism. The two actuating cylinders 5 for driving the inclination of the disc 4 at the upper part of the fuselage mechanism and the two actuating cylinders 5 for driving the inclination of the disc 4 at the lower part of the fuselage mechanism are cross - distributed; each of the discs 4 is movably connected to two of the support rods 14. The two actuating cylinders 5 acting on the same disc 4 and the two support rods 14 are cross - distributed.
[0019] The X - axis and the Y - axis are orthogonal in the horizontal plane. The two actuating cylinders 5 at the upper part of the fuselage mechanism control the lateral (X - axis) inclination of the disc 4 at the upper part of the fuselage mechanism, and the two actuating cylinders 5 at the lower part of the fuselage mechanism control the longitudinal (Y - axis) inclination of the disc 4 at the lower part of the fuselage mechanism. The two sets of direction linkage mechanisms can synthesize the inclination in all horizontal directions and then translate, similar to the fact that forces perpendicular to each other in a plane can synthesize forces in all directions.
[0020] Specifically, the two support rods 14 and the two actuating cylinders 5 on the same side of the equipment box 12 are cross - distributed. This structure limits the disc 4 to incline only along a single axis (X - axis or Y - axis), avoiding the complex 360 - degree inclination movement of the traditional swashplate. Therefore, neither a complex swashplate nor difficult - to - machine spherical joints are required, reducing the manufacturing cost.
[0021] One set of direction control mechanism in the present invention only controls the inclination of a single axis of the swashplate surface formed by the rotation of the blades 2 of one set of lift mechanisms, without the need for complex three - dimensional inclination movement like the traditional swashplate. Because the movement is simple, the components of the direction control mechanism are few, the shape is easy to machine, and the cost is low. However, the two sets of direction control mechanisms can synthesize omnidirectional inclination control, with a novel idea.
[0022] Two support lugs 40 are provided on the disc 4. One end of the two support rods 14 is movably connected to the support lugs 40, and the other end is connected to the fuselage mechanism.
[0023] Further, the actuating cylinder 5 includes a cylinder wall 50, a support spring 51 disposed within the cylinder wall 50, a magnetic rod 52 for adjusting the angle of the disk 4, and an electromagnetic coil 53 for actuating the magnetic rod 52; the magnetic rod 52 is inserted into the cylinder wall 50, the support spring 51 is disposed at the bottom of the magnetic rod 52, the electromagnetic coil 53 is embedded in the cylinder wall 50, a hemispherical cap 15 for pushing the disk 4 is provided on the magnetic rod 52, and the hemispherical cap 15 is in contact with the disk surface of the disk 4.
[0024] The present invention innovatively uses a simple-structured actuating cylinder 5 to replace the traditional servo composed of a motor and a gear combination, greatly simplifying the servo structure. Coupled with the millisecond-level response of electromagnetic force and no gear transmission, the sensitivity of the aircraft from receiving an instruction to executing an action is enhanced, and the manufacturing and later maintenance costs are reduced. Due to gear wear, the control accuracy of the traditional servo decreases, and either the entire servo needs to be replaced or an expensive servo has to be used at the beginning.
[0025] The function of the spherical cap 56 is to replace the direct contact between the magnetic rod 52 and the disk 4, which is sliding friction. After wear, only the spherical cap 56 needs to be replaced, reducing the later maintenance cost. Moreover, the idea of replacing the spherical cap 56 lays a foundation for using more common components in different models of products (Embodiment 2).
[0026] Further, the power device used is a hollow shaft motor 6, and the reset mechanism includes a connecting plate 7 and a reset spring 8. A limit hole is provided on the control rod 3; one end of the connecting plate 7 is fixedly connected to the lift mechanism; the other end of the connecting plate 7 sequentially passes through the reset spring 8 and the limit hole of the control rod 3; one end of the control rod 3 is connected to the blade 2, and a bearing wheel 10 is provided at the other end of the control rod 3, and the bearing wheel 10 is in contact with the disk 4.
[0027] The blade 2 is installed on the outer rotor of the hollow shaft motor 6 through a hub 1. Different lift forces and torques can be directly obtained by changing the rotational speed of the hollow shaft motor 6. The control rod 3 is used to adjust the blade angle. After the action instruction ends, the reset spring 8 of the connecting plate 7 pushes the control rod 3 back to the initial position. The function of the limit hole is to provide a fixed track when the control rod displaces, and the function of the bearing wheel 10 is to make the rolling friction between the high-speed rotating control rod 3 and the disk 4. The present invention innovatively uses a conventional bearing wheel 10 and an easily machined disk 4 to replace the complex swashplate, which is not easily damaged, greatly reducing the manufacturing cost, maintenance and replacement costs. The swashplate accounts for a large proportion in the price of traditional coaxial dual-rotor unmanned helicopters, and the more complex the component, the easier it is to be damaged.
[0028] Further, the fuselage mechanism includes a central rod 11, an equipment box 12, and a landing gear 13. The central rod 11 is disposed through the central axis of the equipment box 12, and the landing gear 13 is fixed to the lower end of the central rod 11. A groove for installing the actuator cylinder 5 or the support rod 14 is provided on the equipment box 12. The central rod 11 is the main load-bearing structure of the aircraft; the equipment box 12 integrates a control module and an energy unit, and modular assembly of the actuator cylinder 5 or the support rod 14 is achieved through the groove; the landing gear 13 is used to meet the stability requirements for vertical takeoff and landing.
[0029] Embodiment 1 is applicable to small and smaller unmanned aerial vehicles. Since the small-sized blades 2 have small rotational inertia, the lift force can be directly changed by changing the rotational speed of the hollow shaft motor 6, thereby changing the rotational speed of the blades 2.
[0030] Embodiment 2
[0031] According to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 7 and Figure 8 As shown in
[0032] Specifically, on the upper surface of the equipment box 12, there are 4 grooves, and each groove is inserted with an actuator cylinder 5. Hemispherical caps 15 are provided on two opposite actuator cylinders 5, and perforated cap lugs 9 are provided on the other two opposite actuator cylinders 5. The perforated cap lugs 9 are hinged to the disc 4 through a pin shaft. Thus: (1) When the four actuator cylinders 5 extend or shorten in the same amplitude, the disc 4 can be at different horizontal heights, that is, the distance between the disc 4 and the corresponding blade 2 is changed, thereby changing the collective pitch of the blade 2; (2) When the two actuator cylinders 5 provided with perforated cap lugs 9 remain stationary and one of the two actuator cylinders 5 provided with hemispherical caps 15 extends and the other shortens, cyclic pitch change of the blade 2 is achieved. Changing the collective pitch and cyclic pitch change of the blade 2 below the equipment box 12 is the same. In Embodiment 1, the disc 4 can only tilt at a fixed height, that is, Embodiment 1 can only perform cyclic pitch change and cannot change the collective pitch.
[0033] The two lift mechanisms above and below the equipment box 12 are independently controlled by two sets of direction mechanisms, so there can be different collective pitches, and thus different lift forces, and thus different torques, which can cause the aircraft to rotate, that is, yaw.
[0034] Embodiment 2 is applicable to unmanned aerial vehicles larger than small-sized ones. Because after the diameter of the blade 2 becomes larger, the inertia becomes larger. If the rise and fall of the aircraft are still controlled by accelerating or decelerating the motor, the delay will increase from receiving the command to achieving the expected purpose. At this time, it is more sensitive to achieve it by changing the collective pitch of the blade 2.
[0035] As can be seen from Example 1 to Example 2, the design drawings of the present invention have strong versatility. As long as very few components are replaced, it can be applicable to various models of unmanned aerial vehicles both below and above the small size.
[0036] Operating method of the present invention: Operating method of Example 1: Ascending and descending: Change the rotational speeds of the hollow shaft motors 6 at the upper and lower parts of the fuselage mechanism by the same amplitude, and then change the rotational speeds of the two propellers 2 at the two places by the same amplitude, and then change the magnitude of the total lift force to achieve ascending and descending; Yawing: Obtain different torques through the rotational speed differences of the two propellers 2 at the upper and lower parts of the fuselage mechanism, and realize the rotation of the aircraft, that is, yawing; Translation: Electromagnetic coils 53 of the actuating cylinders 5 of the driving mechanism at the upper part of the fuselage mechanism are energized to generate magnetic force, and then the magnetic rods 52 are displaced. Different instructions have different results. One actuating cylinder 5 extends and the other actuating cylinder 5 shortens, and then the disc 4 is pushed to tilt, and then the bearing wheel 10 is driven to displace, and then the control rod 3 is driven to rotate around the root of the propeller 2, and then the propeller angle is changed, that is, cyclic pitch change occurs, and then the originally horizontal propeller disc is tilted due to the change of lift force at a certain place. Since the installation method of the disc 4 determines that there are only two directions of tilt of the disc 4, there are only two directions of tilt of the propeller disc. Since there are several magnitudes of the generated magnetic force, there are several amplitudes of tilt of the propeller disc; Similarly, there are only two directions of tilt of the propeller disc at the lower part of the fuselage mechanism, and there are several amplitudes of tilt; From the combination of the tilt directions and tilt amplitudes of the propeller discs at the upper and lower parts of the fuselage mechanism, the actual effect is equivalent to synthesizing a large propeller disc that can tilt in any direction. The tilted large propeller disc decomposes into a lift force in the vertical direction and a translation force in the horizontal direction, and then the aircraft is pushed to translate; Operating method of Example 2: Ascending and descending: The actuating cylinders 5 of the driving mechanisms at the upper and lower parts of the fuselage mechanism extend or shorten by the same amplitude, and then the distances between the discs 4 and the corresponding propellers 2 at the upper and lower parts of the fuselage mechanism are changed by the same amplitude, and then the control rods 3 corresponding to each propeller 2 are displaced by the same amplitude, and then the propeller angles of each propeller 2 are changed by the same amplitude, and then the total pitch of the propellers 2 at the upper and lower parts of the fuselage mechanism is changed by the same amplitude, and then the magnitude of the total lift force is changed to achieve ascending and descending; Yawing: Change the distances between the discs 4 and the corresponding propellers 2 at the upper and lower parts of the fuselage mechanism by different amplitudes, and then change the total pitch of the propellers 2 at the upper and lower parts of the fuselage mechanism by different amplitudes, and then obtain different torques, and then the aircraft rotates, that is, yawing; During translation, when the electromagnetic coil 53 of the actuating cylinder 5 of the drive mechanism in the upper part of the fuselage mechanism is energized, a magnetic field force is generated. As a result, the magnetic rod 52 is displaced. Different instructions lead to different results. One actuating cylinder 5 extends, and the other actuating cylinder 5 contracts, thereby pushing the disc 4 to tilt. Subsequently, the bearing wheel 10 is displaced, driving the control rod 3 to rotate around the root of the blade 2, and then changing the blade angle, that is, cyclic pitch change occurs. Consequently, the originally horizontal blade disc tilts due to the change in lift at a certain location. Since the installation method of the disc 4 determines that there are only two tilting directions of the disc 4, there are only two tilting orientations of the blade disc. Because there are several magnitudes of the generated magnetic field force, there are several amplitudes of the tilting of the blade disc. Similarly, there are only two tilting directions of the blade disc in the lower part of the fuselage mechanism, and there are also several amplitudes of tilting. By combining the tilting orientations and tilting amplitudes of the blade discs in the upper and lower parts of the fuselage mechanism, the actual effect is equivalent to synthesizing a large blade disc that can tilt in any orientation. The tilted large blade disc decomposes into a lift force in the vertical direction and a translation force in the horizontal direction, thereby pushing the aircraft to translate. In summary, through electromagnetic drive, direction control vector synthesis, and mechanical structure innovation, the present invention completely solves the pain points of slow response, complex structure, high cost, and troublesome maintenance of the traditional coaxial dual-rotor system while realizing the six-degree-of-freedom maneuver of the aircraft.
[0037] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.
Claims
1. A directional synthetic aircraft, comprising a fuselage mechanism, a lift mechanism arranged on the fuselage mechanism, and a directional control mechanism for controlling the flight direction of the aircraft, characterized in that: The lift mechanism comprises a propeller hub (1), propeller blades (2) arranged on the propeller hub (1), and a power device for driving the propeller blades (2) and the propeller hub (1) to rotate synchronously; The direction control mechanism comprises a control rod (3) for adjusting the blade angle of the blade (2), a reset mechanism for pushing the control rod (3) to reset, a disc (4) for pushing the control rod (3) to move, and a drive mechanism for driving the disc (4) to move, one end of the control rod (3) being connected to the blade (2), and the other end of the control rod (3) being in contact with the disc (4); The driving mechanism comprises an action cylinder (5) for driving the disc (4) to tilt, and a support rod (14) serving as a rotation support point for the disc (4).
2. A directional synthetic aircraft according to claim 1, characterized in that: Two of the lift mechanism and the direction control mechanism are provided, one lift mechanism and one direction control mechanism constitute a group of direction linkage mechanisms, two groups of direction linkage mechanisms are provided on the fuselage mechanism, the direction control mechanism in each group of direction linkage mechanisms controls the corresponding lift mechanism, the two groups of direction linkage mechanisms constitute an omnidirectional control mechanism of the aircraft, and the action cylinder (5) and the support rod (14) are both provided on the fuselage mechanism.
3. A directional synthetic aircraft according to claim 2, characterized in that: Two discs (4) are symmetrically arranged at the upper and lower parts of the body mechanism; the two inclined actuating cylinders (5) of the driving disc (4) located at the upper part of the body mechanism are arranged in a cross pattern with the two inclined actuating cylinders (5) of the driving disc (4) located at the lower part of the body mechanism; each disc (4) is movably connected to two support rods (14); the two actuating cylinders (5) acting on the same disc (4) and the two support rods (14) are arranged in a cross pattern.
4. A directional synthetic aircraft according to claim 3, characterized in that: The disc (4) is provided with two supporting ears (40), one end of the two supporting rods (14) is movably connected to the supporting ears (40), and the other end thereof is connected to the fuselage mechanism.
5. A directional synthetic aircraft according to claim 1, characterized in that: The actuating cylinder (5) comprises a cylinder wall (50), a supporting spring (51) arranged in the cylinder wall (50), a magnetic rod (52) for adjusting the angle of the disk (4), and an electromagnetic coil (53) for causing the magnetic rod (52) to move; the magnetic rod (52) is inserted into the cylinder wall (50), the supporting spring (51) is arranged at the bottom of the magnetic rod (52), and the electromagnetic coil (53) is embedded in the cylinder wall (50).
6. A directional synthetic aircraft according to claim 5, characterized in that: The magnetic rod (52) is provided with a hemispherical cap (15) for pushing the disc (4), and the hemispherical cap (15) is in contact with the surface of the disc (4).
7. A directional synthetic aircraft according to claim 5, characterized in that: The support rod (14) is an action cylinder (5), and a cap ear (9) with a hole movably connected to the disc (4) is provided on the magnetic rod (52) in the action cylinder (5) of the support rod (14).
8. A directional synthetic aircraft according to claim 1, characterized in that: The power device adopts a hollow shaft motor (6); the reset mechanism comprises a connecting plate (7) and a reset spring (8); and a limit hole is provided on the control rod (3); one end of the connecting plate (7) is fixedly connected to the lifting mechanism, and the other end of the connecting plate (7) passes through the reset spring (8) and the limit hole of the control rod (3) in sequence; one end of the control rod (3) is connected to the blade (2), and the other end of the control rod (3) is provided with a bearing wheel (10), and the bearing wheel (10) is in contact with the disc (4).
9. A directional synthetic aircraft according to claim 2, characterized in that: The fuselage structure comprises a center rod (11), an equipment box (12) and a landing gear (13); the center rod (11) is arranged to pass through the center axis of the equipment box (12); the landing gear (13) is fixed to the lower end of the center rod (11); and a groove for mounting an action cylinder (5) or a support rod (14) is arranged on the equipment box (12).
10. A method for operating the synthetic direction aircraft according to any one of claims 1 to 9, characterized in that: The operation method comprises: Running method 1: Lifting and lowering, changing the rotation speed of the hollow shaft motors (6) at the upper and lower parts of the fuselage mechanism by the same amplitude, thereby changing the rotation speed of the two blades (2) by the same amplitude, thereby changing the total lift force to achieve lifting and lowering; Yaw, by obtaining different torques through the speed difference of two blades (2) at the upper and lower parts of the fuselage mechanism, the aircraft is rotated, i.e. yaw; Translation, at the upper part of the fuselage mechanism, the electromagnetic coil (53) of the action cylinder (5) of the driving mechanism is energized to generate a magnetic field force, thereby causing the magnetic rod (52) to move. Different instructions have different results. One action cylinder (5) is extended, and the other action cylinder (5) is shortened, thereby pushing the disc (4) to tilt, thereby driving the bearing wheel (10) to move, thereby driving the control rod (3) to rotate around the root of the blade (2), thereby driving the blade angle to change, that is, cyclic pitch variation occurs, thereby causing the originally horizontal propeller disc surface to tilt due to the change in lift at a certain point. Due to the installation method of the disc (4), There are only two directions in which the disc (4) is tilted, so there are only two inclination positions of the propeller disc surface. Since the magnitude of the magnetic field force generated is variable, the inclination amplitude of the propeller disc surface is variable. Similarly, there are only two inclination directions of the propeller disc surface at the lower part of the fuselage mechanism, and the inclination amplitude is also variable. The actual effect of the combination of the inclination positions and the inclination amplitude of the propeller disc surface at the upper and lower parts of the fuselage mechanism is equivalent to synthesizing a large propeller disc surface that can be tilted in any direction. The tilted large propeller disc surface decomposes the vertical lift and the horizontal translation force, thereby driving the aircraft to translate. Running method 2: To lift, the action cylinders (5) of the driving mechanisms at the upper and lower parts of the fuselage mechanism are extended or shortened by the same amplitude, thereby changing the distance between the disks (4) at the upper and lower parts of the fuselage mechanism and the corresponding blades (2) by the same amplitude, thereby causing the control rods (3) corresponding to each blade (2) to be displaced by the same amplitude, thereby causing the blade angle of each blade (2) to be changed by the same amplitude, thereby causing the total distance of the blades (2) at the upper and lower parts of the fuselage mechanism to be changed by the same amplitude, thereby changing the total lift force, thereby achieving lifting; Yaw, changing the distance between the two discs (4) at the upper and lower parts of the fuselage mechanism and the corresponding blades (2) by different amplitudes, thereby changing the total pitch of the two blades (2) at the upper and lower parts of the fuselage mechanism by different amplitudes, thereby obtaining different torques, and then the aircraft rotates, i.e. yaw; Translation, at the upper part of the fuselage mechanism, the electromagnetic coil (53) of the action cylinder (5) of the driving mechanism is energized to generate a magnetic field force, thereby causing the magnetic rod (52) to move. Different instructions have different results. One action cylinder (5) is extended, and the other action cylinder (5) is shortened, thereby pushing the disc (4) to tilt, thereby driving the bearing wheel (10) to move, thereby driving the control rod (3) to rotate around the root of the blade (2), thereby driving the blade angle to change, that is, cyclic pitch variation occurs, thereby causing the originally horizontal propeller disc surface to tilt due to the change in lift at a certain point. Due to the installation method of the disc (4), There are only two directions in which the disc (4) is tilted, so there are only two inclination positions of the propeller disc surface. Since the magnitude of the magnetic field force generated is variable, the inclination amplitude of the propeller disc surface is variable. Similarly, there are only two inclination directions for the propeller disc surface at the lower part of the fuselage mechanism, and the inclination amplitude is also variable. The actual effect of the combination of the inclination positions and the inclination amplitude of the propeller disc surface at the upper and lower parts of the fuselage mechanism is equivalent to synthesizing a large propeller disc surface that can be tilted in any direction. The tilted large propeller disc surface decomposes the vertical lift and the horizontal translation force, thereby driving the aircraft to translate.