Inner ring rotor constant speed type multi-rotor aircraft

Abstract

An inner ring rotor constant speed type multi-rotor aircraft is characterized in that an undercarriage is connected below a fuselage, a right front middle rotor and a right front end rotor are sequentially connected to the middle section and the front end of a right front arm, a left front middle rotor and a left front end rotor are sequentially connected to the middle section and the front end of a left front arm, and a right rear middle rotor and a right rear end rotor are sequentially connected to the middle section and the rear end of a right rear arm; the left rear middle rotor and the left rear end rotor are sequentially connected to the middle section and the rear end of the left rear arm; the right front middle rotor wing, the left front middle rotor wing, the right rear middle rotor wing and the left rear middle rotor wing form an inner ring rotor wing, the right front end rotor wing, the left front end rotor wing, the right rear end rotor wing and the left rear end rotor wing form an outer ring rotor wing, lifting, pitching, rolling and heading are controlled in a combined mode through lifting force changes of the outer ring rotor wing, and the inner ring rotor wing only controls lifting and heading and does not control pitching and rolling; the lift force change frequency of the inner ring rotor wings is reduced, the efficiency of the corresponding driving motors is improved, and the vertical lifting flight platform has the advantages of long endurance time and high wind resistance and becomes a universal vertical lifting flight platform.

Description

TECHNICAL FIELD

[0001] The present application relates to a multi-rotor aircraft, in particular, the lift of the inner ring rotor remains original state in the process of the lift of the outer ring rotor manipulating the roll and the pitch of the aircraft. BACKGROUND

[0002] The currently known multi-rotor aircraft, such as quad-rotor aircraft, uses the lift differential of the front two rotors and the rear two rotors to manipulate the pitch, the lift differential of the right two rotors and the left two rotors to manipulate the roll, and the lift differential of the two rotors of one diagonal and the two rotors of another diagonal to cause the differential manipulation of the heading of the anti-torque, which has the advantages of simple structure, but in the process of manipulating the lift, the pitch, the roll and the heading of the aircraft, each rotor needs to change the rotation speed to meet the corresponding lift change requirement, the corresponding drive motor of each rotor changes the speed frequently, the frequent speed change of the motor causes large power loss, reduces the flight efficiency of the aircraft, and shortens the endurance time. SUMMARY

[0003] In order to solve the problems of the frequent lift change of the rotor of the existing multi-rotor aircraft, the frequent speed change of the corresponding drive motor of the rotor, and the large power loss of the motor, the present application provides an inner ring rotor constant speed type multi-rotor aircraft, in the process of the lift of the outer ring rotor manipulating the roll and the pitch of the aircraft, the lift of the inner ring rotor remains original state, the rotation speed of the corresponding drive motor of the inner ring rotor remains original state, reduces the speed change power loss of the corresponding drive motor of the inner ring rotor, improves the overall flight efficiency of the aircraft, and prolongs the endurance time.

[0004] The technical scheme adopted by the present application to solve its technical problems is that the fuselage is connected with the landing gear, the right front edge of the fuselage is connected with the right front arm in front-swept ground, the right front middle motor mounting seat, the right front middle motor and the right front middle rotor are sequentially connected in the middle segment of the right front arm, the lift of the right front middle rotor is vertically upward, the right front end motor mounting seat, the right front end motor and the right front end rotor are sequentially connected in the front end of the right front arm, and the lift of the right front end rotor is vertically upward.

[0005] The left front edge of the fuselage is connected with the left front arm in front-swept ground, the left front middle motor mounting seat, the left front middle motor and the left front middle rotor are sequentially connected in the middle segment of the left front arm, the lift of the left front middle rotor is vertically upward, the left front end motor mounting seat, the left front end motor and the left front end rotor are sequentially connected in the front end of the left front arm, and the lift of the left front end rotor is vertically upward.

[0006] The fuselage right rear is connected with the right rear arm by sweepback, the right rear middle motor mounting seat, the right rear middle motor and the right rear middle rotor are sequentially connected in the middle section of the right rear arm, the lift of the right rear middle rotor is vertically upward, the right rear end motor mounting seat, the right rear end motor and the right rear end rotor are sequentially connected in the rear end of the right rear arm, the lift of the right rear end rotor is vertically upward.

[0007] The fuselage left rear is connected with the left rear arm by sweepback, the left rear middle motor mounting seat, the left rear middle motor and the left rear middle rotor are sequentially connected in the middle section of the left rear arm, the lift of the left rear middle rotor is vertically upward, the left rear end motor mounting seat, the left rear end motor and the left rear end rotor are sequentially connected in the rear end of the left rear arm, the lift of the left rear end rotor is vertically upward.

[0008] The projection of the connecting line of the rotation centers of the four inner ring rotors, i.e. the right front middle rotor, the left front middle rotor, the right rear middle rotor and the left rear middle rotor, on the horizontal plane is a square or a rectangle; the center of the square or the center of the rectangle overlaps with the projection of the center of gravity of the aircraft on the horizontal plane.

[0009] The projection of the connecting line of the rotation centers of the four outer ring rotors, i.e. the right front end rotor, the left front end rotor, the right rear end rotor and the left rear end rotor, on the horizontal plane is a square or a rectangle; the center of the square or the center of the rectangle overlaps with the projection of the center of gravity of the aircraft on the horizontal plane.

[0010] The right front middle rotor, the left front middle rotor, the right rear middle rotor and the left rear middle rotor have the same size and the same parameters of the corresponding driving motors.

[0011] The right front end rotor, the left front end rotor, the right rear end rotor and the left rear end rotor have the same size and the same parameters of the corresponding driving motors.

[0012] The size and the parameters of the driving motor of the right front middle rotor are greater than or equal to the size and the parameters of the driving motor of the right front end rotor.

[0013] When the throttle is the same, the lift of the right front middle rotor, the left front middle rotor, the right rear middle rotor and the left rear middle rotor is the same, the counter torques cancel each other out, the lift of the right front end rotor, the left front end rotor, the right rear end rotor and the left rear end rotor is the same, the counter torques cancel each other out, the lift of the right front middle rotor is greater than or equal to the lift of the right front end rotor, the right front middle rotor, the left front middle rotor, the right rear middle rotor and the left rear middle rotor provide half or more than half of the lift required by the aircraft.

[0014] The right front middle rotor, the left rear middle rotor, the right front end rotor and the left rear end rotor are set to rotate counterclockwise.

[0015] The left front middle rotor, the right rear middle rotor, the left front end rotor and the right rear end rotor are set to rotate clockwise.

[0016] The system consists of eight electronic speed controllers (ESCs) connected to eight motors, and a flight controller connected to the eight ESCs. The flight controller controls the output voltage of the ESCs to change the motor speed, which in turn changes the lift of the rotor, thus controlling the attitude of the aircraft. This constitutes an inner-ring rotor constant-speed multi-rotor aircraft.

[0017] The lift linkage between the right front center rotor, left front center rotor, right rear center rotor, left rear center rotor, right front rotor, left front rotor, right rear rotor, and left rear rotor controls the take-off and landing of the aircraft.

[0018] The anti-torque differential generated by the lift differential of the right front center rotor, left rear center rotor, right front rotor, left rear rotor, and left front center rotor, right rear center rotor, left front rotor, and right rear rotor controls the heading of the aircraft; that is, the anti-torque differential generated by the lift differential of the four rotors with the same direction and the other four rotors with opposite directions controls the heading.

[0019] The lift differential of the right front rotor, right rear rotor, left front rotor, and left rear rotor controls the roll of the aircraft.

[0020] The lift differential of the right front rotor, left front rotor, right rear rotor, and left rear rotor controls the pitch of the aircraft.

[0021] The technical solution of this invention controls the roll and pitch of an aircraft by combining lift variations of the right front rotor, right rear rotor, left front rotor, and left rear rotor; controls the yaw of an aircraft by generating anti-torque differential lift variations of the right front-middle rotor, left rear-middle rotor, right front rotor, left rear rotor, and left front-middle rotor, right rear-middle rotor, left front rotor, and right rear rotor; the right front-middle rotor, left front-middle rotor, right rear-middle rotor, and left rear-middle rotor do not participate in controlling the roll and pitch of the aircraft, but the aircraft is controlled by combining lift variations of the right front rotor, right rear rotor, left front rotor, and left rear rotor. During the roll and pitch of the aircraft, the lift of the right front center rotor, left front center rotor, right rear center rotor, and left rear center rotor remains unchanged, and the corresponding drive motors remain constant. The drive motors of the right front rotor, right rear rotor, left front rotor, and left rear rotor, which provide half or less of the lift required by the aircraft, change speed more frequently, while the drive motors of the right front center rotor, left front center rotor, right rear center rotor, and left rear center rotor, which provide more than half of the lift required by the aircraft, change speed less frequently. This improves the overall efficiency of the rotor drive motors of the aircraft and extends the flight time.

[0022] Because the drive motors of the right front center rotor, left front center rotor, right rear center rotor, and left rear center rotor have a relatively low frequency of speed changes, the diameters of the right front center rotor, left front center rotor, right rear center rotor, and left rear center rotor can be larger, and the drive motors can be replaced by fuel engines to form a hybrid electric drive, further improving the driving range.

[0023] The right front rotor, right rear rotor, left front rotor, and left rear rotor have longer lever arms and generate greater torque, thus improving the sensitivity of the aircraft's roll and pitch control and enhancing its wind resistance.

[0024] Similar to conventional multirotor aircraft, the use of universal folding components on the arms reduces the space occupied by the inner-ring constant-speed multirotor aircraft during storage.

[0025] The inner-ring constant-speed multi-rotor aircraft has the advantages of long endurance and strong wind resistance, and has become a new type of general-purpose vertical take-off and landing flight platform, which can be used in fields such as passenger and cargo transportation, agricultural operations, forestry operations, surveying, and exploration. Attached Figure Description

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0027] Figure 1 This is a perspective view of the inner-ring rotor constant-speed multirotor aircraft according to the first embodiment of the present invention.

[0028] Figure 2 This is a top view of the inner-ring rotor constant-speed multirotor aircraft of the first embodiment of the present invention.

[0029] Figure 3 This is a schematic diagram of the rotor rotation direction of the inner-ring constant-speed multi-rotor aircraft according to the second embodiment of the present invention.

[0030] Figure 4 This is a schematic diagram of the rotor rotation direction of the inner-ring constant-speed multi-rotor aircraft according to the third embodiment of the present invention.

[0031] Figure 5 This is a schematic diagram of the rotor rotation direction of the inner-ring constant-speed multi-rotor aircraft according to the fourth embodiment of the present invention.

[0032] Figure 6 This is a perspective view of the inner-ring rotor constant-speed multirotor aircraft according to the fifth embodiment of the present invention.

[0033] Figure 7 This is a perspective view of the inner ring rotor constant speed multirotor aircraft according to the sixth embodiment of the present invention.

[0034] Figure 8This is a schematic diagram of the arm folding of the inner ring rotor constant speed multirotor aircraft of the present invention.

[0035] In the diagram: 1. Right front rotor, 2. Left rear rotor, 3. Left front rotor, 4. Right rear rotor, 5. Right front-middle rotor, 6. Left rear-middle rotor, 7. Left front-middle rotor, 8. Right rear-middle rotor, 9. Landing gear, 10. Fuselage, 11. Right front motor, 12. Left rear motor, 13. Left front motor, 14. Right rear motor, 15. Right front-middle motor, 16. Left rear-middle motor, 17. Left front-middle motor, 18. Right rear-middle motor, 21. Right front motor mount, 22. Left rear motor mount, 23. Left front motor mount, 24. Right rear motor mount, 25. Right front-middle motor mount, 26. Left rear-middle motor mount, 27. Left front-middle motor mount, 28. Right rear-middle motor mount. 31. Right front arm, 32. Left rear arm, 33. Left front arm, 34. Right rear arm, 41. Right front quick-release folding component, 42. Left rear quick-release folding component, 43. Left front quick-release folding component, 44. Right rear quick-release folding component, 51. Projection line on the horizontal plane of the line connecting the rotation centers of the right front center rotor, left front center rotor, right rear center rotor, and left rear center rotor, 52. Projection line on the horizontal plane of the line connecting the rotation centers of the right front rotor, left front rotor, right rear rotor, and left rear rotor, N. Rotor rotates counterclockwise, S. Rotor rotates clockwise, P. Center of gravity of the aircraft. Implementation

[0036] Figure 1 This is a perspective view of the inner-ring rotor constant-speed multirotor aircraft according to the first embodiment of the present invention.

[0037] Figure 1 See also Figure 2 The fuselage 10 is connected to the landing gear 9.

[0038] The fuselage 10 is connected to the right front arm 31 by sweeping forward on the right front side. The right front middle motor mounting base 25 is connected to the middle section of the right front arm 31. The right front middle motor 15 is connected to the right front middle motor mounting base 25, and the right front middle rotor 5 is connected to the right front middle motor 15. The right front middle rotor 5 is above the right front arm 31, and the lift of the right front middle rotor 5 is vertically upward. The right front motor mounting base 21 is connected to the front end of the right front arm 31. The right front motor 11 is connected to the right front motor mounting base 21, and the right front rotor 1 is connected to the right front motor 11. The right front rotor 1 is above the right front arm 31, and the lift of the right front rotor 1 is vertically upward.

[0039] The fuselage 10 is connected to the left front arm 33 by sweeping forward on the left front side. The left front middle motor mounting base 27 is connected to the upper middle section of the left front arm 33. The left front middle motor 17 is connected to the left front middle motor mounting base 27, and the left front middle rotor 7 is connected to the left front middle motor 17. The left front middle rotor 7 is above the left front arm 33, and the lift of the left front middle rotor 7 is vertically upward. The left front motor mounting base 23 is connected to the upper front end of the left front arm 33. The left front motor 13 is connected to the left front motor mounting base 23, and the left front rotor 3 is connected to the left front motor 13. The left front rotor 3 is above the left front arm 33, and the lift of the left front rotor 3 is vertically upward.

[0040] The fuselage 10 is connected to the right rear arm 34 by a sweeping motion at the right rear. The right rear center motor mount 28 is connected to the upper middle section of the right rear arm 34. The right rear center motor 18 is connected to the right rear center motor mount 28. The right rear center rotor 8 is connected to the right rear center motor 18. The right rear center rotor 8 is above the right rear arm 34, and the lift of the right rear center rotor 8 is vertically upward. The right rear end motor mount 24 is connected to the upper rear end of the right rear arm 34. The right rear end motor 14 is connected to the right rear end motor mount 24. The right rear end rotor 4 is connected to the right rear end motor 14. The right rear end rotor 4 is above the right rear arm 34, and the lift of the right rear end rotor 4 is vertically upward.

[0041] The fuselage 10 is connected to the left rear arm 32 by a sweeping motion on the left rear side. The left rear middle motor mounting base 26 is connected to the upper middle section of the left rear arm 32. The left rear middle motor 16 is connected to the left rear middle motor mounting base 26. The left rear middle rotor 6 is connected to the left rear middle motor 16. The left rear middle rotor 6 is above the left rear arm 32. The lift of the left rear middle rotor 6 is vertically upward. The left rear end motor mounting base 22 is connected to the upper rear end of the left rear arm 32. The left rear end motor 12 is connected to the left rear end motor mounting base 22. The left rear end rotor 2 is connected to the left rear end motor 12. The left rear end rotor 2 is above the left rear arm 32. The lift of the left rear end rotor 2 is vertically upward.

[0042] The rotation surfaces of each rotor do not overlap.

[0043] The system consists of eight electronic speed controllers (ESCs) connected to eight motors, and a flight controller connected to the eight ESCs. The flight controller controls the output voltage of the ESCs to change the motor speed, which in turn changes the lift of the rotor and controls the attitude of the aircraft. This constitutes the first embodiment of the inner-ring rotor constant-speed multi-rotor aircraft.

[0044] Figure 2 This is a top view of the inner-ring rotor constant-speed multirotor aircraft of the first embodiment of the present invention, which facilitates the demonstration of the flight principle.

[0045] Figure 2 In the middle, set the right front rotor 1, left rear rotor 2, right front middle rotor 5, and left rear middle rotor 6 to rotate counterclockwise N.

[0046] The right rear rotor 4, the left front rotor 3, the right rear middle rotor 8, and the left front middle rotor 7 rotate clockwise in an S-shape.

[0047] The projection line 51 of the line connecting the rotation centers of the right front center rotor 5, right rear center rotor 8, left rear center rotor 6, and left front center rotor 7 onto the horizontal plane is a square, or a rectangle. The figure uses a square as an example. The center of this square overlaps with the projection of the aircraft's center of gravity P onto the horizontal plane.

[0048] The projection line 52 of the line connecting the rotation centers of the right front rotor 1, right rear rotor 4, left rear rotor 2, and left front rotor 3 onto the horizontal plane is a square, or a rectangle. The figure uses a square as an example. The center of this square overlaps with the projection of the aircraft's center of gravity P onto the horizontal plane.

[0049] The right front center rotor 5, right rear center rotor 8, left rear center rotor 6, and left front center rotor 7 are the same size, and the corresponding drive motors have the same parameters. When the throttle is the same, the lift is the same, and the counter-torques cancel each other out.

[0050] The right front rotor 1, right rear rotor 4, left rear rotor 2, and left front rotor 3 are the same size, and the corresponding drive motors have the same parameters. When the throttle is the same, the lift is the same, and the counter-torques cancel each other out.

[0051] The dimensions of the right front center rotor 5 and the parameters of its drive motor are greater than or equal to the parameters of the right front rotor 1 and its drive motor.

[0052] When the throttle is the same, the lift of the right front center rotor 5 is greater than or equal to the lift of the right front rotor 1. The right front center rotor 5, the right rear center rotor 8, the left rear center rotor 6, and the left front center rotor 7 provide half or more of the lift required by the aircraft.

[0053] The four inner ring rotors—right front center rotor 5, right rear center rotor 8, left rear center rotor 6, and left front center rotor 7—are like a "conventional quadcopter." The four outer ring rotors—right front rotor 1, right rear rotor 4, left rear rotor 2, and left front rotor 3—are like a "conventional quadcopter." The inner ring rotor constant speed multi-rotor aircraft structure resembles two inlaid "conventional quadcopters."

[0054] To improve flight efficiency and reduce the frequency of rotor changes, the "conventional quadcopter" composed of four inner ring rotors does not participate in controlling the pitch and roll of the aircraft, but only in controlling the rise, fall and heading of the aircraft. The "conventional quadcopter" composed of four outer ring rotors controls the rise, fall, pitch, roll and heading of the aircraft.

[0055] The lift of the right front rotor 1, right rear rotor 4, left rear rotor 2, left front rotor 3, right front center rotor 5, right rear center rotor 8, left rear center rotor 6, and left front center rotor 7 are linked to control the ascent and descent of the aircraft. When the total lift of these eight rotors is greater than the weight of the aircraft, the aircraft ascends; when the total lift is equal to the weight of the aircraft, the aircraft hovers; and when the total lift is less than the weight of the aircraft, the aircraft descends.

[0056] The anti-torque differential caused by the lift differential of the right front rotor 1, right front middle rotor 5, left rear rotor 2, left rear middle rotor 6, left front rotor 3, left front middle rotor 7, right rear rotor 4, and right rear middle rotor 8 controls the heading of the aircraft. That is, the anti-torque differential generated by the lift differential of the four rotors with the same direction and the other four rotors with opposite directions controls the heading.

[0057] The lift differential of the right front rotor 1, right rear rotor 4, left rear rotor 2, and left front rotor 3 controls the roll of the aircraft.

[0058] The lift differential control of the aircraft's pitch is achieved by the right front rotor 1, left front rotor 3, left rear rotor 2, and right rear rotor 4.

[0059] During the pitch and roll maneuvers of the aircraft by combining the lift changes of the four outer ring rotors—right front rotor 1, right rear rotor 4, left rear rotor 2, and left front rotor 3—the lift of the right front middle rotor 5, right rear middle rotor 8, left rear middle rotor 6, and left front middle rotor 7 remains constant. The rotational speed of these four inner ring rotors remains constant, and the corresponding drive motor speed remains constant, reducing the power loss of the corresponding drive motors of the right front middle rotor 5, right rear middle rotor 8, left rear middle rotor 6, and left front middle rotor 7, thus improving the aircraft's endurance.

[0060] Besides the combinations mentioned above, there are other combinations for the rotor's rotation direction. Figure 3 As shown.

[0061] Figure 3 This is a schematic diagram of the rotor rotation direction of the inner-ring constant-speed multi-rotor aircraft according to the second embodiment of the present invention.

[0062] Figure 3 In the middle, set the right front rotor 1, left rear rotor 2, right rear middle rotor 8, and left front middle rotor 7 to rotate counterclockwise N.

[0063] The right rear rotor 4, the left front rotor 3, the right front middle rotor 5, and the left rear middle rotor 6 rotate clockwise in an S-shape.

[0064] Other component connection methods, flight principles and Figure 1 The embodiments shown are the same; see also... Figure 1 , Figure 2 .

[0065] Similarly, the lift of the right front rotor 1, right rear rotor 4, left rear rotor 2, left front rotor 3, right front center rotor 5, right rear center rotor 8, left rear center rotor 6, and left front center rotor 7 are linked to control the ascent and descent of the aircraft. When the total lift of these eight rotors is greater than the weight of the aircraft, the aircraft ascends; when the total lift is equal to the weight of the aircraft, the aircraft hovers; and when the total lift is less than the weight of the aircraft, the aircraft descends.

[0066] Similarly, the lift differential of the right front rotor 1, right rear rotor 4, left rear rotor 2, and left front rotor 3 controls the roll of the aircraft.

[0067] Similarly, the pitch of the aircraft is controlled by the lift differential of the right front rotor 1, left front rotor 3, left rear rotor 2, and right rear rotor 4.

[0068] The anti-torque differential caused by the lift differential of the right front rotor 1, left rear rotor 2, right rear middle rotor 8, left front middle rotor 7, right rear rotor 4, left front rotor 3, right front middle rotor 5, and left rear middle rotor 6 controls the heading of the aircraft. That is, the anti-torque differential generated by the lift differential of the four rotors with the same direction and the other four rotors with opposite directions controls the heading.

[0069] During the pitch and roll maneuvers of the aircraft by combining the lift changes of the right front rotor 1, right rear rotor 4, left rear rotor 2, and left front rotor 3, the lift of the right front center rotor 5, right rear center rotor 8, left rear center rotor 6, and left front center rotor 7 remains constant. The rotational speed of these four inner ring rotors remains constant, and the corresponding drive motor speed remains constant, reducing the power loss of the corresponding drive motors of the right front center rotor 5, right rear center rotor 8, left rear center rotor 6, and left front center rotor 7, thereby improving the aircraft's endurance.

[0070] Figure 4 This is a schematic diagram of the rotor rotation direction of the inner-ring constant-speed multi-rotor aircraft according to the third embodiment of the present invention.

[0071] Figure 4 In the middle, set the right rear rotor 4, left front rotor 3, right rear middle rotor 8, and left front middle rotor 7 to rotate counterclockwise N.

[0072] The right front rotor 1, the left rear rotor 2, the right front middle rotor 5, and the left rear middle rotor 6 rotate clockwise in an S-shape.

[0073] Other component connection methods, flight principles and Figure 1 The embodiments shown are the same; see also... Figure 1 , Figure 2 .

[0074] Similarly, the lift of the right front rotor 1, right rear rotor 4, left rear rotor 2, left front rotor 3, right front center rotor 5, right rear center rotor 8, left rear center rotor 6, and left front center rotor 7 are linked to control the ascent and descent of the aircraft. When the total lift of these eight rotors is greater than the weight of the aircraft, the aircraft ascends; when the total lift is equal to the weight of the aircraft, the aircraft hovers; and when the total lift is less than the weight of the aircraft, the aircraft descends.

[0075] Similarly, the lift differential of the right front rotor 1, right rear rotor 4, left rear rotor 2, and left front rotor 3 controls the roll of the aircraft.

[0076] Similarly, the pitch of the aircraft is controlled by the lift differential of the right front rotor 1, left front rotor 3, left rear rotor 2, and right rear rotor 4.

[0077] The anti-torque differential caused by the lift differential of the right rear rotor 4, left front rotor 3, right rear middle rotor 8, left front middle rotor 7, right front rotor 1, left rear rotor 2, right front middle rotor 5, and left rear middle rotor 6 controls the heading of the aircraft. That is, the anti-torque differential generated by the lift differential of the four rotors with the same direction and the other four rotors with opposite directions controls the heading.

[0078] During the pitch and roll maneuvers of the aircraft by combining the lift changes of the right front rotor 1, right rear rotor 4, left rear rotor 2, and left front rotor 3, the lift of the right front center rotor 5, right rear center rotor 8, left rear center rotor 6, and left front center rotor 7 remains constant. The rotational speed of these four inner ring rotors remains constant, and the corresponding drive motor speed remains constant, reducing the power loss of the corresponding drive motors of the right front center rotor 5, right rear center rotor 8, left rear center rotor 6, and left front center rotor 7, thereby improving the aircraft's endurance.

[0079] Figure 5 This is a schematic diagram of the rotor rotation direction of the inner-ring constant-speed multi-rotor aircraft according to the fourth embodiment of the present invention.

[0080] Figure 5 In the middle, set the right rear rotor 4, left front rotor 3, right front middle rotor 5, and left rear middle rotor 6 to rotate counterclockwise N.

[0081] The right front rotor 1, the left rear rotor 2, the right rear middle rotor 8, and the left front middle rotor 7 rotate clockwise in an S-shape.

[0082] Other component connection methods, flight principles and Figure 1 The embodiments shown are the same; see also... Figure 1 , Figure 2 .

[0083] Similarly, the lift of the right front rotor 1, right rear rotor 4, left rear rotor 2, left front rotor 3, right front center rotor 5, right rear center rotor 8, left rear center rotor 6, and left front center rotor 7 are linked to control the ascent and descent of the aircraft. When the total lift of these eight rotors is greater than the weight of the aircraft, the aircraft ascends; when the total lift is equal to the weight of the aircraft, the aircraft hovers; and when the total lift is less than the weight of the aircraft, the aircraft descends.

[0084] Similarly, the lift differential of the right front rotor 1, right rear rotor 4, left rear rotor 2, and left front rotor 3 controls the roll of the aircraft.

[0085] Similarly, the pitch of the aircraft is controlled by the lift differential of the right front rotor 1, left front rotor 3, left rear rotor 2, and right rear rotor 4.

[0086] The anti-torque differential caused by the lift differential of the right rear rotor 4, left front rotor 3, right front middle rotor 5, left rear middle rotor 6, right front rotor 1, left rear rotor 2, right rear middle rotor 8, and left front middle rotor 7 controls the heading of the aircraft. That is, the anti-torque differential generated by the lift differential of the four rotors with the same direction and the other four rotors with opposite directions controls the heading.

[0087] During the pitch and roll maneuvers of the aircraft by combining the lift changes of the right front rotor 1, right rear rotor 4, left rear rotor 2, and left front rotor 3, the lift of the right front center rotor 5, right rear center rotor 8, left rear center rotor 6, and left front center rotor 7 remains constant. The rotational speed of these four inner ring rotors remains constant, and the corresponding drive motor speed remains constant, reducing the power loss of the corresponding drive motors of the right front center rotor 5, right rear center rotor 8, left rear center rotor 6, and left front center rotor 7, thereby improving the aircraft's endurance.

[0088] Figure 6 This is a perspective view of the inner-ring rotor constant-speed multirotor aircraft according to the fifth embodiment of the present invention.

[0089] Figure 6 See also Figure 2 The fuselage 10 is connected to the landing gear 9.

[0090] The fuselage 10 is connected to the right front arm 31 by sweeping forward on the right front side. The right front middle motor mounting base 25 is connected to the lower middle section of the right front arm 31. The right front middle motor 15 is connected to the right front middle motor mounting base 25, and the right front middle rotor 5 is connected to the right front middle motor 15. The right front middle rotor 5 is below the right front arm 31, and the lift of the right front middle rotor 5 is vertically upward. The right front motor mounting base 21 is connected to the upper front end of the right front arm 31. The right front motor 11 is connected to the right front motor mounting base 21, and the right front rotor 1 is connected to the right front motor 11. The right front rotor 1 is above the right front arm 31, and the lift of the right front rotor 1 is vertically upward. The rotation surfaces of the right front middle rotor 5 and the right front rotor 1 may partially overlap or not overlap.

[0091] The fuselage 10 is connected to the left front arm 33 by sweeping forward on the left front side. The left front middle motor mounting base 27 is connected to the lower middle section of the left front arm 33. The left front middle motor 17 is connected to the left front middle motor 17, and the left front middle rotor 7 is connected to the left front middle motor 17. The left front middle rotor 7 is below the left front arm 33, and the lift of the left front middle rotor 7 is vertically upward. The left front motor mounting base 23 is connected to the upper front end of the left front arm 33. The left front motor 13 is connected to the left front motor 13, and the left front rotor 3 is connected to the left front motor 13. The left front rotor 3 is above the left front arm 33, and the lift of the left front rotor 3 is vertically upward. The rotation surfaces of the left front middle rotor 7 and the left front rotor 3 partially overlap or do not overlap.

[0092] The fuselage 10 is connected to the right rear arm 34 by a sweeping motion at the right rear. The right rear center motor mount 28 is connected to the lower middle section of the right rear arm 34. The right rear center motor 18 is connected to the right rear center motor mount 28, and the right rear center rotor 8 is connected to the right rear center motor 18. The right rear center rotor 8 is located below the right rear arm 34, and its lift is vertically upward. The right rear rear motor mount 24 is connected to the upper rear end of the right rear arm 34. The right rear rear motor 14 is connected to the right rear rear motor mount 24, and the right rear rear rotor 4 is connected to the right rear rear motor 14. The right rear rear rotor 4 is located above the right rear arm 34, and its lift is vertically upward. The rotation surfaces of the right rear center rotor 8 and the right rear rear rotor 4 partially overlap or do not overlap.

[0093] The fuselage 10 is connected to the left rear arm 32 by a sweeping motion on the left rear side. The left rear middle motor mounting base 26 is connected to the lower middle section of the left rear arm 32. The left rear middle motor 16 is connected to the left rear middle motor mounting base 26. The left rear middle rotor 6 is connected to the left rear middle motor 16. The left rear middle rotor 6 is located below the left rear arm 32. The lift of the left rear middle rotor 6 is vertically upward. The left rear end motor mounting base 22 is connected to the upper rear end of the left rear arm 32. The left rear end motor 12 is connected to the left rear end motor mounting base 22. The left rear end rotor 2 is connected to the left rear end motor 12. The left rear end rotor 2 is located above the left rear arm 32. The lift of the left rear end rotor 2 is vertically upward. The rotation surfaces of the left rear middle rotor 6 and the left rear end rotor 2 partially overlap or do not overlap.

[0094] The system consists of eight electronic speed controllers (ESCs) connected to eight motors, and a flight controller connected to the eight ESCs. The flight controller controls the output voltage of the ESCs to change the motor speed, which in turn changes the lift of the rotor and controls the attitude of the aircraft. This constitutes the fifth embodiment of the inner-ring rotor constant-speed multi-rotor aircraft.

[0095] Other settings and Figure 1 The embodiment shown is the same, and the lift direction of each rotor is the same as... Figure 1 The rotor directions and flight principles of the embodiments shown are the same. See also... Figure 1 , Figure 2 Note: The rotor's steering combination also has... Figure 2 , Figure 3 , Figure 4 , Figure 5 The steering settings are shown.

[0096] Figure 7 This is a perspective view of the inner ring rotor constant speed multirotor aircraft according to the sixth embodiment of the present invention.

[0097] Figure 7 See also Figure 2 The fuselage 10 is connected to the landing gear 9.

[0098] The fuselage 10 is connected to the right front arm 31 by sweeping forward on the right front side. The right front middle motor mounting base 25 is connected to the upper middle section of the right front arm 31. The right front middle motor 15 is connected to the right front middle motor mounting base 25, and the right front middle rotor 5 is connected to the right front middle motor 15. The right front middle rotor 5 is above the right front arm 31, and the lift of the right front middle rotor 5 is vertically upward. The right front motor mounting base 21 is connected to the lower front end of the right front arm 31. The right front motor 11 is connected to the lower part of the right front motor mounting base 21, and the right front rotor 1 is connected to the lower part of the right front motor 11. The right front rotor 1 is below the right front arm 31, and the lift of the right front rotor 1 is vertically upward. The rotation surfaces of the right front middle rotor 5 and the right front rotor 1 partially overlap or do not overlap.

[0099] The fuselage 10 is connected to the left front arm 33 by sweeping forward on the left front side. The left front middle motor mounting base 27 is connected to the upper middle section of the left front arm 33. The left front middle motor 17 is connected to the left front middle motor mounting base 27, and the left front middle rotor 7 is connected to the left front middle motor 17. The left front middle rotor 7 is above the left front arm 33, and the lift of the left front middle rotor 7 is vertically upward. The left front motor mounting base 23 is connected to the lower front end of the left front arm 33. The left front motor 13 is connected to the lower left front motor mounting base 23, and the left front rotor 3 is connected to the lower left front motor 13. The left front rotor 3 is below the left front arm 33, and the lift of the left front rotor 3 is vertically upward. The rotation surfaces of the left front middle rotor 7 and the left front rotor 3 partially overlap or do not overlap.

[0100] The fuselage 10 is connected to the right rear arm 34 by a sweeping motion at the right rear. The right rear center motor mounting base 28 is connected to the upper middle section of the right rear arm 34. The right rear center motor 18 is connected to the right rear center motor mounting base 28. The right rear center rotor 8 is connected to the right rear center motor 18. The right rear center rotor 8 is above the right rear arm 34, and the lift of the right rear center rotor 8 is vertically upward. The right rear rear motor mounting base 24 is connected to the lower rear end of the right rear arm 34. The right rear rear motor 14 is connected to the lower end of the right rear motor mounting base 24. The right rear rear rotor 4 is connected to the lower end of the right rear motor 14. The lift of the right rear rotor 4 is vertically upward. The rotation surfaces of the right rear center rotor 8 and the right rear rotor 4 partially overlap or do not overlap.

[0101] The fuselage 10 is connected to the left rear arm 32 by a sweeping motion on the left rear side. The left rear middle motor mounting base 26 is connected to the upper middle section of the left rear arm 32. The left rear middle motor 16 is connected to the left rear middle motor mounting base 26. The left rear middle rotor 6 is connected to the left rear middle motor 16. The left rear middle rotor 6 is above the left rear arm 32. The lift of the left rear middle rotor 6 is vertically upward. The left rear end motor mounting base 22 is connected to the lower rear end of the left rear arm 32. The left rear end motor 12 is connected to the left rear end motor 12. The left rear end rotor 2 is connected to the left rear end motor 12. The left rear end rotor 2 is below the left rear arm 32. The lift of the left rear end rotor 2 is vertically upward. The rotation surfaces of the left rear middle rotor 6 and the left rear end rotor 2 partially overlap or do not overlap.

[0102] The system consists of eight electronic speed controllers (ESCs) connected to eight motors, and a flight controller connected to the eight ESCs. The flight controller controls the output voltage of the ESCs to change the motor speed, which in turn changes the lift of the rotor and controls the attitude of the aircraft. This constitutes the fifth embodiment of the inner-ring rotor constant-speed multi-rotor aircraft.

[0103] Other settings and Figure 1 The embodiment shown is the same, and the lift direction of each rotor is the same as... Figure 1 The rotor directions and flight principles of the embodiments shown are the same. See also... Figure 1 , Figure 2Note: The rotor's steering combination also has... Figure 2 , Figure 3 , Figure 4 , Figure 5 The steering settings are shown.

[0104] Figure 8 This is a schematic diagram of the arm folding of the inner ring rotor constant speed multirotor aircraft of the present invention.

[0105] Similar to conventional multirotors, the use of universal folding components on the arms reduces the space occupied by the inner-ring constant-speed multirotor aircraft during storage.

[0106] Figure 8 In the upper middle section, the right front arm 31 is divided into two sections, which are connected by the right front quick-release folding piece 41 to form the whole right front arm 31.

[0107] The left rear arm 32 is divided into two sections, which are connected by the left rear quick-release folding piece 42 to form a whole left rear arm 32.

[0108] The left front arm 33 is divided into two sections, which are connected by the left front quick-release folding piece 43 to form the whole left front arm 33.

[0109] The right rear arm 34 is divided into two sections, which are connected by the right rear quick-release folding piece 44 to form the whole right rear arm 34.

[0110] The connection methods of other components and Figure 1 As shown, this completes the connection of the folding arms of the inner-ring constant-speed multirotor aircraft.

[0111] Figure 8 In the lower part, the right front arm 31 folds horizontally backward, the left rear arm 32 folds horizontally forward, the left front arm 33 folds horizontally to the right, and the right rear arm 34 folds horizontally to the left, reducing the length and width dimensions occupied by the inner ring rotor constant speed multi-rotor aircraft.

Claims

1. A constant-speed multirotor aircraft with an inner ring rotor, comprising: a landing gear connected to the underside of the fuselage; a right front arm connected to the front right side of the fuselage (sweeping forward); a right front center motor mount, a right front center motor, and a right front center rotor sequentially connected to the middle section of the right front arm; a right front end motor mount, a right front end motor, and a right front end rotor sequentially connected to the front end of the right front arm; a left front arm connected to the front left side of the fuselage (sweeping forward); a left front center motor mount, a left front center motor, and a left front center rotor sequentially connected to the middle section of the left front arm; a left front end motor mount, a left front end motor, and a left front end rotor sequentially connected to the front end of the left front arm; and a right rear arm connected to the rear right side of the fuselage (sweeping backward); a right rear center motor mount, a right rear center motor, and a right rear center rotor sequentially connected to... The right rear arm has its middle section connected to the rear end of the right rear arm via a right rear motor mount, a right rear motor, and a right rear rotor. The left rear fuselage is swept back to connect to the left rear arm, where the left rear middle motor mount, left rear middle motor, and left rear middle rotor are connected to the middle section of the left rear arm. The left rear motor mount, left rear motor, and left rear rotor are connected to the rear end of the left rear arm. Each rotor generates vertical lift. Eight electronic speed controllers (ESCs) are connected to eight motors, and a flight controller is connected to all eight ESCs. The flight controller controls the output voltage of the ESCs, causing changes in motor speed and rotor lift, thus controlling the aircraft's attitude. This constitutes an inner-ring rotor constant-speed multi-rotor aircraft, characterized by: The projection of the line connecting the rotation centers of the four inner ring rotors (right front center rotor, left front center rotor, right rear center rotor, and left rear center rotor) onto the horizontal plane is a square or a rectangle, and the center of this square or rectangle overlaps with the projection of the aircraft's center of gravity onto the horizontal plane. Similarly, the projection of the line connecting the rotation centers of the four outer ring rotors (right front rotor, left front rotor, right rear rotor, and left rear rotor) onto the horizontal plane is a square or a rectangle, and the center of this square or rectangle overlaps with the projection of the aircraft's center of gravity onto the horizontal plane. The projection of the line connecting the rotation centers of the four outer ring rotors (right front center rotor, left front center rotor, right rear center rotor, and left rear center rotor) onto the horizontal plane is also a square or a rectangle, and the center of this square or rectangle overlaps with the projection of the aircraft's center of gravity onto the horizontal plane. The rotors are the same size, and the corresponding drive motor parameters are the same; the right front rotor, left front rotor, right rear rotor, and left rear rotor are the same size, and the corresponding drive motor parameters are the same; the size and drive motor parameters of the right front-middle rotor are greater than or equal to the size and drive motor parameters of the right front rotor; at the same throttle, the lift of the right front-middle rotor, left front-middle rotor, right rear-middle rotor, and left rear-middle rotor are the same, and the counter-torque cancels each other out; the lift of the right front rotor, left front rotor, right rear rotor, and left rear rotor are the same, and the counter-torque cancels each other out; the lift of the right front-middle rotor is greater than or equal to that of the right front rotor. The lift generated by the terminal rotors—right front-middle rotor, left front-middle rotor, right rear-middle rotor, and left rear-middle rotor—provides half or more of the lift required by the aircraft. The lift generated by the right front-middle rotor, left front-middle rotor, right rear-middle rotor, left rear-middle rotor, right front rotor, left front rotor, right rear rotor, and left rear rotor is linked to control the aircraft's ascent and descent. The right front rotor, left rear rotor, right front-middle rotor, and left rear-middle rotor are configured to rotate counter-clockwise, while the right rear rotor, left front rotor, right rear-middle rotor, and left front-middle rotor rotate clockwise. Alternatively, the right front rotor, left rear rotor, right rear-middle rotor, and left front-middle rotor are configured to rotate clockwise. The rotors rotate counterclockwise, while the right rear rotor, left front rotor, right front-middle rotor, and left rear-middle rotor rotate clockwise; or, the right rear rotor, left front rotor, right rear-middle rotor, and left front-middle rotor rotate counterclockwise, while the right front rotor, left rear rotor, right front-middle rotor, and left rear-middle rotor rotate clockwise; or, the right rear rotor, left front rotor, right front-middle rotor, and left rear-middle rotor rotate counterclockwise, while the right front rotor, left rear rotor, right rear-middle rotor, and left front-middle rotor rotate clockwise; the anti-torque differential generated by the lift differential of the four rotors rotating in the same direction and the other four rotors rotating in the opposite direction controls the heading. The lift differential of the right front rotor, right rear rotor, left front rotor, and left rear rotor controls the roll of the aircraft; the lift differential of the right front rotor, left front rotor, right rear rotor, and left rear rotor controls the pitch of the aircraft; the right front center rotor, left front center rotor, right rear center rotor, and left rear center rotor do not participate in controlling the roll and pitch of the aircraft. During the process of controlling the roll and pitch of the aircraft by the combination of lift changes of the right front rotor, right rear rotor, left front rotor, and left rear rotor, the lift of the right front center rotor, left front center rotor, left rear center rotor, and right rear center rotor remains in its original state, the rotor speed remains unchanged, the corresponding drive motor remains constant, each rotor is connected above its respective arm, and the rotation surfaces of each rotor do not overlap.

2. The inner-ring rotor constant-speed multi-rotor aircraft according to claim 1, characterized in that: Four inner ring rotors—the right front-middle rotor, the left front-middle rotor, the left rear-middle rotor, and the right rear-middle rotor—are connected below their respective arms. Four outer ring rotors—the right front rotor, the left front rotor, the right rear rotor, and the left rear rotor—are connected above their respective arms. The rotation surfaces of the right front-middle rotor and the right front rotor may partially overlap or not overlap; the rotation surfaces of the left front-middle rotor and the left front rotor may partially overlap or not overlap; the rotation surfaces of the right rear-middle rotor and the right rear rotor may partially overlap or not overlap; and the rotation surfaces of the left rear-middle rotor and the left rear rotor may partially overlap or not overlap.

3. The inner-ring rotor constant-speed multi-rotor aircraft according to claim 1, characterized in that: Four inner ring rotors—the right front-middle rotor, the left front-middle rotor, the left rear-middle rotor, and the right rear-middle rotor—are connected above their respective arms. Four outer ring rotors—the right front rotor, the left front rotor, the right rear rotor, and the left rear rotor—are connected below their respective arms. The rotation surfaces of the right front-middle rotor and the right front rotor partially overlap or do not overlap; the rotation surfaces of the left front-middle rotor and the left front rotor partially overlap or do not overlap; the rotation surfaces of the right rear-middle rotor and the right rear rotor partially overlap or do not overlap; and the rotation surfaces of the left rear-middle rotor and the left rear rotor partially overlap or do not overlap.

Images