Lifting body single-motor contra-rotating propeller helicopter

Abstract

The invention relates to a lifting body single-motor contra-rotating propeller helicopter, which belongs to the technical field of helicopters, and comprises a double-wing same-motor-shaft propeller mechanism, the double-wing same-motor-shaft propeller mechanism comprises a helicopter middle shaft, a parachute launching mechanism and a cabin, lifting body wings are arranged at the lower parts of the two sides of the cabin, and a lifting adjusting mechanism is arranged at the tail part of the cabin; a counter-rotating motor is arranged on a middle shaft of the helicopter; the parachute launching mechanism comprises a parachute bag, a parachute and an interlayer high-pressure air bag are arranged in the parachute bag, the parachute is provided with a first inflatable flexible framework, and the first inflatable flexible framework is connected with a high-pressure air cylinder; the lifting adjusting mechanism comprises an elevator, and a propelling device is arranged on the elevator. The helicopter has the beneficial effects that 1, the contra-rotating motor can realize the direction adjustment of the helicopter; 2, the inflatable flexible framework of the parachute is quickly inflated, so that the safety of the helicopter is ensured; and 3, the problem of heavy-load flight is solved by overlapping the fan-shaped blades of the reverse folding propellers and the ducted fan.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a lifting body single-motor counter-rotating propeller helicopter. Background Art

[0002] The civilian drone market has grown rapidly in recent years. Traditional multi-rotor drones, a type of small drone, have become well-known. Multi-rotor drones are drones with two or more rotors. Existing technology uses electric motors on each axis to rotate the rotors, generating lift. However, to overcome the unidirectional rotational torque generated by the rotating rotors, multiple rotor motors are required.

[0003] To prevent unmanned helicopters from crashing in emergencies or malfunctions, parachutes must be installed above the rotor heads. However, during flight, the rotors spin at high speed, generating a large amount of downwash. This downwash creates both lift and suction, making parachute deployment difficult. If the parachute doesn't quickly escape the downwash, it can easily be sucked back and entangled in the rotors, causing the parachute to fail and the helicopter to crash. Summary of the Invention

[0004] The present invention is proposed to alleviate or solve at least one aspect or at least one point of the above problems.

[0005] In view of the above-mentioned deficiencies of the prior art, a lifting body single-motor counter-rotating propeller helicopter can be provided, comprising a double-wing co-motor shaft propeller mechanism, the double-wing co-motor shaft propeller mechanism comprising a helicopter central axis, a parachute launching mechanism is provided above the helicopter central axis, a universal joint is provided at the lower part of the helicopter central axis, the universal joint is fixedly connected to a cabin, lifting body wings are provided at the lower part of both sides of the cabin, and a lifting adjustment mechanism is provided at the tail; The helicopter's central axis is a hollow cylindrical structure with a positive power supply line and a negative power supply line arranged inside. A counter-rotating motor is arranged on the outer periphery. The counter-rotating motor includes a servo motor first rotor winding, which is sleeved on the outer periphery of the helicopter's central axis. A counter-rotating stator is sleeved on the outer periphery of the servo motor's first rotor winding, and a forward rotor is sleeved on the outer periphery of the counter-rotating stator. The counter-rotating stator is provided with a servo motor stator winding. The inner ring of the forward rotor is provided with a servo motor second rotor winding. The upper end of the forward-rotating rotor is provided with a forward-rotating propeller blade; the lower end of the reverse-rotating stator is provided with a reverse-rotating propeller blade, and the forward-rotating propeller blade and the reverse-rotating propeller blade rotate in opposite directions; The parachute launching mechanism includes a parachute bag, which contains a parachute and a high-pressure airbag. The high-pressure airbag is located directly below the parachute and is triggered by a trigger mechanism controller. The lower end of the deployed parachute bag is fixed to the helicopter's central axis via a parachute cable. A first inflatable flexible frame is provided around the parachute canopy. The first inflatable flexible frame is connected to a high-pressure gas cylinder, which is connected to a control mechanism. The lift adjustment mechanism includes an elevator, which is provided with a propulsion device. The propulsion device is a ducted fan structure with a common stator and a dual-rotor motor. The propulsion device includes a ducted fan housing, which is fixedly mounted to the elevator. The elevator is connected to a first control motor, which controls the elevator to swing up and down relative to the tail of the cabin, moving the cabinet between a first position and a second position. In the first position, the elevator moves to the rear under the nacelle, and the propulsion device generates downward thrust to adjust the nacelle to a horizontal direction of movement; In the second position, the elevator moves to the top of the tail of the cabin, and the propulsion device generates upward thrust, adjusting the cabin to move in a downward tilt direction to facilitate vertical landing.

[0006] Preferably, a reversing stator heat dissipation pipe is provided inside the stator winding of the servo motor, a reversing propeller blade heat dissipation capillary is provided inside the reversing propeller blade, and the reversing stator heat dissipation pipe and the reversing propeller blade heat dissipation capillary are connected through a hose.

[0007] Preferably, a forward-rotating rotor heat dissipation pipe is provided inside the second rotor winding of the servo motor, a forward-rotating propeller blade heat dissipation capillary is provided inside the forward-rotating propeller blade, and the forward-rotating rotor heat dissipation pipe and the forward-rotating propeller blade heat dissipation capillary are connected through a hose.

[0008] Preferably, the counter-rotating stator and the forward-rotating rotor are rotatably connected to the helicopter center shaft via bearings.

[0009] Preferably, a reversing stator positive pole power receiving contact and a reversing stator negative pole power receiving contact are provided on the inner peripheral side of the reversing stator, and a reversing stator positive pole power supply contact ring and a reversing stator negative pole power supply contact ring are provided on the corresponding outer periphery of the helicopter center axis. The reversing stator positive pole power receiving contact abuts against the reversing stator positive pole power supply contact ring, and the reversing stator negative pole power receiving contact abuts against the reversing stator negative pole power supply contact ring. The reversing stator positive pole power supply contact ring and the reversing stator negative pole power supply contact ring are connected to the power supply and control system through the positive pole power supply line and the negative pole power supply line.

[0010] Preferably, a positive rotor positive power receiving contact and a positive rotor negative power receiving contact are provided on the inner circumference of the positive rotor, and a positive rotor positive power supply contact ring and a positive rotor negative power supply contact ring are provided on the outer circumference of the corresponding helicopter center axis. The positive rotor positive power receiving contact abuts against the positive rotor positive power supply contact ring, and the negative rotor negative power receiving contact abuts against the negative rotor negative power supply contact ring. The positive rotor positive power supply contact ring and the negative rotor negative power supply contact ring are connected to the power supply and control system through the positive power supply line and the negative power supply line.

[0011] Preferably, the interlayer high-pressure airbag is filled with high-pressure gas, a nozzle is provided on the top, and the nozzle is provided with a trigger controller. The trigger controller controls the conduction of the nozzle, and the high-pressure gas pops out the parachute. The ribs of the parachute are the second inflatable bag-type flexible skeleton. The second inflatable bag-type flexible skeleton is connected to the first inflatable bag-type flexible skeleton, and then connected to the high-pressure gas cylinder.

[0012] Preferably, foldable drooping tail support rods are respectively provided at both ends of the middle part of the lifting body wing, and there is a support point in the middle of the elevators on both sides of the tail of the lifting body wing, which forms three fulcrums with the foldable drooping tail support rods to support the vertical take-off and landing of the helicopter.

[0013] Preferably, the reversing propeller blades are flexible and foldable fan-shaped blades with an umbrella-shaped frame, and a ducted fan is provided at the outer edge of the reversing propeller blades. Multiple pairs of reversing propeller blades are connected by connecting lines to strengthen the strength of the umbrella-shaped frame and maintain the angle of the fan-shaped blades. A first ring and a second ring are provided on the central axis of the helicopter. The first ring is connected to one end of the telescopic support rod, and the other end of the telescopic support rod is connected to the middle part of the reversing propeller blade to support the expansion and folding of the reversing propeller blades. The second ring is connected to one end of the connecting wire, and the other end of the connecting wire is connected to the outer edge of the fan-shaped blades of the umbrella-shaped frame of the reversing propeller to strengthen the upper and lower strength of the umbrella-shaped frame and maintain the angle of the fan-shaped blades.

[0014] Preferably, the propulsion device includes a co-stator dual-rotor counter-rotating motor installed using a ducted fan bracket, and the co-stator dual-rotor counter-rotating motor has a ducted fan first blade and a ducted fan second blade at both ends, and the first ducted fan blade and the second ducted fan blade have opposite directions. The co-stator dual-rotor counter-rotating motor includes a stator assembly and two identical rotor assemblies, the two rotor assemblies are the ducted fan first rotor and the ducted fan second rotor, which are symmetrically arranged at the two ends inside the stator assembly, and the stator assembly includes a ducted fan motor stator magnet, and the ducted fan motor stator magnet is distributed on the inside of the stator assembly. The phase arrangement of the ducted fan first rotor and the ducted fan second rotor at the two ends inside the stator is the same, and the line electrodes are opposite. When the windings of the two rotors are energized, the armature magnetomotive force generated in the corresponding two air gaps has the same speed and opposite directions, so as to drive the two rotor assemblies to rotate in opposite directions at the same speed.

[0015] Beneficial effects of the present invention: 1. The counter-rotating motors can adjust the direction of the helicopter, making it easy to change direction; 2. After the parachute is ejected, the high-pressure gas cylinder automatically opens to quickly inflate the parachute's inflatable flexible frame, allowing the canopy to open and using the air to fully deploy the parachute in the shortest possible time, ensuring the safety of the helicopter; 3. The reverse propeller fan blades are superimposed on the ducted fan, which uses the ground effect force generated by itself to solve the problem of high-load flight. 4. The propulsion device can adjust the up and down tilt angle of the fuselage to ensure the best flight angle; at the same time, by adjusting the speed, the helicopter can be turned. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of a lifting body single-motor counter-rotating propeller helicopter according to exemplary embodiment 1 of the present invention.

[0017] Figure 2 Schematic bottom view of a lifting body single-motor counter-rotating propeller helicopter according to exemplary embodiment 1 of the present invention.

[0018] Figure 3 Schematic top view of a lifting body single-motor counter-rotating propeller helicopter according to exemplary embodiment 1 of the present invention.

[0019] Figure 4 It is an overall schematic diagram of the deployment of a parachute according to exemplary embodiment 1 of the present invention.

[0020] Figure 5 It is a perspective schematic diagram of the unfolding of a parachute according to the second exemplary embodiment of the present invention.

[0021] Figure 6 Schematic diagram of the internal structure of a double-wing coaxial propeller mechanism according to exemplary embodiment 1 of the present invention.

[0022] Figure 7 Schematic diagram of the overall structure of the double-wing coaxial propeller mechanism according to the third exemplary embodiment of the present invention.

[0023] Figure 8 Schematic top view of counter-rotating propeller blades according to exemplary embodiment three of the present invention.

[0024] Figure 9 It is a side view schematic diagram of the vertical take-off and landing of exemplary embodiment 1 of the present invention.

[0025] Figure 10 FIG. 1 is a schematic diagram of an elevator in a first position according to an exemplary embodiment 1 of the present invention.

[0026] Figure 11FIG. 1 is a schematic diagram of an elevator in a second position according to a first exemplary embodiment of the present invention.

[0027] Figure 12 Schematic diagram of the structure of the propulsion device of exemplary embodiment 1 of the present invention.

[0028] Among them: 1-parachute bag; 2-parachute; 3-interlayer high-pressure airbag; 4-helicopter center axis; 5-heat dissipation capillary for forward-rotating propeller blades; 6-forward-rotating propeller blades; 7-heat dissipation capillary for counter-rotating propeller blades; 8-counter-rotating propeller blades; 9-forward-rotating rotor; 10-counter-rotating stator; 11-counter-rotating stator heat dissipation pipe; 12-forward-rotating rotor heat dissipation pipe; 13-positive power receiving contact of forward-rotating rotor; 14-positive power supply contact ring of forward-rotating rotor; 15-negative power receiving contact of forward-rotating rotor; 16 - Forward rotor negative power contact ring; 17 - Bearing; 18 - Reverse stator positive power receiving contact; 19 - Reverse stator negative power receiving contact; 20 - Reverse stator positive power contact ring; 21 - Reverse stator negative power contact ring; 22 - Servo motor second rotor winding; 23 - Servo motor stator winding; 24 - Servo motor first rotor winding; 25 - Cabin; 26 - Center axis steering joint; 27 - Propulsion device; 28 - Lifting body wing; 29 - Elevator; 30 - Intermediate support point; 32-High-pressure gas cylinder; 33-First inflatable flexible frame; 34-Parachute cable; 35-Positive power supply line; 36-Negative power supply line, 37-Nozzle; 38-Controller; 39-Foldable drooping tail support rod; 40-Ducted fan; 41-Connecting wire; 42-Connecting cable; 43-Telescopic support rod; 44-Hose; 45-First ring; 46-Second ring; 47-Second inflatable bag flexible frame; 48-Ducted fan housing; 49-Ducted Fan bracket; 50-ducted fan motor stator magnet; 51-ducted fan first rotor; 52-ducted fan second rotor; 53-ducted fan first shaft; 54-ducted fan second shaft; 55-ducted fan bearing; 56-ducted fan positive supply ring; 57-ducted fan negative supply ring; 58-ducted fan first blade; 59-ducted fan second blade; 60-stator housing; 61-middle support plate; 62-first power receiving contact; 63-second power receiving contact. DETAILED DESCRIPTION

[0029] The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall inventive concept of the present invention and should not be understood as limiting the present invention. In the present invention, the same reference numerals represent the same or similar components.

[0030] The features described herein can be implemented in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein are provided to illustrate only some of the many possible ways to implement the methods, devices, and / or systems described herein, which will become clear after understanding the disclosure of the present invention.

[0031] Although terms such as "first," "second," and "third" may be used herein to describe various members, components, regions, layers, or sections, these members, components, regions, layers, or sections should not be limited by these terms. Instead, these terms are only used to distinguish one member, component, region, layer, or section from another member, component, region, layer, or section.

[0032] In the specification, when an element (such as a layer, region, or substrate) is described as being “on,” “connected to,” or “coupled to” another element, the element may be directly “on,” “connected to,” or “coupled to” the other element, or one or more other elements may be present therebetween. Conversely, when an element is described as being “directly on,” “directly connected to,” or “directly coupled to” another element, there may be no other elements present therebetween.

[0033] The terms used herein are only used to describe various examples and are not intended to limit the disclosure. Unless the context clearly indicates otherwise, the singular is intended to include the plural. The terms "comprise," "include," and "have" indicate the presence of the recited features, quantities, operations, components, elements, and / or combinations thereof, but do not preclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof.

[0034] In order to enable those skilled in the art to use the contents of the present invention, the following exemplary embodiments may be provided in conjunction with specific application scenarios, specific system, device and component parameters, and specific connection methods. However, for those skilled in the art, these embodiments are only examples, and the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of the present invention.

[0035] According to the first exemplary embodiment of the present invention: Figures 1-4 and Figure 6As shown, a lifting body single-motor counter-rotating propeller helicopter is a vertical body take-off and landing. The vertical body reduces the area occupied by the helicopter take-off and landing site. The lower part of the helicopter central axis 4 of the vertical body helicopter is fixedly installed in the middle section above the cabin 25, and a universal joint 26 is provided at the connection. The inclination angle of the helicopter propeller can be adjusted in the front and rear directions by using the universal joint 26. A parachute launching mechanism is installed on the top of the helicopter central axis 4. The parachute launching mechanism includes a parachute bag 1, which contains a parachute 2. The parachute 2 has an interlayer high-pressure airbag 3 in the interlayer below the parachute 2. The interlayer high-pressure airbag 3 contains high-pressure gas or other materials that can be mixed to produce explosive gas. It is opened by using a trigger mechanism. The parachute 2 is designed with a first inflatable flexible skeleton 33 at the peripheral part of the umbrella canopy. The first inflatable flexible skeleton 33 is connected to a high-pressure gas cylinder 32. The high-pressure gas or other materials that can be mixed to produce explosive gas in the interlayer high-pressure airbag 3 is used to eject the parachute 2. For example, the interlayer high-pressure airbag 3 is filled with high-pressure gas, and the top A nozzle 37 is provided, and the nozzle 37 is in a closed state by default. The nozzle 37 is provided with a controller 38. When receiving a command to eject the parachute 2, the controller 38 controls the nozzle 37 to be turned on, and the high-pressure gas in the interlayer high-pressure airbag 3 will eject the parachute 2. After the parachute 2 is ejected, the high-pressure gas cylinder 32 automatically and quickly inflates the first inflatable flexible skeleton 33 of the parachute 2. For example, the high-pressure gas cylinder 32 is connected to a high-pressure gas cylinder controller (not shown in the figure), and a control mechanism is provided between the high-pressure gas cylinder controller and the interlayer high-pressure airbag 3. When the high-pressure gas cylinder controller and the parachute 2 are ejected together, the high-pressure gas cylinder controller detects that the parachute 2 is in the ejected state through the control mechanism, and automatically triggers the high-pressure gas cylinder 32 to start inflating the first inflatable flexible skeleton 33. The first inflatable flexible skeleton 33 drives the entire canopy to unfold due to inflation, and uses air to allow the parachute 2 to open in the shortest time. The parachute cable 34 of the parachute 2 is connected to the helicopter central axis 4 to pull the parachute 2; like Figures 1-4 and Figure 6As shown, a counter-rotating motor is mounted on the outer periphery of the helicopter's central axis 4 below the parachute pack 1. The counter-rotating motor includes a forward-rotating rotor 9, a counter-rotating stator 10, a servo motor first rotor winding 24, a servo motor second rotor winding 22, and a servo motor stator winding 23. The servo motor first rotor winding 24 is sleeved on the outer periphery of the helicopter's central axis 4. The counter-rotating stator 10 is sleeved on the outer periphery of the servo motor first rotor winding 24, and the forward-rotating rotor 9 is sleeved on the outer periphery of the counter-rotating stator 10. The forward-rotating rotor 9 and the counter-rotating stator 10 are rotatably mounted on the helicopter's central axis 4 using bearings 17. Multiple pairs of forward-rotating propeller blades 6 are mounted on the upper end of the forward-rotating rotor 9, and multiple pairs of counter-rotating propeller blades 8 are mounted on the lower end of the counter-rotating stator 10. Rotation of the forward-rotating rotor 9 drives the forward-rotating propeller blades 6 to rotate. There are positive power receiving contact 13 of the forward rotor and negative power receiving contact 15 of the forward rotor at the inner side of the forward rotor 9 where it contacts the helicopter central axis 4. Positive power supply contact ring 14 of the forward rotor and negative power supply contact ring 16 of the forward rotor are installed on the helicopter central axis 4 corresponding to the positive power receiving contact 13 of the forward rotor and the negative power receiving contact 15 of the forward rotor. The positive power receiving contact 13 of the forward rotor abuts against the positive power supply contact ring 14 of the forward rotor central axis, and the negative power receiving contact 15 of the forward rotor abuts against the negative power supply contact ring 16 of the forward rotor. The helicopter central axis 4 is a hollow cylindrical structure with the internal space serving as a line channel. The positive power supply contact ring 14 of the forward rotor and the negative power supply contact ring 16 of the forward rotor are connected to the power supply and control system via the positive power supply line 35 and the negative power supply line 36 of the line channel inside the helicopter central axis 4.

[0036] The counter-rotating rotor 9 of the counter-rotating motor houses a counter-rotating stator 10. Counter-rotating stator 10 rotates in the opposite direction, driving counter-rotating propeller blades 8 in the opposite direction. Inside counter-rotating stator 10, where it contacts helicopter shaft 4, are counter-rotating stator positive power receiving contacts 18 and counter-rotating stator negative power receiving contacts 19. Corresponding to counter-rotating stator positive power receiving contacts 18 and counter-rotating stator negative power receiving contacts 19, counter-rotating stator positive power supply contact rings 20 and counter-rotating stator negative power supply contact rings 21 are mounted on helicopter shaft 4. The counter-rotating stator positive power receiving contacts 18 abut against the counter-rotating stator shaft positive power supply contact ring 20, while the counter-rotating stator negative power receiving contacts 19 abut against the counter-rotating stator shaft negative power supply contact ring 21. The counter-rotating stator shaft positive power supply contact rings 20 and counter-rotating stator shaft negative power supply contact rings 21 are connected to a power supply and control system via positive power supply lines 35 and negative power supply lines 36 within the circuit channel inside helicopter shaft 4.

[0037] There is a servo motor outer rotor winding 23 inside the reversing stator 10, and a servo motor first stator winding 24 is fixedly installed on the helicopter central axis 4. When the helicopter is started, the servo motor second rotor winding 22 and the servo motor stator winding 23 are energized. At this time, the servo motor second rotor winding 22 and the servo motor stator winding 23 interact with each other to push the forward rotor 9 to rotate forward and the reversing stator 10 to rotate reversely. During the flight of the helicopter, when the direction of the helicopter needs to be adjusted, the servo motor first rotor winding 24 is energized. At this time, the servo motor first rotor winding 24 and the servo motor stator winding 23 interact with each other to push the helicopter central axis 4 and the reversing stator 10 to rotate in opposite directions. The rotational power provided by the servo motor first rotor winding 24 is opposite to the rotation direction of the rotating reversing stator 10. At this time, the helicopter central axis 4 will rotate under thrust, thereby driving the rotation of the entire fuselage to achieve the adjustment of the direction of the helicopter.

[0038] The counter-rotating motor can also use the principle of axial flux motor to install several stators rotating in the forward direction and corresponding several rotors rotating in the reverse direction, which can be used for the power needs of large helicopters.

[0039] An independent cooling system is designed for the parts inside the casing of the forward-rotating rotor 9 that are prone to high temperatures: a forward-rotating rotor heat dissipation pipe 12, which is arranged inside the second rotor winding 22 of the servo motor for heat exchange; a forward-rotating propeller blade heat dissipation capillary 5 is designed inside the blades of the forward-rotating propeller 6, and the forward-rotating rotor cooling system channel 12 is connected to the forward-rotating propeller cooling capillary channel 5 through a hose, and the interior is filled with a medium with a high thermal conductivity coefficient. The high-speed rotating forward-rotating propeller blades 6 are used for convection heat exchange with the air to dissipate heat inside the forward-rotating rotor 9.

[0040] An independent cooling system is designed for the parts of the winding of the inverting stator 10 that are prone to high temperatures: an inverting stator heat dissipation pipe 11, which is arranged inside the stator winding 23 of the servo motor for heat exchange; an inverting propeller blade heat dissipation capillary 7 is designed inside the inverting propeller blade 8 below the inverting stator 10, and the inverting stator heat dissipation pipe 11 is connected to the inverting propeller blade heat dissipation capillary 7 through a hose, and the inside is filled with a medium with a high thermal conductivity coefficient. The high-speed rotating inverting propeller blade 8 is used for heat convection exchange with the air to dissipate heat inside the inverting stator 10.

[0041] The lower portion of the helicopter's central axis 4 is mounted to the upper middle section of the cabin 25 via a universal joint 26. The universal joint 26 allows for forward and backward angle adjustment, allowing the helicopter's central axis 4 to tilt forward and drive the forward-rotating propeller blades 6 and the counter-rotating propeller blades 8 for forward flight or vertical takeoff and landing, utilizing the propeller thrust to achieve high-speed propulsion. Lifting body wings 28 are provided on either side of the lower portion of the cabin 25, integrally connected to the cabin 25. Lifting body wings 28 utilize forward airflow and propeller-generated airflow to generate lift. Foldable drooping tail support rods 39 are provided at each end of the central portion of the lifting body wings 28. Exemplarily, the foldable drooping tail support rods 39 are foldable and can be folded to function as a lower drooping tail, increasing the lift area. During flight, the foldable drooping tail support rods 39 are retracted to function as a lower drooping tail. When the helicopter is landing, the foldable drooping tail support rods 39 are deployed to serve as one of the support points for takeoff and landing. A lifting and lowering adjustment mechanism is provided at the tail of the cabin 25. The lifting and lowering adjustment mechanism includes two elevators 29, which are respectively provided on both sides of the tail of the cabin 25. The elevators 29 are sheet-like structures and are hinged to the wings 28. They can be used to swing up and down to adjust the flight altitude of the helicopter. They are connected to a first control motor, and the first control motor controls the elevators 29 to swing upward relative to the tail of the cabin 25.

[0042] An intermediate support point 30 is provided in the middle of the tail of the cabin 25. For example, the intermediate support point 30 can be a circular column or a square column. As one of the support points for helicopter takeoff and landing, it forms a three-point support together with the foldable drooping tail support rod 39. Of course, two intermediate support points 30 can also be provided, distributed at both ends of the tail of the cabin 25, forming a four-point support together with the foldable drooping tail support rod 39.

[0043] According to the second exemplary embodiment of the present invention, Figure 5 As shown, the ribs of the parachute 2 are the second inflatable bag type flexible skeleton 47, which is connected to the first inflatable bag type flexible skeleton 33, and then connected to the high-pressure gas cylinder 32. The inflation of the high-pressure gas cylinder 32 causes the second inflatable bag type flexible skeleton 47 and the first inflatable flexible skeleton 33 to expand, driving the entire parachute to unfold quickly.

[0044] According to the third exemplary embodiment of the present invention, Figure 7 and Figure 8As shown, in order to meet the demand for large loads, the reversing propeller blades 8 are flexible and foldable fan-shaped blades with an umbrella-shaped frame, and a ducted fan 40 is provided at the outer edge. The ducted fan 40 is installed on the reversing propeller blades 8. The reaction force of the ducted fan 40 blows the air to drive the reversing propeller blades 8 to rotate, and the airflow ejected by the ducted fan is sprayed on the bottom surface of the corresponding fan-shaped blade to generate ground effect force, thereby generating cushion lift for the following fan-shaped blades and providing lift for the helicopter. Multiple reversing propeller blades 8 are connected by connecting lines 41 to strengthen the strength of the umbrella-shaped frame and maintain the angle of the fan-shaped blades. A first ring 45 and a second ring 46 are provided on the helicopter central axis 4. There is a fastening structure on the circumference of the helicopter central axis 4, which cooperates with the first ring 45 and the second ring 46. The first ring 45 is connected to one end of a telescopic support rod 43, and the other end of the telescopic support rod 43 is connected to the middle part of the reversing propeller umbrella-shaped frame blade 8 to support the reversing propeller blades 8 to be expanded and folded. After the telescopic support rod 43 is retracted, the reversing propeller blade 8 can be folded to a position parallel to the axial direction of the helicopter's central axis 4, and can even be placed inside the fuselage. After the telescopic support rod 43 is unfolded, it plays a role in supporting the reversing propeller blade 8. The second ring 46 is connected to one end of the connecting cable 42, and the other end of the connecting cable 42 is connected to the outer edge of the reversing propeller blade 8, which is used to strengthen the upper and lower strength of the umbrella-shaped skeleton and maintain the fan-shaped blade angle. The connecting cable 41, the telescopic support rod 43 and the connecting cable 42 work together to prevent the reversing propeller blade 8 from twisting and deforming due to excessive lift and the upper and lower angle deformation.

[0045] like Figure 9 and 12As shown, the propulsion device 27 is a ducted fan structure with a common stator and a dual-rotor motor, and the direction of its propulsion force is parallel to the elevator 29. The propulsion device 27 includes a ducted fan casing 48 with an annular structure, which is fixedly mounted on the elevator 29. There is a common stator and a dual-rotor counter-rotating motor installed using a ducted fan bracket 49 therein. The two ends of the common stator and the dual-rotor counter-rotating motor are provided with a ducted fan first blade 58 and a ducted fan second blade 59. The first ducted fan blade 58 and the second ducted fan blade 59 have opposite directions. The common stator and the dual-rotor counter-rotating motor includes a stator assembly and two identical rotor assemblies, which are a ducted fan first rotor 51 and a ducted fan second rotor 52, which are symmetrically arranged at both ends inside the stator assembly. The stator assembly includes a ducted fan motor stator magnet 50, which is a permanent magnet. The ducted fan motor stator magnet 50 is distributed on the inside of the stator assembly. The ducted fan first rotor 51 and the ducted fan second rotor 52 at both ends of the stator have the same phase arrangement and opposite line electrodes. When the windings of the two rotors are energized, the armature magnetomotive force generated in the corresponding two air gaps has the same speed and opposite direction, so as to drive the two rotor assemblies to rotate in opposite directions at the same speed. The common stator dual-rotor counter-rotating motor has the advantages of lightweight and high power density. It can output two torques with opposite directions and equal amplitudes and is easy to install.

[0046] The common stator dual-rotor counter-rotating motor includes a stator housing 60, a ducted fan first rotor 51, a ducted fan second rotor 52, an intermediate support disk 61, ducted fan bearings 55 and intermediate bearings at both ends of the stator housing. The inner end of the ducted fan first rotor 51 is mounted on the intermediate support disk 61 using an intermediate bearing. The central axis is a tubular structure, including a ducted fan first shaft 53 and a ducted fan second shaft 54, and the interior is a hollow structure. The outer end of the ducted fan first shaft 53 is mounted on the stator housing 60 using a ducted fan bearing 55. The outer end of the central axis of the ducted fan first rotor 51 is equipped with a ducted fan first blade 58, and the inner side of the intermediate support disk is provided with a ducted fan positive supply ring 56 and a ducted fan negative supply ring 57. The positive and negative power supply contact rings are connected to the power supply and controller, and the corresponding ducted fan first rotor 51 has a first power receiving contact 62, which is connected to the winding of the ducted fan first rotor 51. The inner end of the central axis of the second rotor 52 of the ducted fan is mounted on the intermediate support disk 61 by means of an intermediate bearing, and the outer end of the central axis is mounted on the stator housing 60 by means of a ducted fan bearing 55; the outer end of the central axis of the second rotor 52 of the ducted fan is mounted with the second blade 59 of the ducted fan, and the inner side of the intermediate support disk 61 is provided with a ducted fan positive supply ring 56 and a ducted fan negative supply ring 57, and the positive and negative power supply contact rings are connected to the power supply and the controller, and the corresponding second rotor 52 of the ducted fan has a second power receiving contact 63, and the second power receiving contact 63 is connected to the winding of the second rotor 52 of the ducted fan. The co-stator dual-rotor counter-rotating motor is mounted on the ducted fan housing 48 using a ducted fan bracket 49. The ducted fan housing 48 is integrated with the elevator 29. The elevator 29 uses a control mechanism to precisely control the angle of the elevator 29 and position and lock it. The propulsion device 27 rotates up and down with the elevator and works together with the elevator to control the helicopter's vertical height and generate high-speed forward propulsion for the helicopter. The different rotation speeds of the co-stator counter-rotating motors of the propulsion devices 27 on the elevators 29 on both sides of the helicopter can also be used to achieve left and right directional control of the helicopter: like Figure 1 and Figure 11 As shown, in the first position, the elevator 29 moves to below the tail of the cabin 25, and the propulsion device 27 generates a downward thrust to adjust the cabin 25 to move to a horizontal direction; like Figure 1 and Figure 10 As shown, in the second position, the elevator 29 moves to the upper and lower parts of the tail of the cabin 25, and the propulsion device 27 generates an upward thrust to adjust the cabin 25 to move to a downward tilt direction to facilitate vertical landing.

[0047] Working principle: When the helicopter takes off and lands vertically, the two foldable support bodies 39 are unfolded and the middle support point 30 forms three support points for supporting the helicopter body. By adjusting the universal joint 26, the upward lift generated by the rotation of the forward-rotating propeller blades 6 and the reverse-rotating propeller blades 8 is generated, so that the helicopter takes off vertically; after the helicopter takes off vertically, the two foldable support rod bodies 39 are folded up on both sides of the wing for the vertical tail function, and the cabin 25 is lifted to the horizontal direction of the body by adjusting the universal joint 26 and the downward thrust of the propeller 27, so that the forward-rotating propeller blades 6 and the reverse-rotating propeller blades 8 are adjusted to the forward tilt angle, and the helicopter is controlled to fly forward, and then the lift generated by the forward movement of the lifting body wing 28 is used to fly, and the appropriate position of the elevator 29 is adjusted at the same time, and the propulsion device 27 works to provide the helicopter with forward power; the helicopter is adjusted to the left and right directions by adjusting the different rotation speeds of the propellers on both sides. When the helicopter lands vertically, Figure 9 As shown, the elevator 29 is adjusted to an upward position relative to the fuselage, and the downward thrust generated by the propeller 27 is used to press the cabin 25 down to a downward tilt direction. The two foldable vertical tail support rod bodies 39 are unfolded to form three fulcrums with the middle support point 30 to support the helicopter landing.

[0048] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes may be made to the embodiments and combinations of elements may be made without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A lifting body single-motor counter-rotating propeller helicopter, characterized by: The invention comprises a double-wing co-motor shaft propeller mechanism, the double-wing co-motor shaft propeller mechanism comprises a helicopter center shaft (4), a parachute launching mechanism is arranged above the helicopter center shaft (4), a universal joint (26) is arranged at the lower part of the helicopter center shaft (4), the universal joint (26) is fixedly connected to the cabin (25), lifting body wings (28) are arranged at the lower parts of both sides of the cabin (25), and a lifting adjustment mechanism is arranged at the tail; The helicopter center shaft (4) is a cylindrical structure with a hollow interior, and is provided with a positive power supply line (35) and a negative power supply line (36) therein. A counter-rotating motor is provided on the outer periphery. The counter-rotating motor includes a servo motor first rotor winding (24) sleeved on the outer periphery of the helicopter center shaft (4). A counter-rotating stator (10) is sleeved on the outer periphery of the servo motor first rotor winding (24), and a forward rotor (9) is sleeved on the outer periphery of the counter-rotating stator (10); the counter-rotating stator (10) is provided with a servo motor stator winding (23); and the inner ring of the forward rotor (9) is provided with a servo motor second rotor winding (22); The upper end of the forward-rotating rotor (9) is provided with a forward-rotating propeller blade (6); the lower end of the reverse-rotating stator (10) is provided with a reverse-rotating propeller blade (8), and the forward-rotating propeller blade (6) and the reverse-rotating propeller blade (8) rotate in opposite directions; The parachute launching mechanism comprises a parachute bag (1), wherein a parachute (2) and an interlayer high-pressure airbag (3) are arranged inside the parachute bag (1), wherein the interlayer high-pressure airbag (3) is arranged directly below the parachute (2), and is triggered by a trigger mechanism controller. The lower end of the deployed parachute bag (1) is fixed to the central axis (4) of the helicopter via a parachute cable (34), and a first inflatable flexible skeleton (33) is arranged at the peripheral portion of the canopy of the parachute (2), the first inflatable flexible skeleton (33) is connected to a high-pressure gas cylinder (32), and the high-pressure gas cylinder (32) is connected to a control mechanism; The lift adjustment mechanism includes an elevator (29), and a propulsion device (27) is provided on the elevator (29). The propulsion device (27) is a ducted fan structure with a common stator and a dual-rotor motor. The propulsion device (27) includes a ducted fan housing (48), and the ducted fan housing (48) is fixedly installed with the elevator (29). The elevator (29) is connected to a first control motor, and the first control motor controls the elevator (29) to swing up and down relative to the tail of the cabin (25), and move between a first position and a second position: In the first position, the elevator (29) moves to the lower part of the tail of the cabin (25), and the propulsion device (27) generates a downward thrust to adjust the cabin (25) to a horizontal direction; In the second position, the elevator (29) moves to above the tail of the cabin (25), and the propulsion device (27) generates an upward thrust to adjust the cabin (25) to move to a downward tilt direction to facilitate vertical landing.

2. The lifting body single-motor counter-rotating propeller helicopter according to claim 1, characterized in that: A reversing stator heat dissipation pipe (11) is provided inside the servo motor stator winding (23), a reversing propeller blade heat dissipation capillary (7) is provided inside the reversing propeller blade (8), and the reversing stator heat dissipation pipe (11) and the reversing propeller blade heat dissipation capillary (7) are connected through a hose.

3. The lifting body single-motor counter-rotating propeller helicopter according to claim 2, characterized in that: A forward-rotating rotor heat dissipation pipe (12) is provided inside the second rotor winding (22) of the servo motor, a forward-rotating propeller blade heat dissipation capillary (5) is provided inside the forward-rotating propeller blade (6), and the forward-rotating rotor heat dissipation pipe (12) and the forward-rotating propeller blade heat dissipation capillary (5) are connected through a hose.

4. The lifting body single-motor counter-rotating propeller helicopter according to claim 3, characterized in that: The counter-rotating stator (10) and the forward-rotating rotor (9) are rotatably connected to the helicopter center shaft (4) via bearings (17).

5. The lifting body single-motor counter-rotating propeller helicopter according to claim 4, characterized in that: The inner circumference of the reversing stator (10) is provided with a reversing stator positive pole power receiving contact (18) and a reversing stator negative pole power receiving contact (19), and the outer circumference of the corresponding helicopter center axis (4) is provided with a reversing stator positive pole power supply contact ring (20) and a reversing stator negative pole power supply contact ring (21). The reversing stator positive pole power receiving contact (18) abuts against the reversing stator positive pole power supply contact ring (20), and the reversing stator negative pole power receiving contact (19) abuts against the reversing stator negative pole power supply contact ring (21). The reversing stator positive pole power supply contact ring (20) and the reversing stator negative pole power supply contact ring (21) are connected to a power supply and a control system through a positive pole power supply line (35) and a negative pole power supply line (36).

6. The lifting body single-motor counter-rotating propeller helicopter according to claim 5, characterized in that: A positive rotor positive pole power receiving contact (13) and a positive rotor negative pole power receiving contact (15) are provided on the inner circumference of the positive rotor (9), and a positive rotor positive pole power supply contact ring (14) and a positive rotor negative pole power supply contact ring (16) are provided on the outer circumference of the corresponding helicopter center shaft (4). The positive rotor positive pole power receiving contact (13) abuts against the positive rotor positive pole power supply contact ring (14), and the negative rotor negative pole power receiving contact (15) abuts against the positive rotor negative pole power supply contact ring (16). The positive rotor positive pole power supply contact ring (14) and the negative rotor negative pole power supply contact ring (16) are connected to a power supply and a control system through a positive pole power supply line (35) and a negative pole power supply line (36).

7. The lifting body single-motor counter-rotating propeller helicopter according to claim 6, characterized in that: The interlayer high-pressure airbag (3) is filled with high-pressure gas, and a nozzle (37) is provided on the top. The nozzle (37) is provided with a trigger controller (38). The trigger controller (38) controls the nozzle (37) to be turned on, and the high-pressure gas pops out the parachute (2). The parachute (2) has a second inflatable bag-type flexible skeleton (47) as the rib. The second inflatable bag-type flexible skeleton (47) is connected to the first inflatable bag-type flexible skeleton (33), and further connected to the high-pressure gas cylinder (32).

8. The lifting body single-motor counter-rotating propeller helicopter according to claim 7, characterized in that: Foldable drooping tail support rods (39) are respectively provided at both ends of the middle part of the lifting body wing (28), and there is a support point in the middle of the elevators (29) on both sides of the tail of the lifting body wing (28), which form three fulcrums with the foldable drooping tail support rods (39) to support the vertical take-off and landing of the helicopter.

9. The lifting body single-motor counter-rotating propeller helicopter according to claim 8, characterized in that: The reversing propeller blades (8) are flexible and foldable fan-shaped blades of an umbrella-shaped frame, and a ducted fan (40) is provided at the outer edge of the reversing propeller blades (8). Multiple pairs of reversing propeller blades (8) are connected by connecting wires (41) for strengthening the strength of the umbrella-shaped frame and maintaining the angle of the fan-shaped blades. A first ring (45) and a second ring (46) are sleeved on the helicopter center axis (4). The first ring (45) is connected to one end of a telescopic support rod (43), and the other end of the telescopic support rod (43) is connected to the middle part of the reversing propeller blades (8) to support the reversing propeller blades (8) to be opened and folded. The second ring (46) is connected to one end of a connecting wire (42), and the other end of the connecting wire (42) is connected to the outer edge of the fan-shaped blades (8) of the reversing propeller umbrella-shaped frame to strengthen the upper and lower strength of the umbrella-shaped frame and maintain the angle of the fan-shaped blades.

10. The lifting body single-motor counter-rotating propeller helicopter according to claim 9, characterized in that: The propulsion device (27) includes a co-stator dual-rotor counter-rotating motor installed using a ducted fan bracket (49). The co-stator dual-rotor counter-rotating motor has a ducted fan first blade (58) and a ducted fan second blade (59) at both ends. The first ducted fan blade (58) and the second ducted fan blade (59) rotate in opposite directions. The co-stator dual-rotor counter-rotating motor includes a stator assembly and two identical rotor assemblies. The two rotor assemblies are a ducted fan first rotor (51) and a ducted fan second rotor (52), which are symmetrically arranged at both ends inside the stator assembly. The stator assembly includes a ducted fan motor stator magnet (50). The ducted fan motor stator magnet (50) is distributed inside the stator assembly. The ducted fan first rotor (51) and the ducted fan second rotor (52) at both ends inside the stator have the same phase arrangement mode and opposite line electrodes. When the windings of the two rotors are energized, the armature magnetomotive force generated in the corresponding two air gaps rotates at the same speed and in opposite directions, so as to drive the two rotor assemblies to rotate in opposite directions at the same speed.

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